diff --git a/CREDITS.txt b/CREDITS.txt
index 671ad47e6..b6e6db727 100644
--- a/CREDITS.txt
+++ b/CREDITS.txt
@@ -27,6 +27,10 @@ N: Pedro Assuncao
 E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com
 D: Initial GCS Settings Gadget work
 
+N: Werner Backes
+E: werner (at) bit-1 (dot) de
+D: Port of CopterControl to PS3 Move Controller (MoveCopter)
+
 N: Jose Barros
 E: josembarros (at) hotmail (dot) com
 D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
diff --git a/HISTORY.txt b/HISTORY.txt
new file mode 100644
index 000000000..ac278b889
--- /dev/null
+++ b/HISTORY.txt
@@ -0,0 +1,30 @@
+Short summary of changes.  For a complete list see the git log.
+
+2011-08-04
+Fixed packaging aesthetic issues.  Also avoid runtime issues on OSX Lion by
+disabling the ModelView and Notify plugins for now (sorry).
+
+2011-07-29
+Added support for PPM receivers from James W. Now all 4 interfaces (R/C
+standard PWM, combined PPM (MK), Spektrum satellite, Futaba S.Bus) are
+supported and configurable through the GCS hardware configuration tab.
+
+2011-07-17
+Updated module initialization from Mathieu which separates the initialization
+from the task startup.  Also implements a method to reclaim unused ram from
+initialization and end of memory for the FreeRTOS heap.
+
+2011-07-12
+Improvements to the stabilization code.  Included a LPF on the gyros to smooth
+out noise in high vibration environments.  Also two new modes: axis-lock and
+weak leveling.  Axis-lock will try and hold an axis at a fixed position and
+reject any disturbances.  This is like heading-hold on a heli for the tail but
+can be useful for other axes.  Weak leveling is rate mode with a weak
+correction to self level the craft - good for easier rate mode flying.
+
+2011-07-07
+Dynamic hardware configuration from Stac.  The input type is now
+selected from ManualControlSettings.InputMode and the aircraft must be rebooted
+after changing this.  Also for CopterControl the HwSettings object must
+indicate which modules are connected to which ports.  PPM currently not
+working.
diff --git a/MILESTONES.txt b/MILESTONES.txt
index 3895e977b..776c4a758 100644
--- a/MILESTONES.txt
+++ b/MILESTONES.txt
@@ -117,11 +117,45 @@ C: Sami Korhonen (Sambas)
 D: May 2011
 V: http://vimeo.com/24258192
 
-M: First CopterControl flip on a Flybarless Heli
+M: First Y6 CopterControl flight
+C: Michel Pet
+D: June 2011
+V: http://www.youtube.com/watch?v=QsE2MQELPZY
+
+M: First MoveCopter flight
+C: Werner Backes
+D: July 2011
+V: http://vimeo.com/25983655
+
+M: First Y4 CopterControl flight
+C: Mat Wellington
+D: July 2011
+V: http://www.youtube.com/watch?v=TxZ4MDGIj1o
+
+M: First V-Tail4 CopterControl flight
+C: Mat Wellington
+D: July 2011
+V: http://www.youtube.com/watch?v=YE4Fd9vdg1I
+
+M: First Altitude Hold using Sonar
 C: 
 D: 
 V: 
 
+M: First CopterControl Navigation on RC Ground Vechicle
+C: 
+D: 
+V: 
+
+M: First CopterControl Navigation on RC Water Vechicle
+C: 
+D: 
+V: 
+
+M: First CopterControl flip on a Flybarless Heli
+C: 
+D: 
+V: 
 
 
 An incomplete list of some future Milestones is below:
@@ -131,8 +165,7 @@ An incomplete list of some future Milestones is below:
 * First successful flight using the GCS only and no RC TX
 * First use of Magic Waypoint
 * First Flybarless Helicopter flight with OpenPilot
-* First flight with CopterControl
-* First fixed wing navigation flight
+* First fixed wing navigation flight 
 * First Multirotor navigation flight
 * First Helicopter navigation flight
 * First over 1km navigation flight
diff --git a/Makefile b/Makefile
index 6b0601ebb..18cdb3b2e 100644
--- a/Makefile
+++ b/Makefile
@@ -71,6 +71,7 @@ help:
 	@echo "     qt_sdk_install       - Install the QT v4.6.2 tools"
 	@echo "     arm_sdk_install      - Install the Code Sourcery ARM gcc toolchain"
 	@echo "     openocd_install      - Install the OpenOCD JTAG daemon"
+	@echo "     stm32flash_install   - Install the stm32flash tool for unbricking boards"
 	@echo
 	@echo "   [Big Hammer]"
 	@echo "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
@@ -92,21 +93,25 @@ help:
 	@echo "     <board>              - Build firmware for <board>"
 	@echo "                            supported boards are ($(ALL_BOARDS))"
 	@echo "     fw_<board>           - Build firmware for <board>"
-	@echo "                            supported boards are ($(FW_TARGETS))"
+	@echo "                            supported boards are ($(FW_BOARDS))"
 	@echo "     fw_<board>_clean     - Remove firmware for <board>"
 	@echo "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 	@echo
 	@echo "   [Bootloader]"
 	@echo "     bl_<board>           - Build bootloader for <board>"
-	@echo "                            supported boards are ($(BL_TARGETS))"
+	@echo "                            supported boards are ($(BL_BOARDS))"
 	@echo "     bl_<board>_clean     - Remove bootloader for <board>"
 	@echo "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 	@echo
 	@echo "   [Bootloader Updater]"
 	@echo "     bu_<board>           - Build bootloader updater for <board>"
-	@echo "                            supported boards are ($(BU_TARGETS))"
+	@echo "                            supported boards are ($(BU_BOARDS))"
 	@echo "     bu_<board>_clean     - Remove bootloader updater for <board>"
 	@echo
+	@echo "   [Unbrick a board]"
+	@echo "     unbrick_<board>      - Use the STM32's built in boot ROM to write a bootloader to <board>"
+	@echo "                            supported boards are ($(BL_BOARDS))"
+	@echo
 	@echo "   [Simulation]"
 	@echo "     sim_posix            - Build OpenPilot simulation firmware for"
 	@echo "                            a POSIX compatible system (Linux, Mac OS X, ...)"
@@ -175,10 +180,10 @@ qt_sdk_clean:
 	$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
 
 # Set up ARM (STM32) SDK
-ARM_SDK_DIR := $(TOOLS_DIR)/arm-2009q3
+ARM_SDK_DIR := $(TOOLS_DIR)/arm-2011.03
 
 .PHONY: arm_sdk_install
-arm_sdk_install: ARM_SDK_URL  := http://www.codesourcery.com/sgpp/lite/arm/portal/package5353/public/arm-none-eabi/arm-2009q3-68-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
+arm_sdk_install: ARM_SDK_URL  := http://www.codesourcery.com/sgpp/lite/arm/portal/package8734/public/arm-none-eabi/arm-2011.03-42-arm-none-eabi-i686-pc-linux-gnu.tar.bz2
 arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
 # order-only prereq on directory existance:
 arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
@@ -226,6 +231,25 @@ openocd_install: openocd_clean
 openocd_clean:
 	$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
 
+STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
+
+.PHONY: stm32flash_install
+stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
+stm32flash_install: STM32FLASH_REV := 52
+stm32flash_install: stm32flash_clean
+        # download the source
+	$(V0) @echo " DOWNLOAD     $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
+	$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
+
+        # build
+	$(V0) @echo " BUILD        $(STM32FLASH_DIR)"
+	$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
+
+.PHONY: stm32flash_clean
+stm32flash_clean:
+	$(V0) @echo " CLEAN        $(STM32FLASH_DIR)"
+	$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
+
 ##############################
 #
 # Set up paths to tools
@@ -277,7 +301,7 @@ openpilotgcs:  uavobjects_gcs
 
 .PHONY: openpilotgcs_clean
 openpilotgcs_clean:
-	$(V0) @echo " CLEAN     $@"
+	$(V0) @echo " CLEAN      $@"
 	$(V1) [ ! -d "$(BUILD_DIR)/ground/openpilotgcs" ] || $(RM) -r "$(BUILD_DIR)/ground/openpilotgcs"
 
 .PHONY: uavobjgenerator
@@ -307,7 +331,7 @@ uavobjects_test: $(UAVOBJ_OUT_DIR) uavobjgenerator
 	$(V1) $(UAVOBJGENERATOR) -v -none $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 
 uavobjects_clean:
-	$(V0) @echo " CLEAN     $@"
+	$(V0) @echo " CLEAN      $@"
 	$(V1) [ ! -d "$(UAVOBJ_OUT_DIR)" ] || $(RM) -r "$(UAVOBJ_OUT_DIR)"
 
 ##############################
@@ -335,7 +359,7 @@ fw_$(1)_%: uavobjects_flight
 .PHONY: $(1)_clean
 $(1)_clean: fw_$(1)_clean
 fw_$(1)_clean:
-	$(V0) @echo " CLEAN     $$@"
+	$(V0) @echo " CLEAN      $$@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
 endef
 
@@ -355,9 +379,23 @@ bl_$(1)_%:
 		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
 		$$*
 
+.PHONY: unbrick_$(1)
+unbrick_$(1): bl_$(1)_hex
+$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
+	$(V0) @echo " UNBRICK    $(1) via $$(UNBRICK_TTY)"
+	$(V1) $(STM32FLASH_DIR)/stm32flash \
+		-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
+		-g 0x0 \
+		$$(UNBRICK_TTY)
+,
+	$(V0) @echo
+	$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
+	$(V0) @echo "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
+)
+
 .PHONY: bl_$(1)_clean
 bl_$(1)_clean:
-	$(V0) @echo " CLEAN     $$@"
+	$(V0) @echo " CLEAN      $$@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
 endef
 
@@ -377,7 +415,7 @@ bu_$(1)_%: bl_$(1)_bino
 
 .PHONY: bu_$(1)_clean
 bu_$(1)_clean:
-	$(V0) @echo " CLEAN     $$@"
+	$(V0) @echo " CLEAN      $$@"
 	$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
 endef
 
@@ -403,14 +441,20 @@ pipxtreme_friendly     := PipXtreme
 ins_friendly           := INS
 ahrs_friendly          := AHRS
 
-FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
-BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
-BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
+# Start out assuming that we'll build fw, bl and bu for all boards
+FW_BOARDS  := $(ALL_BOARDS)
+BL_BOARDS  := $(ALL_BOARDS)
+BU_BOARDS  := $(ALL_BOARDS)
 
 # FIXME: The INS build doesn't have a bootloader or bootloader
 #        updater yet so we need to filter them out to prevent errors.
-BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
-BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
+BL_BOARDS  := $(filter-out ins, $(ALL_BOARDS))
+BU_BOARDS  := $(filter-out ins, $(ALL_BOARDS))
+
+# Generate the targets for whatever boards are left in each list
+FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
+BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
+BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
 
 .PHONY: all_fw all_fw_clean
 all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
@@ -428,6 +472,7 @@ all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 all_flight:       all_fw all_bl all_bu
 all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
 
+# Expand the groups of targets for each board
 $(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
 
 # Expand the bootloader updater rules
diff --git a/artwork/3D Model/multi/joes_cnc/CC.PNG b/artwork/3D Model/multi/joes_cnc/CC.PNG
new file mode 100644
index 000000000..467f34a97
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/CC.PNG differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS b/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS
new file mode 100644
index 000000000..1879b07c6
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-QT_+.3DS differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg b/artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg
new file mode 100644
index 000000000..bb5d7a8de
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-QT_+.jpg differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS b/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS
new file mode 100644
index 000000000..f26dacb45
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-QT_X.3DS differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg b/artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg
new file mode 100644
index 000000000..24bd15569
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-QT_X.jpg differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS b/artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS
new file mode 100644
index 000000000..21fbccf01
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-Q_+.3DS differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg b/artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg
new file mode 100644
index 000000000..bdc45dd07
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-Q_+.jpg differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS b/artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS
new file mode 100644
index 000000000..529e60fac
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-Q_X.3DS differ
diff --git a/artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg b/artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg
new file mode 100644
index 000000000..8e1de3196
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/J14-Q_X.jpg differ
diff --git a/artwork/3D Model/multi/joes_cnc/TEXTURE.PNG b/artwork/3D Model/multi/joes_cnc/TEXTURE.PNG
new file mode 100644
index 000000000..5d26bb120
Binary files /dev/null and b/artwork/3D Model/multi/joes_cnc/TEXTURE.PNG differ
diff --git a/artwork/Dials/deluxe/lineardial-horizontal.svg b/artwork/Dials/deluxe/lineardial-horizontal.svg
new file mode 100644
index 000000000..2f6f71b17
--- /dev/null
+++ b/artwork/Dials/deluxe/lineardial-horizontal.svg
@@ -0,0 +1,1329 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="280.76797"
+   height="70.597504"
+   id="svg10068"
+   version="1.1"
+   inkscape:version="0.48.1 "
+   sodipodi:docname="lineardial-horizontal.svg"
+   inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
+   inkscape:export-xdpi="103.61"
+   inkscape:export-ydpi="103.61"
+   style="display:inline">
+  <defs
+     id="defs10070">
+    <linearGradient
+       id="linearGradient4439">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4441" />
+      <stop
+         id="stop4443"
+         offset="0.19742694"
+         style="stop-color:#808080;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4445" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4413">
+      <stop
+         id="stop4415"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="0.19742694"
+         id="stop4417" />
+      <stop
+         id="stop4419"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4387">
+      <stop
+         id="stop4389"
+         offset="0"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4391" />
+      <stop
+         id="stop4393"
+         offset="1"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4361">
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="0"
+         id="stop4363" />
+      <stop
+         id="stop4365"
+         offset="0.60976541"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="1"
+         id="stop4367" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4317">
+      <stop
+         id="stop4319"
+         offset="0"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4321" />
+      <stop
+         id="stop4323"
+         offset="1"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4265">
+      <stop
+         style="stop-color:#333333;stop-opacity:1"
+         offset="0"
+         id="stop4267" />
+      <stop
+         id="stop4269"
+         offset="0.60976541"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#333333;stop-opacity:1"
+         offset="1"
+         id="stop4271" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4239">
+      <stop
+         id="stop4241"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#808080;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4243" />
+      <stop
+         id="stop4245"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4215">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4217" />
+      <stop
+         id="stop4219"
+         offset="0.3051295"
+         style="stop-color:#808080;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4221" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4193">
+      <stop
+         id="stop4195"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#999999;stop-opacity:1"
+         offset="0.3051295"
+         id="stop4197" />
+      <stop
+         id="stop4199"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4171">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4173" />
+      <stop
+         id="stop4175"
+         offset="0.3051295"
+         style="stop-color:#666666;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop4177" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4121">
+      <stop
+         id="stop4123"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#666666;stop-opacity:1"
+         offset="0.2984421"
+         id="stop4125" />
+      <stop
+         id="stop4127"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4085">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4087" />
+      <stop
+         id="stop4089"
+         offset="0.2984421"
+         style="stop-color:#999999;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop4091" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4063">
+      <stop
+         id="stop4065"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#b3b3b3;stop-opacity:1"
+         offset="0.39999998"
+         id="stop4067" />
+      <stop
+         id="stop4069"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4027">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop4029" />
+      <stop
+         id="stop4031"
+         offset="0.31880337"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4033" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3903">
+      <stop
+         id="stop3905"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0.3220683"
+         id="stop3907" />
+      <stop
+         id="stop3909"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5375">
+      <stop
+         style="stop-color:#00000c;stop-opacity:1"
+         offset="0"
+         id="stop5377" />
+      <stop
+         id="stop5383"
+         offset="0.34210527"
+         style="stop-color:#0044d8;stop-opacity:1" />
+      <stop
+         style="stop-color:#00000c;stop-opacity:1"
+         offset="1"
+         id="stop5379" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5367">
+      <stop
+         style="stop-color:#000020;stop-opacity:1"
+         offset="0"
+         id="stop5369" />
+      <stop
+         id="stop5371"
+         offset="1"
+         style="stop-color:#000018;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5359">
+      <stop
+         style="stop-color:#00002c;stop-opacity:1"
+         offset="0"
+         id="stop5361" />
+      <stop
+         id="stop5363"
+         offset="0.32456139"
+         style="stop-color:#00ffff;stop-opacity:1" />
+      <stop
+         style="stop-color:#00c8fc;stop-opacity:1"
+         offset="1"
+         id="stop5365" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5346">
+      <stop
+         id="stop5348"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#666666;stop-opacity:1"
+         offset="0.37595931"
+         id="stop5350" />
+      <stop
+         id="stop5352"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5326">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5328" />
+      <stop
+         id="stop5330"
+         offset="0.35277387"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5332" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5306">
+      <stop
+         id="stop5308"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#808080;stop-opacity:1"
+         offset="0.35277387"
+         id="stop5310" />
+      <stop
+         id="stop5312"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5271">
+      <stop
+         id="stop5273"
+         offset="0"
+         style="stop-color:#000080;stop-opacity:1" />
+      <stop
+         style="stop-color:#00ffff;stop-opacity:1"
+         offset="0.32456139"
+         id="stop5275" />
+      <stop
+         id="stop5277"
+         offset="1"
+         style="stop-color:#000080;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5248">
+      <stop
+         style="stop-color:#000080;stop-opacity:1"
+         offset="0"
+         id="stop5250" />
+      <stop
+         id="stop5256"
+         offset="0.32456139"
+         style="stop-color:#00ffff;stop-opacity:1" />
+      <stop
+         style="stop-color:#000080;stop-opacity:1"
+         offset="1"
+         id="stop5252" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5236">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop5238" />
+      <stop
+         id="stop5244"
+         offset="0.5"
+         style="stop-color:#000000;stop-opacity:0.49803922;" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop5240" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5219">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5221" />
+      <stop
+         id="stop5223"
+         offset="0.35277387"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop5225" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5151">
+      <stop
+         id="stop5153"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#b3b3b3;stop-opacity:1"
+         offset="0.38512576"
+         id="stop5155" />
+      <stop
+         id="stop5157"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5129">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop5131" />
+      <stop
+         id="stop5137"
+         offset="0.38512576"
+         style="stop-color:#cccccc;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="1"
+         id="stop5133" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5116">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5118" />
+      <stop
+         id="stop5124"
+         offset="0.35911319"
+         style="stop-color:#dcaf28;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5120" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5106">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5108" />
+      <stop
+         id="stop5114"
+         offset="0.36023793"
+         style="stop-color:#00a000;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5110" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5096">
+      <stop
+         style="stop-color:#100000;stop-opacity:1"
+         offset="0"
+         id="stop5098" />
+      <stop
+         id="stop5104"
+         offset="0.36453304"
+         style="stop-color:#aa0000;stop-opacity:1" />
+      <stop
+         style="stop-color:#0c0000;stop-opacity:1"
+         offset="1"
+         id="stop5100" />
+    </linearGradient>
+    <marker
+       inkscape:stockid="Arrow2Sstart"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Sstart"
+       style="overflow:visible">
+      <path
+         id="path4640"
+         style="font-size:12px;fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(0.3,0,0,0.3,-0.69,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 526.18109 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="744.09448 : 526.18109 : 1"
+       inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
+       id="perspective10076" />
+    <inkscape:perspective
+       id="perspective9987"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10250"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10279"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10517"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective11202"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3720"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3735"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3757"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3828"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3889"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3925"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3968"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3982"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4682"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3347"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5659"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5719"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5810"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3546"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4328"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient8928"
+       id="linearGradient5318"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(2.2532936,0,0,2.206809,446.89077,-285.33499)"
+       x1="-29.837337"
+       y1="285.0596"
+       x2="-29.837337"
+       y2="342.60553" />
+    <linearGradient
+       id="linearGradient8928">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.89156628;"
+         offset="0"
+         id="stop8930" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0;"
+         offset="1"
+         id="stop8932" />
+    </linearGradient>
+    <inkscape:perspective
+       id="perspective4367"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4402"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective2940"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective2864"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5096"
+       id="linearGradient5102"
+       x1="117.41457"
+       y1="168.83261"
+       x2="87.074203"
+       y2="168.83261"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999995,-0.99999975,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5106"
+       id="linearGradient5112"
+       x1="117.57944"
+       y1="173.46591"
+       x2="86.644958"
+       y2="173.46591"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999997,-1,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5116"
+       id="linearGradient5122"
+       x1="117.77806"
+       y1="168.82289"
+       x2="86.547356"
+       y2="168.82289"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,1,-1,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5129"
+       id="linearGradient5135"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5129"
+       id="linearGradient5144"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5149"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5164"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5169"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5176"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5181"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5188"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5193"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5200"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5205"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5212"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5217"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5236"
+       id="linearGradient5242"
+       x1="3.7395172"
+       y1="59.899364"
+       x2="42.432911"
+       y2="59.899364"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(129.62194,-129.52019)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5248"
+       id="linearGradient5254"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5271"
+       id="linearGradient5285"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,0.58333333,-2.7039997e-8,32.705471)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5287"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5292"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5299"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5306"
+       id="linearGradient5304"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5306"
+       id="linearGradient5319"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5326"
+       id="linearGradient5324"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5326"
+       id="linearGradient5339"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5375"
+       id="linearGradient5381"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(128.37404,-129.52019)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3903"
+       id="linearGradient3899"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,-0.99999988,1.7142859,0,35.373449,-317.43383)"
+       x1="-150.75359"
+       y1="68.860146"
+       x2="-150.75359"
+       y2="87.776077" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4317"
+       id="linearGradient4337"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-384.0242"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4340"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4349"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4317"
+       id="linearGradient4351"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-384.0242"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4361"
+       id="linearGradient4355"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4358"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4375"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4361"
+       id="linearGradient4377"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4381"
+       gradientUnits="userSpaceOnUse"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4384"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4401"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4403"
+       gradientUnits="userSpaceOnUse"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4407"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4413"
+       id="linearGradient4410"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4413"
+       id="linearGradient4427"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4429"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4433"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4439"
+       id="linearGradient4436"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="3.1841238"
+     inkscape:cx="140.38399"
+     inkscape:cy="35.455778"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer5"
+     showgrid="false"
+     inkscape:window-width="1366"
+     inkscape:window-height="706"
+     inkscape:window-x="-8"
+     inkscape:window-y="-8"
+     inkscape:window-maximized="1"
+     inkscape:object-paths="true"
+     showguides="true"
+     inkscape:guide-bbox="true"
+     inkscape:snap-to-guides="false"
+     inkscape:snap-grids="false"
+     inkscape:snap-global="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata10073">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+        <dc:creator>
+          <cc:Agent>
+            <dc:title>Edouard Lafargue</dc:title>
+          </cc:Agent>
+        </dc:creator>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     style="display:inline"
+     inkscape:label="Dark background"
+     id="g2932"
+     inkscape:groupmode="layer"
+     transform="translate(-368.2988,-507.08981)"
+     sodipodi:insensitive="true">
+    <g
+       id="background"
+       inkscape:label="#g4447">
+      <rect
+         inkscape:export-ydpi="88.809998"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         ry="4.5346842"
+         y="-577.68732"
+         x="-616.67365"
+         height="61.448738"
+         width="226.5451"
+         id="rect3145"
+         style="fill:none;stroke:none"
+         transform="scale(-1,-1)" />
+      <rect
+         transform="scale(-1,-1)"
+         style="fill:url(#linearGradient4436);fill-opacity:1;stroke:none"
+         id="rect2936"
+         width="280.76797"
+         height="53.465179"
+         x="-649.06677"
+         y="-560.55499"
+         ry="3.9455285"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-ydpi="88.809998" />
+      <rect
+         transform="scale(-1,-1)"
+         inkscape:label="#rect4388"
+         inkscape:export-ydpi="88.809998"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         ry="2.9134333"
+         y="-554.10626"
+         x="-642.96082"
+         height="39.479435"
+         width="267.02957"
+         id="bargraph-outer"
+         style="fill:url(#linearGradient4433);fill-opacity:1;stroke:none" />
+      <rect
+         transform="scale(-1,-1)"
+         style="fill:#000000;fill-opacity:1;stroke:none"
+         id="bargraph"
+         width="262.18338"
+         height="32.956219"
+         x="-640.57104"
+         y="-550.64001"
+         ry="2.432044"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-ydpi="88.809998"
+         inkscape:label="#rect4388" />
+    </g>
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer5"
+     inkscape:label="Green Zone"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:label="#rect5741"
+       style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
+       id="green"
+       width="260.53882"
+       height="32.20755"
+       x="-411.77084"
+       y="-184.00433"
+       ry="2.3767958"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-ydpi="88.809998"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer4"
+     inkscape:label="Yellow Zone"
+     style="display:none"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:export-ydpi="88.809998"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       ry="2.4231479"
+       y="-184.63248"
+       x="-411.45679"
+       height="32.835663"
+       width="260.53882"
+       id="yellow"
+       style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
+       inkscape:label="#rect5741"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer3"
+     inkscape:label="Red zone"
+     style="display:none"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:label="#rect5741"
+       style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
+       id="red"
+       width="260.23901"
+       height="32.519711"
+       x="-411.38739"
+       y="-184.35484"
+       ry="2.399832"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-ydpi="88.809998"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer6"
+     inkscape:label="Indicator"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.2964696;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       id="needle"
+       width="32.035065"
+       height="6.0045304"
+       x="152.63882"
+       y="-157.12926"
+       inkscape:label="#rect5246"
+       transform="matrix(0,1,-1,0,0,0)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer1"
+     inkscape:label="Text"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       style="fill:#ffffff;fill-opacity:1;stroke:none"
+       id="field"
+       width="50.321022"
+       height="13.236827"
+       x="-201.80493"
+       y="-209.93616"
+       inkscape:label="#rect2878"
+       transform="scale(-1,-1)" />
+    <rect
+       inkscape:label="#rect2878"
+       y="-209.5061"
+       x="-405.05276"
+       height="13.236827"
+       width="51.71294"
+       id="value"
+       style="fill:#ffffff;fill-opacity:1;stroke:none"
+       transform="scale(-1,-1)" />
+  </g>
+</svg>
diff --git a/artwork/Dials/deluxe/lineardial-vertical.svg b/artwork/Dials/deluxe/lineardial-vertical.svg
index 11a4e1c93..010283c2c 100644
--- a/artwork/Dials/deluxe/lineardial-vertical.svg
+++ b/artwork/Dials/deluxe/lineardial-vertical.svg
@@ -30,7 +30,7 @@
          style="stop-color:#000000;stop-opacity:1" />
       <stop
          style="stop-color:#ffffff;stop-opacity:1"
-         offset="0.32793573"
+         offset="0.39386007"
          id="stop3907" />
       <stop
          id="stop3909"
@@ -222,7 +222,7 @@
       <stop
          id="stop5124"
          offset="0.37640449"
-         style="stop-color:#ffff00;stop-opacity:1" />
+         style="stop-color:#dcaf28;stop-opacity:1" />
       <stop
          style="stop-color:#000000;stop-opacity:1"
          offset="1"
@@ -236,8 +236,8 @@
          id="stop5108" />
       <stop
          id="stop5114"
-         offset="0.33917606"
-         style="stop-color:#00ff00;stop-opacity:1" />
+         offset="0.38184431"
+         style="stop-color:#00a000;stop-opacity:1" />
       <stop
          style="stop-color:#000000;stop-opacity:1"
          offset="1"
@@ -252,7 +252,7 @@
       <stop
          id="stop5104"
          offset="0.39717463"
-         style="stop-color:#ff2a2a;stop-opacity:1" />
+         style="stop-color:#aa0000;stop-opacity:1" />
       <stop
          style="stop-color:#0c0000;stop-opacity:1"
          offset="1"
@@ -740,9 +740,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="7.9373969"
-     inkscape:cx="10.296503"
-     inkscape:cy="298.23206"
+     inkscape:zoom="1.9843492"
+     inkscape:cx="13.888309"
+     inkscape:cy="302.67927"
      inkscape:document-units="px"
      inkscape:current-layer="layer6"
      showgrid="false"
@@ -849,7 +849,7 @@
      inkscape:groupmode="layer"
      id="layer4"
      inkscape:label="Yellow Zone"
-     style="display:inline"
+     style="display:none"
      transform="translate(-129.62194,129.52019)"
      sodipodi:insensitive="true">
     <rect
@@ -891,11 +891,10 @@
      inkscape:groupmode="layer"
      id="layer6"
      inkscape:label="Indicator"
-     style="display:none"
-     transform="translate(-129.62194,129.52019)"
-     sodipodi:insensitive="true">
+     style="display:inline"
+     transform="translate(-129.62194,129.52019)">
     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000001;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000000999999998;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
        width="33.162418"
        height="5.9393759"
diff --git a/artwork/GCS Icons/dialog-warning.svg b/artwork/GCS Icons/dialog-warning.svg
new file mode 100644
index 000000000..8de454769
--- /dev/null
+++ b/artwork/GCS Icons/dialog-warning.svg	
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg3247" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.0" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs id="defs3249">
+  <linearGradient id="linearGradient2411" y2="5.4676" gradientUnits="userSpaceOnUse" x2="63.397" gradientTransform="matrix(2.1154 0 0 2.1153 -107.58 32.427)" y1="-12.489" x1="63.397">
+   <stop id="stop4875" style="stop-color:#fff" offset="0"/>
+   <stop id="stop4877" style="stop-color:#fff;stop-opacity:0" offset="1"/>
+  </linearGradient>
+  <linearGradient id="linearGradient2416" y2="3.0816" gradientUnits="userSpaceOnUse" x2="18.379" gradientTransform="matrix(.95844 0 0 .95844 .99752 1.9975)" y1="44.98" x1="18.379">
+   <stop id="stop2492" style="stop-color:#791235" offset="0"/>
+   <stop id="stop2494" style="stop-color:#dd3b27" offset="1"/>
+  </linearGradient>
+  <radialGradient id="radialGradient2414" gradientUnits="userSpaceOnUse" cy="3.99" cx="23.896" gradientTransform="matrix(0 2.2875 -3.0194 0 36.047 -50.63)" r="20.397">
+   <stop id="stop3244" style="stop-color:#f8b17e" offset="0"/>
+   <stop id="stop3246" style="stop-color:#e35d4f" offset=".26238"/>
+   <stop id="stop3248" style="stop-color:#c6262e" offset=".66094"/>
+   <stop id="stop3250" style="stop-color:#690b54" offset="1"/>
+  </radialGradient>
+  <radialGradient id="radialGradient2419" gradientUnits="userSpaceOnUse" cy="4.625" cx="62.625" gradientTransform="matrix(2.1647 0 0 .75294 -111.56 36.518)" r="10.625">
+   <stop id="stop8840" offset="0"/>
+   <stop id="stop8842" style="stop-opacity:0" offset="1"/>
+  </radialGradient>
+ </defs>
+ <g id="layer1">
+  <g id="g3275">
+   <path id="path8836" style="opacity:.3;fill-rule:evenodd;fill:url(#radialGradient2419)" d="m47 40c0 4.418-10.297 8-23 8s-23-3.582-23-8 10.297-8 23-8 23 3.582 23 8z"/>
+   <path id="path2555" style="stroke-linejoin:round;stroke:url(#linearGradient2416);stroke-linecap:round;stroke-width:1.0037;fill:url(#radialGradient2414)" d="m24 5.5018c-10.758 0-19.498 8.7402-19.498 19.498-0.0002 10.758 8.74 19.498 19.498 19.498s19.498-8.74 19.498-19.498-8.74-19.498-19.498-19.498z"/>
+   <path id="path8655" style="opacity:.4;stroke:url(#linearGradient2411);fill:none" d="m42.5 24.999c0 10.218-8.283 18.501-18.5 18.501s-18.5-8.283-18.5-18.501c0-10.217 8.283-18.499 18.5-18.499s18.5 8.282 18.5 18.499z"/>
+  </g>
+  <g id="g3243" transform="translate(51.075 .56862)">
+   <path id="path3295" style="opacity:.2" d="m-29.451 12.554c0.563 5.5 1.208 10.961 1.687 16.482h1.53c0.397-5.302 1.038-10.571 1.501-15.867 0.236-1.254-0.408-2.742-1.732-3.047-1.308-0.3824-2.77 0.565-2.944 1.918-0.029 0.17-0.042 0.342-0.042 0.514zm-0.167 22.359c-0.059 1.637 1.742 2.92 3.28 2.401 1.489-0.38 2.274-2.252 1.51-3.583-0.683-1.375-2.687-1.829-3.84-0.776-0.582 0.479-0.968 1.194-0.95 1.958z"/>
+   <path id="text2315" style="fill:#fff" d="m-29.451 13.555c0.563 5.499 1.208 10.96 1.687 16.481h1.53c0.397-5.301 1.038-10.571 1.501-15.866 0.236-1.254-0.408-2.743-1.732-3.048-1.308-0.382-2.77 0.565-2.944 1.918-0.029 0.17-0.042 0.342-0.042 0.515zm-0.167 22.358c-0.059 1.637 1.742 2.921 3.28 2.402 1.489-0.381 2.274-2.253 1.51-3.584-0.683-1.375-2.687-1.828-3.84-0.776-0.582 0.479-0.968 1.194-0.95 1.958z"/>
+  </g>
+ </g>
+</svg>
diff --git a/flight/AHRS/pios_board.c b/flight/AHRS/pios_board.c
index 395eadd39..aa5b20855 100644
--- a/flight/AHRS/pios_board.c
+++ b/flight/AHRS/pios_board.c
@@ -54,7 +54,6 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
 		.ahb_clk = RCC_AHBPeriph_DMA1,
 
 		.irq = {
-			.handler = PIOS_SPI_op_irq_handler,
 			.flags =
 			(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
 			 DMA1_FLAG_GL4),
@@ -153,11 +152,10 @@ void PIOS_SPI_op_irq_handler(void)
 extern void PIOS_ADC_handler(void);
 void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
 // Remap the ADC DMA handler to this one
-const struct pios_adc_cfg pios_adc_cfg = {
+static const struct pios_adc_cfg pios_adc_cfg = {
 	.dma = {
 		.ahb_clk  = RCC_AHBPeriph_DMA1,
 		.irq = {
-			.handler = PIOS_ADC_DMA_Handler,
 			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
 			.init    = {
 				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
@@ -205,17 +203,10 @@ void PIOS_ADC_handler() {
 /*
  * AUX USART
  */
-void PIOS_USART_aux_irq_handler(void);
-void USART3_IRQHandler()
-    __attribute__ ((alias("PIOS_USART_aux_irq_handler")));
-const struct pios_usart_cfg pios_usart_aux_cfg = {
+static const struct pios_usart_cfg pios_usart_aux_cfg = {
 	.regs = USART3,
 	.init = {
-#if defined (PIOS_USART_BAUDRATE)
-		 .USART_BaudRate = PIOS_USART_BAUDRATE,
-#else
-		 .USART_BaudRate = 57600,
-#endif
+		 .USART_BaudRate = 230400,
 		 .USART_WordLength = USART_WordLength_8b,
 		 .USART_Parity = USART_Parity_No,
 		 .USART_StopBits = USART_StopBits_1,
@@ -224,7 +215,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 		 .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
 		 },
 	.irq = {
-		.handler = PIOS_USART_aux_irq_handler,
 		.init = {
 			 .NVIC_IRQChannel = USART3_IRQn,
 			 .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -250,18 +240,15 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 	       },
 };
 
-static uint32_t pios_usart_aux_id;
-void PIOS_USART_aux_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_aux_id);
-}
-
 #endif /* PIOS_INCLUDE_USART */
 
 #if defined(PIOS_INCLUDE_COM)
 
 #include <pios_com_priv.h>
 
+#define PIOS_COM_AUX_TX_BUF_LEN 192
+static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
+
 #endif /* PIOS_INCLUDE_COM */
 
 #if defined(PIOS_INCLUDE_I2C)
@@ -279,7 +266,7 @@ void I2C1_EV_IRQHandler()
 void I2C1_ER_IRQHandler()
     __attribute__ ((alias("PIOS_I2C_main_adapter_er_irq_handler")));
 
-const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
 	.regs = I2C1,
 	.init = {
 		 .I2C_Mode = I2C_Mode_I2C,
@@ -307,7 +294,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
 			 },
 		},
 	.event = {
-		  .handler = PIOS_I2C_main_adapter_ev_irq_handler,
 		  .flags = 0,	/* FIXME: check this */
 		  .init = {
 			   .NVIC_IRQChannel = I2C1_EV_IRQn,
@@ -317,7 +303,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
 			   },
 		  },
 	.error = {
-		  .handler = PIOS_I2C_main_adapter_er_irq_handler,
 		  .flags = 0,	/* FIXME: check this */
 		  .init = {
 			   .NVIC_IRQChannel = I2C1_ER_IRQn,
@@ -388,11 +373,16 @@ void PIOS_Board_Init(void) {
 	/* Communication system */
 #if !defined(PIOS_ENABLE_DEBUG_PINS)
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id)) {
-		PIOS_DEBUG_Assert(0);
+	{
+		uint32_t pios_usart_aux_id;
+		if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
+			PIOS_DEBUG_Assert(0);
+		}
+		if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
+				  NULL, 0,
+				  pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
+			PIOS_DEBUG_Assert(0);
+		}
 	}
 #endif	/* PIOS_INCLUDE_COM */
 #endif
diff --git a/flight/Bootloaders/AHRS/pios_board.c b/flight/Bootloaders/AHRS/pios_board.c
index 2d3c33a8c..756da9288 100644
--- a/flight/Bootloaders/AHRS/pios_board.c
+++ b/flight/Bootloaders/AHRS/pios_board.c
@@ -55,7 +55,6 @@ static const struct pios_spi_cfg
 					.ahb_clk = RCC_AHBPeriph_DMA1,
 
 					.irq = {
-						.handler = PIOS_SPI_op_irq_handler,
 						.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
 						.init = {
 							.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@@ -133,11 +132,18 @@ void PIOS_SPI_op_irq_handler(void) {
 
 #include "bl_fsm.h"		/* lfsm_* */
 
+static bool board_init_complete = false;
 void PIOS_Board_Init() {
+	if (board_init_complete) {
+		return;
+	}
+
 	/* Set up the SPI interface to the OP board */
 	if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
 	lfsm_attach(pios_spi_op_id);
 	lfsm_init();
+
+	board_init_complete = true;
 }
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index 4fc2f0f08..fe613f909 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -94,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
-SRC += $(FLIGHTLIB)/stopwatch.c
-
 
 ## PIOS Hardware (STM32F10x)
 SRC += $(PIOSSTM32F10X)/pios_sys.c
@@ -139,7 +137,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
 SRC += $(STMSPDSRCDIR)/misc.c
diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c
index 67f6a4c32..aa375a49c 100644
--- a/flight/Bootloaders/CopterControl/main.c
+++ b/flight/Bootloaders/CopterControl/main.c
@@ -28,7 +28,6 @@
 /* Bootloader Includes */
 #include <pios.h>
 #include <pios_board_info.h>
-#include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
 #include "pios_iap.h"
@@ -47,9 +46,9 @@ pFunction Jump_To_Application;
 uint32_t JumpAddress;
 
 /// LEDs PWM
-uint32_t period1 = 50; // *100 uS -> 5 mS
+uint32_t period1 = 5000; // 5 mS
 uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
-uint32_t period2 = 50; // *100 uS -> 5 mS
+uint32_t period2 = 5000; // 5 mS
 uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 
@@ -70,7 +69,6 @@ uint8_t processRX();
 void jump_to_app();
 
 #define BLUE LED1
-#define LED_PWM_TIMER	TIM1
 int main() {
 	PIOS_SYS_Init();
 	if (BSL_HOLD_STATE == 0)
@@ -93,13 +91,17 @@ int main() {
 			DeviceState = DFUidle;
 		else
 			DeviceState = BLidle;
-		STOPWATCH_Init(100, LED_PWM_TIMER);
 	} else
 		JumpToApp = TRUE;
 
-	STOPWATCH_Reset(LED_PWM_TIMER);
-
+	uint32_t stopwatch = 0;
+	uint32_t prev_ticks = PIOS_DELAY_GetuS();
 	while (TRUE) {
+		/* Update the stopwatch */
+		uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
+		prev_ticks += elapsed_ticks;
+		stopwatch += elapsed_ticks;
+
 		if (JumpToApp == TRUE)
 			jump_to_app();
 
@@ -107,19 +109,19 @@ int main() {
 		case Last_operation_Success:
 		case uploadingStarting:
 		case DFUidle:
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
 			PIOS_LED_Off(BLUE);
 			period2 = 0;
 			break;
 		case uploading:
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
-			period2 = 25;
+			period2 = 2500;
 			sweep_steps2 = 50;
 			break;
 		case downloading:
-			period1 = 25;
+			period1 = 2500;
 			sweep_steps1 = 50;
 			PIOS_LED_Off(BLUE);
 			period2 = 0;
@@ -130,14 +132,14 @@ int main() {
 			period2 = 0;
 			break;
 		default://error
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
-			period2 = 50;
+			period2 = 5000;
 			sweep_steps2 = 100;
 		}
 
 		if (period1 != 0) {
-			if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
+			if (LedPWM(period1, sweep_steps1, stopwatch))
 				PIOS_LED_On(BLUE);
 			else
 				PIOS_LED_Off(BLUE);
@@ -145,16 +147,16 @@ int main() {
 			PIOS_LED_On(BLUE);
 
 		if (period2 != 0) {
-			if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
+			if (LedPWM(period2, sweep_steps2, stopwatch))
 				PIOS_LED_On(BLUE);
 			else
 				PIOS_LED_Off(BLUE);
 		} else
 			PIOS_LED_Off(BLUE);
 
-		if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
-			STOPWATCH_Reset(LED_PWM_TIMER);
-		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
+		if (stopwatch > 50 * 1000 * 1000)
+			stopwatch = 0;
+		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
 				== BLidle))
 			JumpToApp = TRUE;
 
@@ -185,20 +187,21 @@ void jump_to_app() {
 	}
 }
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
-	uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
-			/ (pwm_sweep_steps / pwm_period);
-	if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
-			* pwm_sweep_steps)
-		pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
+	uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
+	uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
+
+	uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
+	if (curr_sweep & 1) {
+		pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
+	}
 	return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 }
 
 uint8_t processRX() {
 	while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
-		for (int32_t x = 0; x < 63; ++x) {
-			mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
+		if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+			processComand(mReceive_Buffer);
 		}
-		processComand(mReceive_Buffer);
 	}
 	return TRUE;
 }
diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c
index 2277080d8..28a280f4b 100644
--- a/flight/Bootloaders/CopterControl/pios_board.c
+++ b/flight/Bootloaders/CopterControl/pios_board.c
@@ -31,10 +31,31 @@
 
 #include <pios_com_priv.h>
 
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
+static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
+static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
+
 #endif /* PIOS_INCLUDE_COM */
 
 // ***********************************************************************************
 
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_usb_id;
@@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
  * initializes all the core subsystems on this specific hardware
  * called from System/openpilot.c
  */
+static bool board_init_complete = false;
 void PIOS_Board_Init(void) {
+	if (board_init_complete) {
+		return;
+	}
+
 	/* Enable Prefetch Buffer */
 	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
 
@@ -58,13 +84,20 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg)) {
+		PIOS_Assert(0);
+	}
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
+			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif  /* PIOS_INCLUDE_USB_HID */
+#endif	/* PIOS_INCLUDE_USB_HID */
 
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
+
+	board_init_complete = true;
 }
diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c
index 3ed5a80aa..8e15952ea 100644
--- a/flight/Bootloaders/OpenPilot/main.c
+++ b/flight/Bootloaders/OpenPilot/main.c
@@ -250,10 +250,9 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
 uint8_t processRX() {
 	if (ProgPort == Usb) {
 		while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
-			for (int32_t x = 0; x < 63; ++x) {
-				mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
+			if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+				processComand(mReceive_Buffer);
 			}
-			processComand(mReceive_Buffer);
 		}
 	} else if (ProgPort == Serial) {
 
@@ -279,7 +278,12 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) {
 }
 int16_t SSP_SerialRead(void) {
 	if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) {
-		return PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF);
+		uint8_t byte;
+		if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) {
+			return byte;
+		} else {
+			return -1;
+		}	    
 	} else
 		return -1;
 }
diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c
index 0f8e4ae81..5defbb626 100644
--- a/flight/Bootloaders/OpenPilot/pios_board.c
+++ b/flight/Bootloaders/OpenPilot/pios_board.c
@@ -60,7 +60,6 @@ const struct pios_spi_cfg
 					.ahb_clk = RCC_AHBPeriph_DMA1,
 
 					.irq = {
-						.handler = PIOS_SPI_ahrs_irq_handler,
 						.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
 						.init = {
 							.NVIC_IRQChannel = DMA1_Channel4_IRQn,
@@ -143,9 +142,9 @@ void PIOS_SPI_ahrs_irq_handler(void) {
 /*
  * Telemetry USART
  */
-void PIOS_USART_telem_irq_handler(void);
-void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
-const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
+const struct pios_usart_cfg pios_usart_telem_cfg = {
+	.regs = USART2,
+	.init = {
 #if defined (PIOS_COM_TELEM_BAUDRATE)
 		.USART_BaudRate = PIOS_COM_TELEM_BAUDRATE,
 #else
@@ -157,7 +156,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
 		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
 		.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
 	}, .irq = {
-		.handler = PIOS_USART_telem_irq_handler,
 		.init = {
 			.NVIC_IRQChannel = USART2_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -180,19 +178,41 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { .regs = USART2, .init = {
 		},
 	}, };
 
-static uint32_t pios_usart_telem_rf_id;
-void PIOS_USART_telem_irq_handler(void) {
-	PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
-}
-
 #endif	/* PIOS_INCLUDE_USART */
 
 #if defined(PIOS_INCLUDE_COM)
 
 #include "pios_com_priv.h"
 
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
+static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
+static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
+
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
+
+static uint8_t pios_com_telem_rf_rx_buffer[PIOS_COM_TELEM_RF_RX_BUF_LEN];
+static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
+
 #endif	/* PIOS_INCLUDE_COM */
 
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_rf_id;
@@ -205,7 +225,11 @@ uint32_t pios_com_telem_usb_id;
  * initializes all the core subsystems on this specific hardware
  * called from System/openpilot.c
  */
+static bool board_init_complete = false;
 void PIOS_Board_Init(void) {
+	if (board_init_complete) {
+		return;
+	}
 
 	/* Enable Prefetch Buffer */
 	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
@@ -218,11 +242,14 @@ void PIOS_Board_Init(void) {
 
 	/* Initialize the PiOS library */
 #if defined(PIOS_INCLUDE_COM)
+	uint32_t pios_usart_telem_rf_id;
 	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
 	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
-			pios_usart_telem_rf_id)) {
+			  pios_usart_telem_rf_id,
+			  pios_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer),
+			  pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) {
 		PIOS_DEBUG_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
@@ -230,13 +257,16 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
+			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif  /* PIOS_INCLUDE_USB_HID */
+#endif	/* PIOS_INCLUDE_USB_HID */
 
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
 
@@ -247,6 +277,8 @@ void PIOS_Board_Init(void) {
 
 	/* Bind the AHRS comms layer to the AHRS SPI link */
 	PIOS_OPAHRS_Attach(pios_spi_ahrs_id);
+
+	board_init_complete = true;
 }
 
 /**
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index dbf537bab..64f13d0d2 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -94,8 +94,6 @@ DOXYGENDIR = ../Doc/Doxygen
 SRC += $(OPSYSTEM)/main.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
-SRC += $(FLIGHTLIB)/stopwatch.c
-
 
 ## PIOS Hardware (STM32F10x)
 SRC += $(PIOSSTM32F10X)/pios_sys.c
@@ -138,7 +136,6 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
 SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
 SRC += $(STMSPDSRCDIR)/misc.c
diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c
index d1568d163..3f1c4bd54 100644
--- a/flight/Bootloaders/PipXtreme/main.c
+++ b/flight/Bootloaders/PipXtreme/main.c
@@ -28,7 +28,6 @@
 /* Bootloader Includes */
 #include <pios.h>
 #include <pios_board_info.h>
-#include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
 #include "pios_iap.h"
@@ -47,9 +46,9 @@ pFunction Jump_To_Application;
 uint32_t JumpAddress;
 
 /// LEDs PWM
-uint32_t period1 = 50; // *100 uS -> 5 mS
+uint32_t period1 = 5000; // 5 mS
 uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
-uint32_t period2 = 50; // *100 uS -> 5 mS
+uint32_t period2 = 5000; // 5 mS
 uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 
 
@@ -71,7 +70,6 @@ void jump_to_app();
 
 #define BLUE LED1
 #define RED	LED4
-#define LED_PWM_TIMER	TIM3
 int main() {
 	/* NOTE: Do NOT modify the following start-up sequence */
 	/* Any new initialization functions should be added in OpenPilotInit() */
@@ -98,35 +96,37 @@ int main() {
 			DeviceState = DFUidle;
 		else
 			DeviceState = BLidle;
-		STOPWATCH_Init(100, LED_PWM_TIMER);
 	} else
 		JumpToApp = TRUE;
 
-	STOPWATCH_Reset(LED_PWM_TIMER);
-
+	uint32_t stopwatch = 0;
+	uint32_t prev_ticks = PIOS_DELAY_GetuS();
 	while (TRUE) {
+		/* Update the stopwatch */
+		uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
+		prev_ticks += elapsed_ticks;
+		stopwatch += elapsed_ticks;
+
 		if (JumpToApp == TRUE)
 			jump_to_app();
-		//pwm_period = 50; // *100 uS -> 5 mS
-		//pwm_sweep_steps =100; // * 5 mS -> 500 mS
 
 		switch (DeviceState) {
 		case Last_operation_Success:
 		case uploadingStarting:
 		case DFUidle:
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
 			PIOS_LED_Off(RED);
 			period2 = 0;
 			break;
 		case uploading:
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
-			period2 = 25;
+			period2 = 2500;
 			sweep_steps2 = 50;
 			break;
 		case downloading:
-			period1 = 25;
+			period1 = 2500;
 			sweep_steps1 = 50;
 			PIOS_LED_Off(RED);
 			period2 = 0;
@@ -137,14 +137,14 @@ int main() {
 			period2 = 0;
 			break;
 		default://error
-			period1 = 50;
+			period1 = 5000;
 			sweep_steps1 = 100;
-			period2 = 50;
+			period2 = 5000;
 			sweep_steps2 = 100;
 		}
 
 		if (period1 != 0) {
-			if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
+			if (LedPWM(period1, sweep_steps1, stopwatch))
 				PIOS_LED_On(BLUE);
 			else
 				PIOS_LED_Off(BLUE);
@@ -152,16 +152,16 @@ int main() {
 			PIOS_LED_On(BLUE);
 
 		if (period2 != 0) {
-			if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
+			if (LedPWM(period2, sweep_steps2, stopwatch))
 				PIOS_LED_On(RED);
 			else
 				PIOS_LED_Off(RED);
 		} else
 			PIOS_LED_Off(RED);
 
-		if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
-			STOPWATCH_Reset(LED_PWM_TIMER);
-		if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
+		if (stopwatch > 50 * 1000 * 1000)
+			stopwatch = 0;
+		if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
 				== BLidle))
 			JumpToApp = TRUE;
 
@@ -193,20 +193,21 @@ void jump_to_app() {
 	}
 }
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
-	uint32_t pwm_duty = ((count / pwm_period) % pwm_sweep_steps)
-			/ (pwm_sweep_steps / pwm_period);
-	if ((count % (2 * pwm_period * pwm_sweep_steps)) > pwm_period
-			* pwm_sweep_steps)
-		pwm_duty = pwm_period - pwm_duty; // negative direction each 50*100 ticks
+	uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
+	uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
+
+	uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
+	if (curr_sweep & 1) {
+		pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
+	}
 	return ((count % pwm_period) > pwm_duty) ? 1 : 0;
 }
 
 uint8_t processRX() {
 	while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) {
-		for (int32_t x = 0; x < 63; ++x) {
-			mReceive_Buffer[x] = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB);
+		if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+			processComand(mReceive_Buffer);
 		}
-		processComand(mReceive_Buffer);
 	}
 	return TRUE;
 }
diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c
index 2277080d8..83f0f407a 100644
--- a/flight/Bootloaders/PipXtreme/pios_board.c
+++ b/flight/Bootloaders/PipXtreme/pios_board.c
@@ -31,10 +31,31 @@
 
 #include <pios_com_priv.h>
 
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
+static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
+static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
+
 #endif /* PIOS_INCLUDE_COM */
 
 // ***********************************************************************************
 
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_usb_id;
@@ -44,7 +65,12 @@ uint32_t pios_com_telem_usb_id;
  * initializes all the core subsystems on this specific hardware
  * called from System/openpilot.c
  */
+static bool board_init_complete = false;
 void PIOS_Board_Init(void) {
+	if (board_init_complete) {
+		return;
+	}
+
 	/* Enable Prefetch Buffer */
 	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
 
@@ -58,13 +84,18 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
+			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif  /* PIOS_INCLUDE_USB_HID */
+#endif	/* PIOS_INCLUDE_USB_HID */
 
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
+
+	board_init_complete = true;
 }
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 349edd2d1..78e62bb89 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -45,7 +45,7 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-USE_SPEKTRUM ?= NO
+USE_GPS ?= NO
 
 USE_I2C ?= NO
 
@@ -113,12 +113,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-MODNAMES = $(notdir ${MODULES})
-
 ifndef TESTAPP
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += ${OUTDIR}/InitMods.c
 ## OPENPILOT CORE:
 SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/coptercontrol.c
@@ -166,6 +163,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
 SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
+SRC += $(OPUAVSYNTHDIR)/hwsettings.c
 #${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
 #SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
 # Cant use until i can automatically generate list of UAVObjects
@@ -185,6 +183,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
 SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
@@ -207,6 +206,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
@@ -379,15 +379,15 @@ endif
 ifeq ($(ERASE_FLASH), YES)
 CDEFS += -DERASE_FLASH
 endif
-ifeq ($(USE_SPEKTRUM), YES)
-CDEFS += -DUSE_SPEKTRUM
+
+ifneq ($(USE_GPS), NO)
+CDEFS += -DUSE_GPS
 endif
 
 ifeq ($(USE_I2C), YES)
 CDEFS += -DUSE_I2C
 endif
 
-
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -487,7 +487,7 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
 # Default target.
-all: gencode build
+all: build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex lss sym
@@ -503,18 +503,6 @@ endif
 endif
 endif
 
-# Generate intermediate code for objects
-gencode: ${OUTDIR}/InitMods.c
-
-# Generate code for module initialization
-${OUTDIR}/InitMods.c: Makefile
-	@echo $(MSG_MODINIT) $(call toprel, $@)
-	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
-	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
-	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
-	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
-	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
-
 # Generate code for PyMite
 #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py) 
 #	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
@@ -621,4 +609,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list gencode install
+.PHONY : all build clean clean_list install
diff --git a/flight/CopterControl/System/coptercontrol.c b/flight/CopterControl/System/coptercontrol.c
index 060fb3646..f66cf1cf5 100644
--- a/flight/CopterControl/System/coptercontrol.c
+++ b/flight/CopterControl/System/coptercontrol.c
@@ -42,18 +42,16 @@
 
 /* Global Variables */
 
-/* Prototype of generated InitModules() function */
-extern void InitModules(void);
-
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
+extern void Stack_Change(void);
 
 /**
 * OpenPilot Main function:
 *
 * Initialize PiOS<BR>
 * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
-* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
+* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
 * If something goes wrong, blink LED1 and LED2 every 100ms
 *
 */
@@ -65,40 +63,32 @@ int main()
 	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
 
-	/* Initialize the system thread */
-	SystemModInitialize();
-	
-	/* Start the FreeRTOS scheduler */
-	vTaskStartScheduler();
-
-	/* If all is well we will never reach here as the scheduler will now be running. */
-	/* If we do get here, it will most likely be because we ran out of heap space. */
-
-	return 0;
-}
-
-/**
- * Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
- */
-void OpenPilotInit()
-{
-
 	/* Architecture dependant Hardware and
 	 * core subsystem initialisation
 	 * (see pios_board.c for your arch)
 	 * */
-	
 	PIOS_Board_Init();
-	
-#ifdef ERASE_FLASH
-	PIOS_Flash_W25X_EraseChip();
-	while(TRUE){};
-#endif
 
 	/* Initialize modules */
-	InitModules();
-}
+	MODULE_INITIALISE_ALL
 
+	/* swap the stack to use the IRQ stack */
+	Stack_Change();
+
+	/* Start the FreeRTOS scheduler which should never returns.*/
+	vTaskStartScheduler();
+
+	/* If all is well we will never reach here as the scheduler will now be running. */
+
+	/* Do some indication to user that something bad just happened */
+	PIOS_LED_Off(LED1); \
+	for(;;) { \
+		PIOS_LED_Toggle(LED1); \
+		PIOS_DELAY_WaitmS(100); \
+	};
+
+    return 0;
+}
 
 /**
  * @}
diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h
index c05f71ea5..45b0b8902 100644
--- a/flight/CopterControl/System/inc/FreeRTOSConfig.h
+++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h
@@ -9,7 +9,7 @@
  * application requirements.
  *
  * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
- * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
  *
  * See http://www.freertos.org/a00110.html.
  *----------------------------------------------------------*/
@@ -29,8 +29,8 @@
 #define configCPU_CLOCK_HZ		( ( unsigned long ) 72000000 )
 #define configTICK_RATE_HZ		( ( portTickType ) 1000 )
 #define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
-#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 128 )
-#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 14 * 1024 ) )
+#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 48 )
+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 54 * 256) )
 #define configMAX_TASK_NAME_LEN		( 16 )
 #define configUSE_TRACE_FACILITY	0
 #define configUSE_16_BIT_TICKS		0
@@ -71,6 +71,10 @@ configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
 NVIC value of 255. */
 #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
 
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
+#define CHECK_IRQ_STACK
+#endif
+
 /* Enable run time stats collection */
 //#if defined(DEBUG)
 #define configGENERATE_RUN_TIME_STATS 1
@@ -83,6 +87,7 @@ do {\
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
 //#endif
 
+
 /**
   * @}
   */
diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index 392771a26..8e09d71ca 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -1,107 +1,113 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotCore OpenPilot Core
- * @{
- *
- * @file       pios_config.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      PiOS configuration header. 
- *             Central compile time config for the project.
- *             In particular, pios_config.h is where you define which PiOS libraries
- *             and features are included in the firmware.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-#ifndef PIOS_CONFIG_H
-#define PIOS_CONFIG_H
-
-
-/* Enable/Disable PiOS Modules */
-#define PIOS_INCLUDE_ADC
-#define PIOS_INCLUDE_DELAY
-#if defined(USE_I2C)
-#define PIOS_INCLUDE_I2C
-#define PIOS_INCLUDE_I2C_ESC
-#endif
-#define PIOS_INCLUDE_IRQ
-#define PIOS_INCLUDE_LED
-
-#if defined(USE_SPEKTRUM)
-#define PIOS_INCLUDE_SPEKTRUM
-#else
-#define PIOS_INCLUDE_GPS
-//#define PIOS_INCLUDE_PPM
-#define PIOS_INCLUDE_PWM
-#endif
-
-
-#define PIOS_INCLUDE_SERVO
-#define PIOS_INCLUDE_SPI
-#define PIOS_INCLUDE_SYS
-#define PIOS_INCLUDE_USART
-#define PIOS_INCLUDE_USB_HID
-#define PIOS_INCLUDE_COM
-#define PIOS_INCLUDE_SETTINGS
-#define PIOS_INCLUDE_FREERTOS
-#define PIOS_INCLUDE_GPIO
-#define PIOS_INCLUDE_EXTI
-#define PIOS_INCLUDE_RTC
-#define PIOS_INCLUDE_WDG
-#define PIOS_INCLUDE_BL_HELPER
-
-#define PIOS_INCLUDE_ADXL345
-#define PIOS_INCLUDE_FLASH
-
-/* A really shitty setting saving implementation */
-#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
-
-/* Defaults for Logging */
-#define LOG_FILENAME 			"PIOS.LOG"
-#define STARTUP_LOG_ENABLED		1
-
-/* COM Module */
-#define GPS_BAUDRATE			19200
-#define TELEM_BAUDRATE			19200
-#define AUXUART_ENABLED			0
-#define AUXUART_BAUDRATE		19200
-
-/* Alarm Thresholds */
-#define HEAP_LIMIT_WARNING             220
-#define HEAP_LIMIT_CRITICAL            150
-#define CPULOAD_LIMIT_WARNING		80
-#define CPULOAD_LIMIT_CRITICAL		95
-
-/* Task stack sizes */
-#define PIOS_ACTUATOR_STACK_SIZE       1020
-#define PIOS_MANUAL_STACK_SIZE          724
-#define PIOS_SYSTEM_STACK_SIZE          560
-#define PIOS_STABILIZATION_STACK_SIZE   524
-#define PIOS_TELEM_STACK_SIZE           500
-
-#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
-//#define PIOS_QUATERNION_STABILIZATION
-
-#endif /* PIOS_CONFIG_H */
-/**
- * @}
- * @}
- */
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ *
+ * @file       pios_config.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header.
+ *             Central compile time config for the project.
+ *             In particular, pios_config.h is where you define which PiOS libraries
+ *             and features are included in the firmware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_ADC
+#define PIOS_INCLUDE_DELAY
+#if defined(USE_I2C)
+#define PIOS_INCLUDE_I2C
+#define PIOS_INCLUDE_I2C_ESC
+#endif
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_LED
+
+#define PIOS_INCLUDE_RCVR
+
+/* Supported receiver interfaces */
+#define PIOS_INCLUDE_SPEKTRUM
+#define PIOS_INCLUDE_SBUS
+//#define PIOS_INCLUDE_PPM
+#define PIOS_INCLUDE_PWM
+
+/* Supported USART-based PIOS modules */
+#define PIOS_INCLUDE_TELEMETRY_RF
+//#define PIOS_INCLUDE_GPS
+
+#define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_SPI
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_USART
+#define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_SETTINGS
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_RTC
+#define PIOS_INCLUDE_WDG
+#define PIOS_INCLUDE_BL_HELPER
+
+#define PIOS_INCLUDE_ADXL345
+#define PIOS_INCLUDE_FLASH
+
+/* A really shitty setting saving implementation */
+#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
+
+/* Defaults for Logging */
+#define LOG_FILENAME 			"PIOS.LOG"
+#define STARTUP_LOG_ENABLED		1
+
+/* COM Module */
+#define GPS_BAUDRATE			19200
+#define TELEM_BAUDRATE			19200
+#define AUXUART_ENABLED			0
+#define AUXUART_BAUDRATE		19200
+
+/* Alarm Thresholds */
+#define HEAP_LIMIT_WARNING             220
+#define HEAP_LIMIT_CRITICAL             40
+#define IRQSTACK_LIMIT_WARNING		100
+#define IRQSTACK_LIMIT_CRITICAL		60
+#define CPULOAD_LIMIT_WARNING		85
+#define CPULOAD_LIMIT_CRITICAL		95
+
+/* Task stack sizes */
+#define PIOS_ACTUATOR_STACK_SIZE       1020
+#define PIOS_MANUAL_STACK_SIZE          724
+#define PIOS_SYSTEM_STACK_SIZE          460
+#define PIOS_STABILIZATION_STACK_SIZE   524
+#define PIOS_TELEM_STACK_SIZE           500
+#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
+//#define PIOS_QUATERNION_STABILIZATION
+
+// This can't be too high to stop eventdispatcher thread overflowing
+#define PIOS_EVENTDISAPTCHER_QUEUE      10
+
+#endif /* PIOS_CONFIG_H */
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 53dd5b505..ee3deaf5c 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -30,10 +30,11 @@
 #include <pios.h>
 #include <openpilot.h>
 #include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <manualcontrolsettings.h>
 
 #if defined(PIOS_INCLUDE_SPI)
 
-
 #include <pios_spi_priv.h>
 
 /* Flash/Accel Interface
@@ -44,7 +45,7 @@
 void PIOS_SPI_flash_accel_irq_handler(void);
 void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
 void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_flash_accel_irq_handler")));
-const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
+static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
   .regs   = SPI2,
   .init   = {
     .SPI_Mode              = SPI_Mode_Master,
@@ -62,7 +63,6 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
     .ahb_clk  = RCC_AHBPeriph_DMA1,
     
     .irq = {
-      .handler = PIOS_SPI_flash_accel_irq_handler,
       .flags   = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
       .init    = {
 	.NVIC_IRQChannel                   = DMA1_Channel4_IRQn,
@@ -151,11 +151,10 @@ void PIOS_SPI_flash_accel_irq_handler(void)
 extern void PIOS_ADC_handler(void);
 void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
 // Remap the ADC DMA handler to this one
-const struct pios_adc_cfg pios_adc_cfg = {
+static const struct pios_adc_cfg pios_adc_cfg = {
 	.dma = {
 		.ahb_clk  = RCC_AHBPeriph_DMA1,
 		.irq = {
-			.handler = PIOS_ADC_DMA_Handler,
 			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
 			.init    = {
 				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
@@ -200,19 +199,14 @@ void PIOS_ADC_handler() {
 
 #include "pios_usart_priv.h"
 
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
 /*
  * Telemetry USART
  */
-void PIOS_USART_telem_irq_handler(void);
-void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
-const struct pios_usart_cfg pios_usart_telem_cfg = {
+static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
   .regs  = USART1,
   .init = {
-    #if defined (PIOS_COM_TELEM_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_TELEM_BAUDRATE,
-    #else
-        .USART_BaudRate        = 57600,
-    #endif
+    .USART_BaudRate            = 57600,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
@@ -220,7 +214,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
     .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
   },
   .irq = {
-    .handler = PIOS_USART_telem_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART1_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -246,20 +239,10 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
   },
 };
 
-#if defined(PIOS_INCLUDE_GPS)
-/*
- * GPS USART
- */
-void PIOS_USART_gps_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
-const struct pios_usart_cfg pios_usart_gps_cfg = {
-  .regs = USART3,
+static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
+  .regs  = USART3,
   .init = {
-    #if defined (PIOS_COM_GPS_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_GPS_BAUDRATE,
-    #else
-        .USART_BaudRate        = 57600,
-    #endif
+    .USART_BaudRate            = 57600,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
@@ -267,7 +250,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
     .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
   },
   .irq = {
-    .handler = PIOS_USART_gps_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART3_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -292,22 +274,143 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
     },
   },
 };
-#endif
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+
+#if defined(PIOS_INCLUDE_GPS)
+/*
+ * GPS USART
+ */
+static const struct pios_usart_cfg pios_usart_gps_main_cfg = {
+  .regs = USART1,
+  .init = {
+    .USART_BaudRate            = 57600,
+    .USART_WordLength          = USART_WordLength_8b,
+    .USART_Parity              = USART_Parity_No,
+    .USART_StopBits            = USART_StopBits_1,
+    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
+  },
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USART1_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+  .rx   = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_10,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .tx   = {
+    .gpio = GPIOA,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_9,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+
+static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = {
+  .regs = USART3,
+  .init = {
+    .USART_BaudRate            = 57600,
+    .USART_WordLength          = USART_WordLength_8b,
+    .USART_Parity              = USART_Parity_No,
+    .USART_StopBits            = USART_StopBits_1,
+    .USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+    .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
+  },
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USART3_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+  .rx   = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_11,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_IPU,
+    },
+  },
+  .tx   = {
+    .gpio = GPIOB,
+    .init = {
+      .GPIO_Pin   = GPIO_Pin_10,
+      .GPIO_Speed = GPIO_Speed_2MHz,
+      .GPIO_Mode  = GPIO_Mode_AF_PP,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_GPS */
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 /*
  * SPEKTRUM USART
  */
-void PIOS_USART_spektrum_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
-const struct pios_usart_cfg pios_usart_spektrum_cfg = {
-	.regs = USART3,
+#include <pios_spektrum_priv.h>
+
+static const struct pios_usart_cfg pios_usart_spektrum_main_cfg = {
+	.regs = USART1,
 	.init = {
-	#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
-		.USART_BaudRate        = PIOS_COM_SPEKTRUM_BAUDRATE,
-	#else
-		.USART_BaudRate        = 115200,
-	#endif
+		.USART_BaudRate            = 115200,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_No,
+		.USART_StopBits            = USART_StopBits_1,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = USART1_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		  },
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IPU,
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+		},
+	},
+};
+
+static const struct pios_spektrum_cfg pios_spektrum_main_cfg = {
+	.bind = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_Out_PP,
+		},
+	},
+	.remap = 0,
+};
+
+static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
+	.regs = USART3,
+	.init = {
+		.USART_BaudRate            = 115200,
 		.USART_WordLength          = USART_WordLength_8b,
 		.USART_Parity              = USART_Parity_No,
 		.USART_StopBits            = USART_StopBits_1,
@@ -315,7 +418,6 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
 		.USART_Mode                = USART_Mode_Rx,
 	},
 	.irq = {
-		.handler = PIOS_USART_spektrum_irq_handler,
 		.init = {
 			.NVIC_IRQChannel                   = USART3_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -341,75 +443,128 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
 	},
 };
 
-static uint32_t pios_usart_spektrum_id;
-void PIOS_USART_spektrum_irq_handler(void)
-{
-	SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
-}
-
-#include <pios_spektrum_priv.h>
-void RTC_IRQHandler();
-void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
-const struct pios_spektrum_cfg pios_spektrum_cfg = {
-	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.gpio_init = { //used for bind feature
-		.GPIO_Mode = GPIO_Mode_Out_PP,
-		.GPIO_Speed = GPIO_Speed_2MHz,
-	},
-	.remap = 0,
-	.irq = {
-		.handler = RTC_IRQHandler,
-		.init    = {
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
+static const struct pios_spektrum_cfg pios_spektrum_flexi_cfg = {
+	.bind = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_11,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_Out_PP,
 		},
 	},
-	.port = GPIOB,
-	.pin = GPIO_Pin_11,
+	.remap = 0,
 };
 
-void PIOS_SUPV_irq_handler() {
-	if (RTC_GetITStatus(RTC_IT_SEC))
-	{
-		/* Call the right handler */
-		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
-
-		/* Wait until last write operation on RTC registers has finished */
-		RTC_WaitForLastTask();
-		/* Clear the RTC Second interrupt */
-		RTC_ClearITPendingBit(RTC_IT_SEC);
-	}
-}
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 
-static uint32_t pios_usart_telem_rf_id;
-void PIOS_USART_telem_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
-}
+#if defined(PIOS_INCLUDE_SBUS)
+/*
+ * SBUS USART
+ */
+#include <pios_sbus_priv.h>
 
-#if defined(PIOS_INCLUDE_GPS)
-static uint32_t pios_usart_gps_id;
-void PIOS_USART_gps_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_gps_id);
-}
-#endif	/* PIOS_INCLUDE_GPS */
+static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
+	.regs = USART1,
+	.init = {
+		.USART_BaudRate            = 100000,
+		.USART_WordLength          = USART_WordLength_8b,
+		.USART_Parity              = USART_Parity_Even,
+		.USART_StopBits            = USART_StopBits_2,
+		.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
+		.USART_Mode                = USART_Mode_Rx,
+	},
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = USART1_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		  },
+	},
+	.rx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IPU,
+		},
+	},
+	.tx = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+		},
+	},
+};
 
-#endif	/* PIOS_INCLUDE_USART */
+static const struct pios_sbus_cfg pios_sbus_cfg = {
+	/* Inverter configuration */
+	.inv = {
+		.gpio = GPIOB,
+		.init = {
+			.GPIO_Pin = GPIO_Pin_2,
+			.GPIO_Mode = GPIO_Mode_Out_PP,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+		},
+	},
+	.gpio_clk_func = RCC_APB2PeriphClockCmd,
+	.gpio_clk_periph = RCC_APB2Periph_GPIOB,
+	.gpio_inv_enable = Bit_SET,
+};
+
+#endif	/* PIOS_INCLUDE_SBUS */
+
+#endif  /* PIOS_INCLUDE_USART */
 
 #if defined(PIOS_INCLUDE_COM)
 
 #include "pios_com_priv.h"
 
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
+
+#define PIOS_COM_GPS_RX_BUF_LEN 96
+
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
 #endif	/* PIOS_INCLUDE_COM */
 
+#if defined(PIOS_INCLUDE_RTC)
+/*
+ * Realtime Clock (RTC)
+ */
+#include <pios_rtc_priv.h>
+
+void PIOS_RTC_IRQ_Handler (void);
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
+static const struct pios_rtc_cfg pios_rtc_main_cfg = {
+	.clksrc = RCC_RTCCLKSource_HSE_Div128,
+	.prescaler = 100,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = RTC_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		  },
+	},
+};
+
+void PIOS_RTC_IRQ_Handler (void)
+{
+	PIOS_RTC_irq_handler ();
+}
+
+#endif
+
 /* 
  * Servo outputs 
  */
 #include <pios_servo_priv.h>
-const struct pios_servo_channel pios_servo_channels[] = {
+static const struct pios_servo_channel pios_servo_channels[] = {
 	{
 		.timer = TIM4,
 		.port = GPIOB,
@@ -475,13 +630,64 @@ const struct pios_servo_cfg pios_servo_cfg = {
 	.num_channels = NELEMENTS(pios_servo_channels),
 };
 
+#if defined(PIOS_INCLUDE_PWM) && defined(PIOS_INCLUDE_PPM)
+#error Cannot define both PIOS_INCLUDE_PWM and PIOS_INCLUDE_PPM at the same time (yet)
+#endif
+
+/*
+ * PPM Inputs
+ */
+#if defined(PIOS_INCLUDE_PPM)
+#include <pios_ppm_priv.h>
+
+void TIM4_IRQHandler();
+void TIM4_IRQHandler() __attribute__ ((alias ("PIOS_TIM4_irq_handler")));
+const struct pios_ppm_cfg pios_ppm_cfg = {
+	.tim_base_init = {
+		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
+		.TIM_ClockDivision = TIM_CKD_DIV1,
+		.TIM_CounterMode = TIM_CounterMode_Up,
+		.TIM_Period = 0xFFFF, /* shared timer, make sure init correctly in outputs */
+		.TIM_RepetitionCounter = 0x0000,
+	},
+	.tim_ic_init = {
+		.TIM_Channel = TIM_Channel_1,
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+	},
+	.gpio_init = {
+		.GPIO_Pin = GPIO_Pin_6,
+		.GPIO_Mode = GPIO_Mode_IPD,
+		.GPIO_Speed = GPIO_Speed_2MHz,
+	},
+	.remap = 0,
+	.irq = {
+		.init    = {
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		},
+	},
+	.timer = TIM4,
+	.port = GPIOB,
+	.ccr = TIM_IT_CC1,
+};
+
+void PIOS_TIM4_irq_handler()
+{
+	PIOS_PPM_irq_handler();
+}
+#endif	/* PIOS_INCLUDE_PPM */
 
 /* 
  * PWM Inputs 
  */
 #if defined(PIOS_INCLUDE_PWM)
 #include <pios_pwm_priv.h>
-const struct pios_pwm_channel pios_pwm_channels[] = {
+
+static const struct pios_pwm_channel pios_pwm_channels[] = {
 	{
 		.timer = TIM4,
 		.port = GPIOB,
@@ -552,7 +758,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM2_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
@@ -589,7 +794,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
 void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
 void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
 
-const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
   .regs = I2C2,
   .init = {
     .I2C_Mode                = I2C_Mode_I2C,
@@ -617,7 +822,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
     },
   },
   .event = {
-    .handler = PIOS_I2C_main_adapter_ev_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_EV_IRQn,
@@ -627,7 +831,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
     },
   },
   .error = {
-    .handler = PIOS_I2C_main_adapter_er_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_ER_IRQn,
@@ -653,12 +856,33 @@ void PIOS_I2C_main_adapter_er_irq_handler(void)
 
 #endif /* PIOS_INCLUDE_I2C */
 
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+uint32_t pios_rcvr_max_channel;
+#endif /* PIOS_INCLUDE_RCVR */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_rf_id;
 uint32_t pios_com_telem_usb_id;
 uint32_t pios_com_gps_id;
-uint32_t pios_com_spektrum_id;
 
 /**
  * PIOS_Board_Init()
@@ -668,57 +892,257 @@ uint32_t pios_com_spektrum_id;
 void PIOS_Board_Init(void) {
 
 	/* Delay system */
-	PIOS_DELAY_Init();	
-	
+	PIOS_DELAY_Init();
+
 	/* Set up the SPI interface to the serial flash */
 	if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
 
 	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);	
 	PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
-	
+
 	PIOS_FLASHFS_Init();
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* SPEKTRUM init must come before comms */
-	PIOS_SPEKTRUM_Init();
-
-	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
-#endif
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 	UAVObjectsInitializeAll();
 
+#if defined(PIOS_INCLUDE_RTC)
+	/* Initialize the real-time clock and its associated tick */
+	PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+
 	/* Initialize the alarms library */
 	AlarmsInitialize();
 
 	/* Initialize the task monitor library */
 	TaskMonitorInitialize();
 
-	/* Initialize the PiOS library */
-#if defined(PIOS_INCLUDE_COM)
-	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
+	/* Configure the main IO port */
+	uint8_t hwsettings_cc_mainport;
+	HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
+
+	switch (hwsettings_cc_mainport) {
+	case HWSETTINGS_CC_MAINPORT_DISABLED:
+		break;
+	case HWSETTINGS_CC_MAINPORT_TELEMETRY:
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+		{
+			uint32_t pios_usart_telem_rf_id;
+			if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
+				PIOS_Assert(0);
+			}
+
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
+					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_TELEMETRY_RF */
+		break;
+	case HWSETTINGS_CC_MAINPORT_SBUS:
+#if defined(PIOS_INCLUDE_SBUS)
+		{
+			uint32_t pios_usart_sbus_id;
+			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
+				PIOS_Assert(0);
+			}
+
+			uint32_t pios_sbus_id;
+			if (PIOS_SBUS_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_SBUS */
+		break;
+	case HWSETTINGS_CC_MAINPORT_GPS:
 #if defined(PIOS_INCLUDE_GPS)
-	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
+		{
+			uint32_t pios_usart_gps_id;
+			if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) {
+				PIOS_Assert(0);
+			}
+
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
+					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+					  NULL, 0)) {
+				PIOS_Assert(0);
+			}
+		}
 #endif	/* PIOS_INCLUDE_GPS */
-#endif	/* PIOS_INCLUDE_COM */
+		break;
+	case HWSETTINGS_CC_MAINPORT_SPEKTRUM:
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+		{
+			uint32_t pios_usart_spektrum_id;
+			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) {
+				PIOS_Assert(0);
+			}
+
+			uint32_t pios_spektrum_id;
+			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_SPEKTRUM */
+		break;
+	case HWSETTINGS_CC_MAINPORT_COMAUX:
+		break;
+	}
+
+	/* Configure the flexi port */
+	uint8_t hwsettings_cc_flexiport;
+	HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
+
+	switch (hwsettings_cc_flexiport) {
+	case HWSETTINGS_CC_FLEXIPORT_DISABLED:
+		break;
+	case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+		{
+			uint32_t pios_usart_telem_rf_id;
+			if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
+  					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+		break;
+	case HWSETTINGS_CC_FLEXIPORT_GPS:
+#if defined(PIOS_INCLUDE_GPS)
+		{
+			uint32_t pios_usart_gps_id;
+			if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
+					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+					  NULL, 0)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_GPS */
+		break;
+	case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM:
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+		{
+			uint32_t pios_usart_spektrum_id;
+			if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) {
+				PIOS_Assert(0);
+			}
+
+			uint32_t pios_spektrum_id;
+			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_SPEKTRUM */
+		break;
+	case HWSETTINGS_CC_FLEXIPORT_COMAUX:
+		break;
+	case HWSETTINGS_CC_FLEXIPORT_I2C:
+#if defined(PIOS_INCLUDE_I2C)
+		{
+			if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_I2C */
+		break;
+	}
+
+	/* Configure the selected receiver */
+	uint8_t manualcontrolsettings_inputmode;
+	ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
+
+	switch (manualcontrolsettings_inputmode) {
+	case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
+#if defined(PIOS_INCLUDE_PWM)
+		PIOS_PWM_Init();
+		uint32_t pios_pwm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
+			PIOS_Assert(0);
+		}
+		for (uint8_t i = 0;
+		     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+		     i++) {
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+			pios_rcvr_max_channel++;
+		}
+#endif	/* PIOS_INCLUDE_PWM */
+		break;
+	case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
+#if defined(PIOS_INCLUDE_PPM)
+		PIOS_PPM_Init();
+		uint32_t pios_ppm_rcvr_id;
+		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
+			PIOS_Assert(0);
+		}
+		for (uint8_t i = 0;
+		     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+		     i++) {
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
+			pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+			pios_rcvr_max_channel++;
+		}
+#endif	/* PIOS_INCLUDE_PPM */
+		break;
+	case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM ||
+		    hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) {
+			uint32_t pios_spektrum_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+				PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
+		}
+#endif	/* PIOS_INCLUDE_SPEKTRUM */
+		break;
+	case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
+#if defined(PIOS_INCLUDE_SBUS)
+		if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) {
+			uint32_t pios_sbus_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, 0)) {
+				PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < SBUS_NUMBER_OF_CHANNELS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_sbus_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
+		}
+#endif  /* PIOS_INCLUDE_SBUS */
+		break;
+	}
 
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
@@ -727,26 +1151,22 @@ void PIOS_Board_Init(void) {
 	PIOS_ADC_Init();
 	PIOS_GPIO_Init();
 
-#if defined(PIOS_INCLUDE_PWM)
-	PIOS_PWM_Init();
-#endif
-#if defined(PIOS_INCLUDE_PPM)
-	PIOS_PPM_Init();
-#endif
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+	uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+	PIOS_Assert(rx_buffer);
+	PIOS_Assert(tx_buffer);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+			  tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif
+#endif	/* PIOS_INCLUDE_USB_HID */
 
-#if defined(PIOS_INCLUDE_I2C)
-	if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-#endif	/* PIOS_INCLUDE_I2C */
 	PIOS_IAP_Init();
 	PIOS_WDG_Init();
 }
diff --git a/flight/INS/pios_board.c b/flight/INS/pios_board.c
index 524416cb1..ffbf27c45 100644
--- a/flight/INS/pios_board.c
+++ b/flight/INS/pios_board.c
@@ -61,7 +61,6 @@ static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
 		.ahb_clk = RCC_AHBPeriph_DMA1,
 
 		.irq = {
-			.handler = PIOS_SPI_op_mag_irq_handler,
 			.flags =
 			(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
 			 DMA1_FLAG_GL4),
@@ -175,7 +174,6 @@ static const struct pios_spi_cfg pios_spi_accel_cfg = {
 			.ahb_clk  = RCC_AHBPeriph_DMA1,
 
 			.irq = {
-					.handler = PIOS_SPI_accel_irq_handler,
 					.flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
 					.init    = {
 							.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
@@ -265,17 +263,10 @@ void PIOS_SPI_accel_irq_handler(void)
 /*
  * GPS USART
  */
-void PIOS_USART_gps_irq_handler(void);
-void USART1_IRQHandler()
-    __attribute__ ((alias("PIOS_USART_gps_irq_handler")));
-const struct pios_usart_cfg pios_usart_gps_cfg = {
+static const struct pios_usart_cfg pios_usart_gps_cfg = {
 	.regs = USART1,
 	.init = {
-#if defined (PIOS_USART_BAUDRATE)
-		 .USART_BaudRate = PIOS_USART_BAUDRATE,
-#else
 		 .USART_BaudRate = 57600,
-#endif
 		 .USART_WordLength = USART_WordLength_8b,
 		 .USART_Parity = USART_Parity_No,
 		 .USART_StopBits = USART_StopBits_1,
@@ -284,7 +275,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
 		 .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
 		 },
 	.irq = {
-		.handler = PIOS_USART_gps_irq_handler,
 		.init = {
 			 .NVIC_IRQChannel = USART1_IRQn,
 			 .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -310,29 +300,16 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
 	       },
 };
 
-static uint32_t pios_usart_gps_id;
-void PIOS_USART_gps_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_gps_id);
-}
-
 #endif /* PIOS_INCLUDE_GPS */
 
 #ifdef PIOS_COM_AUX
 /*
  * AUX USART
  */
-void PIOS_USART_aux_irq_handler(void);
-void USART4_IRQHandler()
-    __attribute__ ((alias("PIOS_USART_aux_irq_handler")));
-const struct pios_usart_cfg pios_usart_aux_cfg = {
+static const struct pios_usart_cfg pios_usart_aux_cfg = {
 	.regs = USART4,
 	.init = {
-#if defined (PIOS_USART_BAUDRATE)
-		 .USART_BaudRate = PIOS_USART_BAUDRATE,
-#else
 		 .USART_BaudRate = 57600,
-#endif
 		 .USART_WordLength = USART_WordLength_8b,
 		 .USART_Parity = USART_Parity_No,
 		 .USART_StopBits = USART_StopBits_1,
@@ -341,7 +318,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 		 .USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
 		 },
 	.irq = {
-		.handler = PIOS_USART_aux_irq_handler,
 		.init = {
 			 .NVIC_IRQChannel = USART4_IRQn,
 			 .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -367,15 +343,24 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 	       },
 };
 
-static uint32_t pios_usart_aux_id;
-void PIOS_USART_aux_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_aux_id);
-}
-
 #endif /* PIOS_COM_AUX */
 
 
+#if defined(PIOS_INCLUDE_COM)
+
+#include <pios_com_priv.h>
+
+#if 0
+#define PIOS_COM_AUX_TX_BUF_LEN 192
+static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
+#endif
+
+#define PIOS_COM_GPS_RX_BUF_LEN 96
+static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
+
+
+#endif /* PIOS_INCLUDE_COM */
+
 #if defined(PIOS_INCLUDE_I2C)
 
 #include <pios_i2c_priv.h>
@@ -391,7 +376,7 @@ void I2C1_EV_IRQHandler()
 void I2C1_ER_IRQHandler()
     __attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
 
-const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
 	.regs = I2C1,
 	.init = {
 		 .I2C_Mode = I2C_Mode_I2C,
@@ -419,7 +404,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
 			 },
 		},
 	.event = {
-		  .handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler,
 		  .flags = 0,	/* FIXME: check this */
 		  .init = {
 			   .NVIC_IRQChannel = I2C1_EV_IRQn,
@@ -429,7 +413,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
 			   },
 		  },
 	.error = {
-		  .handler = PIOS_I2C_pres_mag_adapter_er_irq_handler,
 		  .flags = 0,	/* FIXME: check this */
 		  .init = {
 			   .NVIC_IRQChannel = I2C1_ER_IRQn,
@@ -459,7 +442,7 @@ void PIOS_I2C_gyro_adapter_er_irq_handler(void);
 void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
 void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
 
-const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
   .regs = I2C2,
   .init = {
     .I2C_Mode                = I2C_Mode_I2C,
@@ -487,7 +470,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
     },
   },
   .event = {
-    .handler = PIOS_I2C_gyro_adapter_ev_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_EV_IRQn,
@@ -497,7 +479,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
     },
   },
   .error = {
-    .handler = PIOS_I2C_gyro_adapter_er_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_ER_IRQn,
@@ -547,10 +528,13 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_COM)
 #if defined(PIOS_INCLUDE_GPS)
+	uint32_t pios_usart_gps_id;
 	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
+	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
+			  pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
+			  NULL, 0)) {
 		PIOS_DEBUG_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_GPS */
diff --git a/flight/Libraries/inc/fifo_buffer.h b/flight/Libraries/inc/fifo_buffer.h
index 9058d64c6..6e4955f7e 100644
--- a/flight/Libraries/inc/fifo_buffer.h
+++ b/flight/Libraries/inc/fifo_buffer.h
@@ -26,7 +26,7 @@
 #ifndef _FIFO_BUFFER_H_
 #define _FIFO_BUFFER_H_
 
-#include "stm32f10x.h"
+#include <stdint.h>
 
 // *********************
 
diff --git a/flight/Modules/AHRSComms/ahrs_comms.c b/flight/Modules/AHRSComms/ahrs_comms.c
index 76abb1a40..0c98969e3 100644
--- a/flight/Modules/AHRSComms/ahrs_comms.c
+++ b/flight/Modules/AHRSComms/ahrs_comms.c
@@ -69,7 +69,7 @@ static void ahrscommsTask(void *parameters);
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
  */
-int32_t AHRSCommsInitialize(void)
+int32_t AHRSCommsStart(void)
 {
 	// Start main task
 	xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
@@ -79,6 +79,17 @@ int32_t AHRSCommsInitialize(void)
 	return 0;
 }
 
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AHRSCommsInitialize(void)
+{
+
+	return 0;
+}
+MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
+
 /**
  * Module thread, should not return.
  */
diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index af8ee06ea..269b9dda6 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -85,6 +85,19 @@ typedef struct {
 	int8_t matrix[5];
 } __attribute__((packed)) Mixer_t;
 
+/**
+ * @brief Module initialization
+ * @return 0
+ */
+int32_t ActuatorStart()
+{
+	// Start main task
+	xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
+	PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
+
+	return 0;
+}
 
 /**
  * @brief Module initialization
@@ -100,14 +113,10 @@ int32_t ActuatorInitialize()
 	
 	// If settings change, update the output rate
 	ActuatorSettingsConnectCallback(actuator_update_rate);
-	
-	// Start main task
-	xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
-	PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
-	
+
 	return 0;
 }
+MODULE_INITCALL(ActuatorInitialize, ActuatorStart)
 
 /**
  * @brief Main Actuator module task
diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c
index 705eb061d..363cba15f 100644
--- a/flight/Modules/Altitude/altitude.c
+++ b/flight/Modules/Altitude/altitude.c
@@ -37,6 +37,7 @@
  */
 
 #include "openpilot.h"
+#include "altitude.h"
 #include "baroaltitude.h"	// object that will be updated by the module
 #if defined(PIOS_INCLUDE_HCSR04)
 #include "sonaraltitude.h"	// object that will be updated by the module
@@ -66,12 +67,22 @@ static void altitudeTask(void *parameters);
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
  */
-int32_t AltitudeInitialize()
+int32_t AltitudeStart()
 {
 	// Start main task
 	xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
 
+	return 0;
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeInitialize()
+{
+
 	// init down-sampling data
     alt_ds_temp = 0;
     alt_ds_pres = 0;
@@ -79,7 +90,7 @@ int32_t AltitudeInitialize()
 
 	return 0;
 }
-
+MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
 /**
  * Module thread, should not return.
  */
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index d05ae1152..c70751fa6 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -3,7 +3,7 @@
  * @addtogroup OpenPilotModules OpenPilot Modules
  * @{
  * @addtogroup Attitude Copter Control Attitude Estimation
- * @brief Acquires sensor data and computes attitude estimate 
+ * @brief Acquires sensor data and computes attitude estimate
  * Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
  * @{
  *
@@ -76,7 +76,7 @@ static void AttitudeTask(void *parameters);
 static float gyro_correct_int[3] = {0,0,0};
 static xQueueHandle gyro_queue;
 
-static void updateSensors(AttitudeRawData *);
+static int8_t updateSensors(AttitudeRawData *);
 static void updateAttitude(AttitudeRawData *);
 static void settingsUpdatedCb(UAVObjEvent * objEv);
 
@@ -89,6 +89,22 @@ static float q[4] = {1,0,0,0};
 static float R[3][3];
 static int8_t rotate = 0;
 static bool zero_during_arming = false;
+static bool bias_correct_gyro = true;
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AttitudeStart(void)
+{
+
+	// Start main task
+	xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
+	PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
+
+	return 0;
+}
 
 /**
  * Initialise the module, called on startup
@@ -104,91 +120,125 @@ int32_t AttitudeInitialize(void)
 	attitude.q3 = 0;
 	attitude.q4 = 0;
 	AttitudeActualSet(&attitude);
-	
+
+	// Cannot trust the values to init right above if BL runs
+	gyro_correct_int[0] = 0;
+	gyro_correct_int[1] = 0;
+	gyro_correct_int[2] = 0;
+
+	q[0] = 1;
+	q[1] = 0;
+	q[2] = 0;
+	q[3] = 0;
+	for(uint8_t i = 0; i < 3; i++)
+		for(uint8_t j = 0; j < 3; j++)
+			R[i][j] = 0;
+
 	// Create queue for passing gyro data, allow 2 back samples in case
 	gyro_queue = xQueueCreate(1, sizeof(float) * 4);
-	if(gyro_queue == NULL) 
+	if(gyro_queue == NULL)
 		return -1;
+
+
 	PIOS_ADC_SetQueue(gyro_queue);
-	
+
 	AttitudeSettingsConnectCallback(&settingsUpdatedCb);
-	
-	// Start main task
-	xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
-	PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
+
 	return 0;
 }
 
+MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
+
 /**
  * Module thread, should not return.
  */
 static void AttitudeTask(void *parameters)
 {
-
 	uint8_t init = 0;
 	AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
 
 	PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
 
 	// Keep flash CS pin high while talking accel
-	PIOS_FLASH_DISABLE;		
+	PIOS_FLASH_DISABLE;
 	PIOS_ADXL345_Init();
-			
-	zero_during_arming = false;
+	
+	// Set critical error and wait until the accel is producing data
+	while(PIOS_ADXL345_FifoElements() == 0) {
+		AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
+		PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
+	}
+	
+	// Force settings update to make sure rotation loaded
+	settingsUpdatedCb(AttitudeSettingsHandle());
+
 	// Main task loop
 	while (1) {
-		
+	
 		FlightStatusData flightStatus;
 		FlightStatusGet(&flightStatus);
 
-		if(xTaskGetTickCount() < 7000) {
-			// Force settings update to make sure rotation loaded
-			settingsUpdatedCb(AttitudeSettingsHandle());
+		if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
 			// For first 7 seconds use accels to get gyro bias
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
 			init = 0;
-		} 	
+		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
-			init = 0;			
+			init = 0;
 		} else if (init == 0) {
-			settingsUpdatedCb(AttitudeSettingsHandle());
+			// Reload settings (all the rates)
+			AttitudeSettingsAccelKiGet(&accelKi);
+			AttitudeSettingsAccelKpGet(&accelKp);
+			AttitudeSettingsYawBiasRateGet(&yawBiasRate);
 			init = 1;
-		}						
-			
+		}
+
 		PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
-		
+
 		AttitudeRawData attitudeRaw;
-		AttitudeRawGet(&attitudeRaw);		
-		updateSensors(&attitudeRaw);		
-		updateAttitude(&attitudeRaw);
-		AttitudeRawSet(&attitudeRaw); 	
+		AttitudeRawGet(&attitudeRaw);
+		if(updateSensors(&attitudeRaw) != 0)
+			AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
+		else {
+			// Only update attitude when sensor data is good
+			updateAttitude(&attitudeRaw);
+			AttitudeRawSet(&attitudeRaw);
+			AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
+		}
 
 	}
 }
 
-static void updateSensors(AttitudeRawData * attitudeRaw) 
-{	
+/**
+ * Get an update from the sensors
+ * @param[in] attitudeRaw Populate the UAVO instead of saving right here
+ * @return 0 if successfull, -1 if not
+ */
+static int8_t updateSensors(AttitudeRawData * attitudeRaw)
+{
 	struct pios_adxl345_data accel_data;
 	float gyro[4];
-	
+
 	// Only wait the time for two nominal updates before setting an alarm
 	if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
 		AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
-		return;
+		return -1;
 	}
-	
-	
+
+	// No accel data available
+	if(PIOS_ADXL345_FifoElements() == 0)
+		return -1;
+
 	// First sample is temperature
 	attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
 	attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
 	attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
-	
+
 	int32_t x = 0;
 	int32_t y = 0;
 	int32_t z = 0;
@@ -203,9 +253,9 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
 	} while ( (i < 32) && (samples_remaining > 0) );
 	attitudeRaw->gyrotemp[0] = samples_remaining;
 	attitudeRaw->gyrotemp[1] = i;
-	
+
 	float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
-	
+
 	if(rotate) {
 		// TODO: rotate sensors too so stabilization is well behaved
 		float vec_out[3];
@@ -221,68 +271,71 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
 		attitudeRaw->accels[0] = accel[0];
 		attitudeRaw->accels[1] = accel[1];
 		attitudeRaw->accels[2] = accel[2];
-	}		
-	
+	}
+
 	// Scale accels and correct bias
 	attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
 	attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
 	attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
+
+	if(bias_correct_gyro) {
+		// Applying integral component here so it can be seen on the gyros and correct bias
+		attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
+		attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
+		attitudeRaw->gyros[ATTITUDERAW_GYROS_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] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
 	
-	// Applying integral component here so it can be seen on the gyros and correct bias
-	attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
-	attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
-	
-	// Because most crafts wont get enough information from gravity to zero yaw gyro
-	attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
-	gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;			
+	return 0;
 }
 
 static void updateAttitude(AttitudeRawData * attitudeRaw)
 {
+	float dT;
+	portTickType thisSysTime = xTaskGetTickCount();
 	static portTickType lastSysTime = 0;
-	static portTickType thisSysTime;
-	
-	static float dT = 0;
-	
-	thisSysTime = xTaskGetTickCount();
-	if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
-		dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
+
+	dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
 	lastSysTime = thisSysTime;
-	
+
 	// Bad practice to assume structure order, but saves memory
 	float gyro[3];
 	gyro[0] = attitudeRaw->gyros[0];
 	gyro[1] = attitudeRaw->gyros[1];
 	gyro[2] = attitudeRaw->gyros[2];
-	
+
 	{
 		float * accels = attitudeRaw->accels;
 		float grot[3];
 		float accel_err[3];
-		
+
 		// Rotate gravity to body frame and cross with accels
 		grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
 		grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
 		grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
 		CrossProduct((const float *) accels, (const float *) grot, accel_err);
-		
-		// Account for accel magnitude 
+
+		// Account for accel magnitude
 		float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
 		accel_err[0] /= accel_mag;
 		accel_err[1] /= accel_mag;
 		accel_err[2] /= accel_mag;
-		
-		// Accumulate integral of error.  Scale here so that units are (rad/s) but Ki has units of s
+
+		// Accumulate integral of error.  Scale here so that units are (deg/s) but Ki has units of s
 		gyro_correct_int[0] += accel_err[0] * accelKi;
 		gyro_correct_int[1] += accel_err[1] * accelKi;
+			
 		//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
-		
+
 		// Correct rates based on error, integral component dealt with in updateSensors
 		gyro[0] += accel_err[0] * accelKp / dT;
 		gyro[1] += accel_err[1] * accelKp / dT;
 		gyro[2] += accel_err[2] * accelKp / dT;
 	}
-	
+
 	{ // scoping variables to save memory
 		// Work out time derivative from INSAlgo writeup
 		// Also accounts for the fact that gyros are in deg/s
@@ -291,28 +344,44 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
 		qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
 		qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
 		qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
-		
+
 		// Take a time step
 		q[0] = q[0] + qdot[0];
 		q[1] = q[1] + qdot[1];
 		q[2] = q[2] + qdot[2];
 		q[3] = q[3] + qdot[3];
+		
+		if(q[0] < 0) {
+			q[0] = -q[0];
+			q[1] = -q[1];
+			q[2] = -q[2];
+			q[3] = -q[3];
+		}
 	}
-	
+
 	// Renomalize
 	float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
 	q[0] = q[0] / qmag;
 	q[1] = q[1] / qmag;
 	q[2] = q[2] / qmag;
 	q[3] = q[3] / qmag;
-	
+
+	// If quaternion has become inappropriately short or is nan reinit.
+	// THIS SHOULD NEVER ACTUALLY HAPPEN
+	if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
+		q[0] = 1;
+		q[1] = 0;
+		q[2] = 0;
+		q[3] = 0;
+	}
+
 	AttitudeActualData attitudeActual;
 	AttitudeActualGet(&attitudeActual);
-	
+
 	quat_copy(q, &attitudeActual.q1);
-	
+
 	// Convert into eueler degrees (makes assumptions about RPY order)
-	Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);	
+	Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
 
 	AttitudeActualSet(&attitudeActual);
 }
@@ -320,36 +389,41 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
 static void settingsUpdatedCb(UAVObjEvent * objEv) {
 	AttitudeSettingsData attitudeSettings;
 	AttitudeSettingsGet(&attitudeSettings);
-	
-	
+
+
 	accelKp = attitudeSettings.AccelKp;
-	accelKi = attitudeSettings.AccelKi;		
+	accelKi = attitudeSettings.AccelKi;
 	yawBiasRate = attitudeSettings.YawBiasRate;
 	gyroGain = attitudeSettings.GyroGain;
-	
+
 	zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
-	
+	bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
+
 	accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
 	accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
 	accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
-	
+
+	gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
+	gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
+	gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
+
 	// Indicates not to expend cycles on rotation
 	if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
 	   attitudeSettings.BoardRotation[2] == 0) {
 		rotate = 0;
-		
+
 		// Shouldn't be used but to be safe
 		float rotationQuat[4] = {1,0,0,0};
 		Quaternion2R(rotationQuat, R);
 	} else {
 		float rotationQuat[4];
-		const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL], 
-			attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH], 
+		const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
+			attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
 			attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
 		RPY2Quaternion(rpy, rotationQuat);
 		Quaternion2R(rotationQuat, R);
 		rotate = 1;
-	}		
+	}
 }
 /**
   * @}
diff --git a/flight/Modules/Battery/battery.c b/flight/Modules/Battery/battery.c
index eabb5f91c..fe36745bb 100644
--- a/flight/Modules/Battery/battery.c
+++ b/flight/Modules/Battery/battery.c
@@ -75,6 +75,8 @@ static void onTimer(UAVObjEvent* ev);
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
  */
+MODULE_INITCALL(BatteryInitialize, 0)
+
 int32_t BatteryInitialize(void)
 {
 	static UAVObjEvent ev;
diff --git a/flight/Modules/Example/example.c b/flight/Modules/Example/example.c
index add8e3540..d50809415 100644
--- a/flight/Modules/Example/example.c
+++ b/flight/Modules/Example/example.c
@@ -49,9 +49,14 @@
 #include "examplemodperiodic.h"
 #include "examplemodthread.h"
 
-void ExampleInitialize(void)
+void ExampleStart(void)
 {
-	ExampleModEventInitialize();
 	ExampleModPeriodicInitialize();
 	ExampleModThreadInitialize();
 }
+
+void ExampleInitialize(void)
+{
+	ExampleModEventInitialize();
+}
+MODULE_INITCALL(ExampleInitialize, ExampleStart)
diff --git a/flight/Modules/FirmwareIAP/firmwareiap.c b/flight/Modules/FirmwareIAP/firmwareiap.c
index 395ed960f..e3372019c 100644
--- a/flight/Modules/FirmwareIAP/firmwareiap.c
+++ b/flight/Modules/FirmwareIAP/firmwareiap.c
@@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *);
  * \note
  *
  */
-
+MODULE_INITCALL(FirmwareIAPInitialize, 0)
 int32_t FirmwareIAPInitialize()
 {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
@@ -100,7 +100,7 @@ int32_t FirmwareIAPInitialize()
 	data.ArmReset=0;
 	data.crc = 0;
 	FirmwareIAPObjSet( &data );
-	FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
+	if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
 	return 0;
 }
 
diff --git a/flight/Modules/FlightPlan/flightplan.c b/flight/Modules/FlightPlan/flightplan.c
index a76966507..5537c8f15 100644
--- a/flight/Modules/FlightPlan/flightplan.c
+++ b/flight/Modules/FlightPlan/flightplan.c
@@ -31,6 +31,7 @@
 
 #include "openpilot.h"
 #include "pm.h"
+#include "flightplan.h"
 #include "flightplanstatus.h"
 #include "flightplancontrol.h"
 #include "flightplansettings.h"
@@ -53,6 +54,20 @@ static void objectUpdatedCb(UAVObjEvent * ev);
 // External variables (temporary, TODO: this will be loaded from the SD card)
 extern unsigned char usrlib_img[];
 
+/**
+ * Module initialization
+ */
+int32_t FlightPlanStart()
+{
+	taskHandle = NULL;
+
+	// Start VM thread
+	xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
+
+	return 0;
+}
+
 /**
  * Module initialization
  */
@@ -69,13 +84,9 @@ int32_t FlightPlanInitialize()
 	// Listen for FlightPlanControl updates
 	FlightPlanControlConnectQueue(queue);
 
-	// Start VM thread
-	xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
-
 	return 0;
 }
-
+MODULE_INITCALL(FlightPlanInitialize, FlightPlanStart)
 /**
  * Module task
  */
diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 7d5ce8e5b..dd0905257 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -109,19 +109,27 @@ static uint32_t numParsingErrors;
  * \return 0 on success
  */
 
-int32_t GPSInitialize(void)
+int32_t GPSStart(void)
 {
-	signed portBASE_TYPE xReturn;
-
-	// TODO: Get gps settings object
-	gpsPort = PIOS_COM_GPS;
-
 	// Start gps task
-	xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
+	xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
 
 	return 0;
 }
+/**
+ * Initialise the gps module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t GPSInitialize(void)
+{
+	// TODO: Get gps settings object
+	gpsPort = PIOS_COM_GPS;
+
+	return 0;
+}
+MODULE_INITCALL(GPSInitialize, GPSStart)
 
 // ****************
 /**
@@ -188,8 +196,10 @@ static void gpsTask(void *parameters)
 
 			while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
 			{
-				int res = GTOP_BIN_update_position(PIOS_COM_ReceiveBuffer(gpsPort), &numChecksumErrors, &numParsingErrors);
-				if (res >= 0)
+				uint8_t c;
+				PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
+
+				if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
 				{
 					numUpdates++;
 
@@ -205,7 +215,8 @@ static void gpsTask(void *parameters)
 			// This blocks the task until there is something on the buffer
 			while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
 			{
-				char c = PIOS_COM_ReceiveBuffer(gpsPort);
+				uint8_t c;
+				PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
 			
 				// detect start while acquiring stream
 				if (!start_flag && (c == '$'))
diff --git a/flight/Modules/Guidance/guidance.c b/flight/Modules/Guidance/guidance.c
index b978b8306..348210675 100644
--- a/flight/Modules/Guidance/guidance.c
+++ b/flight/Modules/Guidance/guidance.c
@@ -78,6 +78,19 @@ static void updateVtolDesiredVelocity();
 static void manualSetDesiredVelocity();
 static void updateVtolDesiredAttitude();
 
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t GuidanceStart()
+{
+	// Start main task
+	xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
+
+	return 0;
+}
+
 /**
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
@@ -90,12 +103,9 @@ int32_t GuidanceInitialize()
 	// Listen for updates.
 	AttitudeRawConnectQueue(queue);
 	
-	// Start main task
-	xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
-
 	return 0;
 }
+MODULE_INITCALL(GuidanceInitialize, GuidanceStart)
 
 static float northVelIntegral = 0;
 static float eastVelIntegral = 0;
diff --git a/flight/Modules/Guidance/inc/guidance.h b/flight/Modules/Guidance/inc/guidance.h
index 8e877edca..86ef46b2d 100644
--- a/flight/Modules/Guidance/inc/guidance.h
+++ b/flight/Modules/Guidance/inc/guidance.h
@@ -27,5 +27,5 @@
 #define EXAMPLEMODPERIODIC_H
 
 int32_t ExampleModPeriodicInitialize();
-
+int32_t GuidanceInitialize(void);
 #endif // EXAMPLEMODPERIODIC_H
diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/Modules/ManualControl/inc/manualcontrol.h
index 608c12d1d..5cca1a623 100644
--- a/flight/Modules/ManualControl/inc/manualcontrol.h
+++ b/flight/Modules/ManualControl/inc/manualcontrol.h
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
- * @{ 
+ * @{
  * @addtogroup ManualControlModule Manual Control Module
  * @{
  *
@@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
 
 int32_t ManualControlInitialize();
 
+
+/*
+ * These are assumptions we make in the flight code about the order of settings and their consistency between
+ * objects.  Please keep this synchronized to the UAVObjects
+ */
+#define assumptions1 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      \
+)
+
+#define assumptions3 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
+)
+
+#define assumptions5 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
+)
+
+#define ARMING_CHANNEL_ROLL     0
+#define ARMING_CHANNEL_PITCH    1
+#define ARMING_CHANNEL_YAW      2
+
+#define assumptions7 ( \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW) 		&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW)		\
+)
+
+#define assumptions8 ( \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0)	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0)	\
+)
+
+#define assumptions_flightmode ( \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
+)
+
 #endif // MANUALCONTROL_H
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 8b972bc6e..19b6bc293 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -1,628 +1,587 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotModules OpenPilot Modules
- * @{
- * @addtogroup ManualControlModule Manual Control Module
- * @brief Provide manual control or allow it alter flight mode.
- * @{
- *
- * Reads in the ManualControlCommand FlightMode setting from receiver then either
- * pass the settings straght to ActuatorDesired object (manual mode) or to
- * AttitudeDesired object (stabilized mode)
- *
- * @file       manualcontrol.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      ManualControl module. Handles safety R/C link and flight mode.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "manualcontrol.h"
-#include "manualcontrolsettings.h"
-#include "stabilizationsettings.h"
-#include "manualcontrolcommand.h"
-#include "actuatordesired.h"
-#include "stabilizationdesired.h"
-#include "flighttelemetrystats.h"
-#include "flightstatus.h"
-#include "accessorydesired.h"
-
-// Private constants
-#if defined(PIOS_MANUAL_STACK_SIZE)
-#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
-#else
-#define STACK_SIZE_BYTES 824
-#endif
-
-#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
-#define UPDATE_PERIOD_MS 20
-#define THROTTLE_FAILSAFE -0.1
-#define FLIGHT_MODE_LIMIT 1.0/3.0
-#define ARMED_TIME_MS      1000
-#define ARMED_THRESHOLD    0.50
-//safe band to allow a bit of calibration error or trim offset (in microseconds)
-#define CONNECTION_OFFSET 150
-
-// Private types
-typedef enum
-{
-	ARM_STATE_DISARMED,
-	ARM_STATE_ARMING_MANUAL,
-	ARM_STATE_ARMED,
-	ARM_STATE_DISARMING_MANUAL,
-	ARM_STATE_DISARMING_TIMEOUT
-} ArmState_t;
-
-// Private variables
-static xTaskHandle taskHandle;
-static ArmState_t armState;
-static portTickType lastSysTime;
-
-// Private functions
-static void updateActuatorDesired(ManualControlCommandData * cmd);
-static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
-static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
-static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
-
-static void manualControlTask(void *parameters);
-static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
-static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
-static bool okToArm(void);
-static bool validInputRange(int16_t min, int16_t max, uint16_t value);
-
-#define assumptions1 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)       && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)       && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      \
-		)
-
-#define assumptions3 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
-		)
-
-#define assumptions5 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
-		)
-
-
-
-#define ARMING_CHANNEL_ROLL     0
-#define ARMING_CHANNEL_PITCH    1
-#define ARMING_CHANNEL_YAW      2
-
-#define assumptions7 ( \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW) 		&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW)		\
-		)
-
-#define assumptions8 ( \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0)	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0)	\
-		)
-
-
-#define assumptions_flightmode ( \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
-		)
-
-#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
-
-/**
- * Module initialization
- */
-int32_t ManualControlInitialize()
-{
-	/* Check the assumptions about uavobject enum's are correct */
-	if(!assumptions) 
-		return -1;
-	// Start main task
-	xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
-	PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
-
-
-	return 0;
-}
-
-/**
- * Module task
- */
-static void manualControlTask(void *parameters)
-{
-	ManualControlSettingsData settings;
-	ManualControlCommandData cmd;
-	FlightStatusData flightStatus;
-	float flightMode = 0;
-
-	uint8_t disconnected_count = 0;
-	uint8_t connected_count = 0;
-
-	// For now manual instantiate extra instances of Accessory Desired.  In future should be done dynamically
-	// this includes not even registering it if not used
-	AccessoryDesiredCreateInstance();
-	AccessoryDesiredCreateInstance();
-
-	// Make sure unarmed on power up
-	ManualControlCommandGet(&cmd);
-	FlightStatusGet(&flightStatus);
-	flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
-	armState = ARM_STATE_DISARMED;
-
-	// Main task loop
-	lastSysTime = xTaskGetTickCount();
-	while (1) {
-		float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
-
-		// Wait until next update
-		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
-		PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
-
-		// Read settings
-		ManualControlSettingsGet(&settings);
-
-		if (ManualControlCommandReadOnly(&cmd)) {
-			FlightTelemetryStatsData flightTelemStats;
-			FlightTelemetryStatsGet(&flightTelemStats);
-			if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
-				/* trying to fly via GCS and lost connection.  fall back to transmitter */
-				UAVObjMetadata metadata;
-				UAVObjGetMetadata(&cmd, &metadata);
-				metadata.access = ACCESS_READWRITE;
-				UAVObjSetMetadata(&cmd, &metadata);
-			}
-		}
-
-		if (!ManualControlCommandReadOnly(&cmd)) {
-
-			// Read channel values in us
-			// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
-			// selection of PWM and PPM. The configuration is currently done at compile time in
-			// the pios_config.h file.
-			for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
-#if defined(PIOS_INCLUDE_PWM)
-				cmd.Channel[n] = PIOS_PWM_Get(n);
-#elif defined(PIOS_INCLUDE_PPM)
-				cmd.Channel[n] = PIOS_PPM_Get(n);
-#elif defined(PIOS_INCLUDE_SPEKTRUM)
-				cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
-#endif
-				scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n],	settings.ChannelMin[n], settings.ChannelNeutral[n]);
-			}
-
-			// Check settings, if error raise alarm
-			if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
-			    settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
-			    settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
-			    settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
-			    settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
-				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
-				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
-				ManualControlCommandSet(&cmd);
-				continue;
-			}
-
-			// decide if we have valid manual input or not
-			bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
-			     validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
-			     validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
-			     validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
-
-			// Implement hysteresis loop on connection status
-			if (valid_input_detected && (++connected_count > 10)) {
-				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
-				connected_count = 0;
-				disconnected_count = 0;
-			} else if (!valid_input_detected && (++disconnected_count > 10)) {
-				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
-				connected_count = 0;
-				disconnected_count = 0;
-			}
-
-			if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
-				cmd.Throttle = -1;	// Shut down engine with no control
-				cmd.Roll = 0;
-				cmd.Yaw = 0;
-				cmd.Pitch = 0;
-				//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
-				// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
-				// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
-				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
-				ManualControlCommandSet(&cmd);
-			} else {
-				AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
-
-				// Scale channels to -1 -> +1 range
-				cmd.Roll           = scaledChannel[settings.Roll];
-				cmd.Pitch          = scaledChannel[settings.Pitch];
-				cmd.Yaw            = scaledChannel[settings.Yaw];
-				cmd.Throttle       = scaledChannel[settings.Throttle];
-				flightMode         = scaledChannel[settings.FlightMode];
-
-				AccessoryDesiredData accessory;
-				// Set Accessory 0
-				if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
-					accessory.AccessoryVal = scaledChannel[settings.Accessory0];
-					if(AccessoryDesiredInstSet(0, &accessory) != 0)
-						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
-				}
-				// Set Accessory 1
-				if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
-					accessory.AccessoryVal = scaledChannel[settings.Accessory1];
-					if(AccessoryDesiredInstSet(1, &accessory) != 0)
-						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
-				}
-				// Set Accsesory 2
-				if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
-					accessory.AccessoryVal = scaledChannel[settings.Accessory2];
-					if(AccessoryDesiredInstSet(2, &accessory) != 0)
-						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
-				}
-
-
-				processFlightMode(&settings, flightMode);
-				processArm(&cmd, &settings);
-
-				// Update cmd object
-				ManualControlCommandSet(&cmd);
-
-			}
-			
-		} else {
-			ManualControlCommandGet(&cmd);	/* Under GCS control */
-		}
-
-
-		FlightStatusGet(&flightStatus);
-		
-		// Depending on the mode update the Stabilization or Actuator objects
-		switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
-			case FLIGHTMODE_UNDEFINED:
-				// This reflects a bug in the code architecture!
-				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
-				break;
-			case FLIGHTMODE_MANUAL:
-				updateActuatorDesired(&cmd);
-				break;
-			case FLIGHTMODE_STABILIZED:
-				updateStabilizationDesired(&cmd, &settings);
-				break;
-			case FLIGHTMODE_GUIDANCE:
-				// TODO: Implement
-				break;
-		}	
-	}
-}
-
-static void updateActuatorDesired(ManualControlCommandData * cmd) 
-{
-	ActuatorDesiredData actuator;
-	ActuatorDesiredGet(&actuator);
-	actuator.Roll = cmd->Roll;
-	actuator.Pitch = cmd->Pitch;
-	actuator.Yaw = cmd->Yaw;
-	actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
-	ActuatorDesiredSet(&actuator);	
-}
-
-static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
-{
-	StabilizationDesiredData stabilization;
-	StabilizationDesiredGet(&stabilization);
-	
-	StabilizationSettingsData stabSettings;
-	StabilizationSettingsGet(&stabSettings);
-		
-	uint8_t * stab_settings;
-	FlightStatusData flightStatus;
-	FlightStatusGet(&flightStatus);
-	switch(flightStatus.FlightMode) {
-		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
-			stab_settings = settings->Stabilization1Settings;
-			break;
-		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
-			stab_settings = settings->Stabilization2Settings;
-			break;
-		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
-			stab_settings = settings->Stabilization3Settings;
-			break;
-		default:
-			// Major error, this should not occur because only enter this block when one of these is true
-			AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
-			return;	
-	}
-	
-	// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
-	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = stab_settings[0];
-	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
-	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = stab_settings[2];
-	
-	stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
-	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
-	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
-	     0; // this is an invalid mode
-					      ;
-	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
-	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
-	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
-	     0; // this is an invalid mode
-
-	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
-	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
-	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
-	     0; // this is an invalid mode
-	
-	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; 
-	StabilizationDesiredSet(&stabilization);
-}
-
-/**
- * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
- */
-static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
-{
-	float valueScaled;
-
-	// Scale
-	if ((max > min && value >= neutral) || (min > max && value <= neutral))
-	{
-		if (max != neutral)
-			valueScaled = (float)(value - neutral) / (float)(max - neutral);
-		else
-			valueScaled = 0;
-	}
-	else
-	{
-		if (min != neutral)
-			valueScaled = (float)(value - neutral) / (float)(neutral - min);
-		else
-			valueScaled = 0;
-	}
-
-	// Bound
-	if (valueScaled >  1.0) valueScaled =  1.0;
-	else
-	if (valueScaled < -1.0) valueScaled = -1.0;
-
-	return valueScaled;
-}
-
-static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
-	if(end_time > start_time)
-		return (end_time - start_time) * portTICK_RATE_MS;
-	return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
-}
-
-/**
- * @brief Determine if the aircraft is safe to arm
- * @returns True if safe to arm, false otherwise
- */
-static bool okToArm(void)
-{
-	// read alarms
-	SystemAlarmsData alarms;
-	SystemAlarmsGet(&alarms);
-
-
-	// Check each alarm
-	for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
-	{
-		if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
-		{	// found an alarm thats set
-			if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
-				continue;
-
-			return false;
-		}
-	}
-
-	return true;
-}
-
-/**
- * @brief Update the flightStatus object only if value changed.  Reduces callbacks
- * @param[in] val The new value
- */
-static void setArmedIfChanged(uint8_t val) {
-	FlightStatusData flightStatus;
-	FlightStatusGet(&flightStatus);
-
-	if(flightStatus.Armed != val) {
-		flightStatus.Armed = val;
-		FlightStatusSet(&flightStatus);
-	}
-}
-
-/**
- * @brief Process the inputs and determine whether to arm or not
- * @param[out] cmd The structure to set the armed in
- * @param[in] settings Settings indicating the necessary position
- */
-static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings) 
-{	
-
-	bool lowThrottle = cmd->Throttle <= 0;
-	
-	if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
-		// In this configuration we always disarm
-		setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
-	} else {
-		// Not really needed since this function not called when disconnected
-		if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
-			return;
-		
-		// The throttle is not low, in case we where arming or disarming, abort
-		if (!lowThrottle) {
-			switch(armState) {
-				case ARM_STATE_DISARMING_MANUAL:
-				case ARM_STATE_DISARMING_TIMEOUT:
-					armState = ARM_STATE_ARMED;
-					break;
-				case ARM_STATE_ARMING_MANUAL:
-					armState = ARM_STATE_DISARMED;
-					break;
-				default:
-					// Nothing needs to be done in the other states
-					break;
-			}
-			return;
-		}
-		
-		// The rest of these cases throttle is low
-		if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
-			// In this configuration, we go into armed state as soon as the throttle is low, never disarm
-			setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
-			return;
-		}
-		
-		
-		// When the configuration is not "Always armed" and no "Always disarmed",
-		// the state will not be changed when the throttle is not low
-		static portTickType armedDisarmStart;
-		float armingInputLevel = 0;
-		
-		// Calc channel see assumptions7
-		int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
-		switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
-			case ARMING_CHANNEL_ROLL:    armingInputLevel = sign * cmd->Roll;    break;
-			case ARMING_CHANNEL_PITCH:   armingInputLevel = sign * cmd->Pitch;   break;
-			case ARMING_CHANNEL_YAW:     armingInputLevel = sign * cmd->Yaw;     break;
-		}
-		
-		bool manualArm = false;
-		bool manualDisarm = false;
-		
-		if (armingInputLevel <= -ARMED_THRESHOLD)
-			manualArm = true;
-		else if (armingInputLevel >= +ARMED_THRESHOLD)
-			manualDisarm = true;
-			
-		switch(armState) {
-			case ARM_STATE_DISARMED:
-				setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
-				
-				// only allow arming if it's OK too
-				if (manualArm && okToArm()) {
-					armedDisarmStart = lastSysTime;
-					armState = ARM_STATE_ARMING_MANUAL;
-				}
-				break;
-				
-			case ARM_STATE_ARMING_MANUAL:
-				setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
-
-				if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
-					armState = ARM_STATE_ARMED;
-				else if (!manualArm)
-					armState = ARM_STATE_DISARMED;
-				break;
-				
-			case ARM_STATE_ARMED:
-				// When we get here, the throttle is low,
-				// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
-				armedDisarmStart = lastSysTime;
-				armState = ARM_STATE_DISARMING_TIMEOUT;
-				setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
-				break;
-				
-			case ARM_STATE_DISARMING_TIMEOUT:
-				// We get here when armed while throttle low, even when the arming timeout is not enabled
-				if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
-					armState = ARM_STATE_DISARMED;
-		
-				// Switch to disarming due to manual control when needed
-				if (manualDisarm) {
-					armedDisarmStart = lastSysTime;
-					armState = ARM_STATE_DISARMING_MANUAL;
-				}
-				break;
-				
-			case ARM_STATE_DISARMING_MANUAL:
-				if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
-					armState = ARM_STATE_DISARMED;
-				else if (!manualDisarm)
-					armState = ARM_STATE_ARMED;
-				break;
-		}	// End Switch
-	}
-}
-
-/**
- * @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
- * @param[out] cmd Pointer to the command structure to set the flight mode in
- * @param[in] settings The settings which indicate which position is which mode
- * @param[in] flightMode the value of the switch position
- */
-static void processFlightMode(ManualControlSettingsData * settings, float flightMode) 
-{
-	FlightStatusData flightStatus;
-	FlightStatusGet(&flightStatus);
-	
-	uint8_t newMode;
-	// Note here the code is ass
-	if (flightMode < -FLIGHT_MODE_LIMIT) 
-		newMode = settings->FlightModePosition[0];
-	else if (flightMode > FLIGHT_MODE_LIMIT) 
-		newMode = settings->FlightModePosition[2];
-	else 
-		newMode = settings->FlightModePosition[1];	
-	
-	if(flightStatus.FlightMode != newMode) {
-		flightStatus.FlightMode = newMode;
-		FlightStatusSet(&flightStatus);
-	}
-		
-}
-
-/**
- * @brief Determine if the manual input value is within acceptable limits
- * @returns return TRUE if so, otherwise return FALSE
- */
-bool validInputRange(int16_t min, int16_t max, uint16_t value)
-{
-	if (min > max)
-	{
-		int16_t tmp = min;
-		min = max;
-		max = tmp;
-	}
-	return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
-}
-
-/**
-  * @}
-  * @}
-  */
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup ManualControlModule Manual Control Module
+ * @brief Provide manual control or allow it alter flight mode.
+ * @{
+ *
+ * Reads in the ManualControlCommand FlightMode setting from receiver then either
+ * pass the settings straght to ActuatorDesired object (manual mode) or to
+ * AttitudeDesired object (stabilized mode)
+ *
+ * @file       manualcontrol.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      ManualControl module. Handles safety R/C link and flight mode.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "manualcontrol.h"
+#include "manualcontrolsettings.h"
+#include "stabilizationsettings.h"
+#include "manualcontrolcommand.h"
+#include "actuatordesired.h"
+#include "stabilizationdesired.h"
+#include "flighttelemetrystats.h"
+#include "flightstatus.h"
+#include "accessorydesired.h"
+
+// Private constants
+#if defined(PIOS_MANUAL_STACK_SIZE)
+#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
+#else
+#define STACK_SIZE_BYTES 824
+#endif
+
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define UPDATE_PERIOD_MS 20
+#define THROTTLE_FAILSAFE -0.1
+#define FLIGHT_MODE_LIMIT 1.0/3.0
+#define ARMED_TIME_MS      1000
+#define ARMED_THRESHOLD    0.50
+//safe band to allow a bit of calibration error or trim offset (in microseconds)
+#define CONNECTION_OFFSET 150
+
+// Private types
+typedef enum
+{
+	ARM_STATE_DISARMED,
+	ARM_STATE_ARMING_MANUAL,
+	ARM_STATE_ARMED,
+	ARM_STATE_DISARMING_MANUAL,
+	ARM_STATE_DISARMING_TIMEOUT
+} ArmState_t;
+
+// Private variables
+static xTaskHandle taskHandle;
+static ArmState_t armState;
+static portTickType lastSysTime;
+
+// Private functions
+static void updateActuatorDesired(ManualControlCommandData * cmd);
+static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
+static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
+static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
+
+static void manualControlTask(void *parameters);
+static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
+static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
+static bool okToArm(void);
+static bool validInputRange(int16_t min, int16_t max, uint16_t value);
+
+#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
+
+/**
+ * Module initialization
+ */
+int32_t ManualControlStart()
+{
+	/* Check the assumptions about uavobject enum's are correct */
+	if(!assumptions)
+		return -1;
+	// Start main task
+	xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
+	PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
+	return 0;
+}
+
+/**
+ * Module initialization
+ */
+int32_t ManualControlInitialize()
+{
+
+	return 0;
+}
+MODULE_INITCALL(ManualControlInitialize, ManualControlStart)
+
+/**
+ * Module task
+ */
+static void manualControlTask(void *parameters)
+{
+	ManualControlSettingsData settings;
+	ManualControlCommandData cmd;
+	FlightStatusData flightStatus;
+	float flightMode = 0;
+
+	uint8_t disconnected_count = 0;
+	uint8_t connected_count = 0;
+
+	// For now manual instantiate extra instances of Accessory Desired.  In future should be done dynamically
+	// this includes not even registering it if not used
+	AccessoryDesiredCreateInstance();
+	AccessoryDesiredCreateInstance();
+
+	// Make sure unarmed on power up
+	ManualControlCommandGet(&cmd);
+	FlightStatusGet(&flightStatus);
+	flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
+	armState = ARM_STATE_DISARMED;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1) {
+		float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
+
+		// Wait until next update
+		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
+		PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
+
+		// Read settings
+		ManualControlSettingsGet(&settings);
+
+		if (ManualControlCommandReadOnly(&cmd)) {
+			FlightTelemetryStatsData flightTelemStats;
+			FlightTelemetryStatsGet(&flightTelemStats);
+			if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
+				/* trying to fly via GCS and lost connection.  fall back to transmitter */
+				UAVObjMetadata metadata;
+				UAVObjGetMetadata(&cmd, &metadata);
+				metadata.access = ACCESS_READWRITE;
+				UAVObjSetMetadata(&cmd, &metadata);
+			}
+		}
+
+		if (!ManualControlCommandReadOnly(&cmd)) {
+
+			// Read channel values in us
+			for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
+				if (pios_rcvr_channel_to_id_map[n].id) {
+					cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_channel_to_id_map[n].id,
+									pios_rcvr_channel_to_id_map[n].channel);
+				} else {
+					cmd.Channel[n] = -1;
+				}
+				scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n],	settings.ChannelMin[n], settings.ChannelNeutral[n]);
+			}
+
+			// Check settings, if error raise alarm
+			if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
+			    settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
+			    settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
+			    settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
+			    settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
+				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
+				ManualControlCommandSet(&cmd);
+				continue;
+			}
+
+			// decide if we have valid manual input or not
+			bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
+			     validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
+			     validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
+			     validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
+
+			// Implement hysteresis loop on connection status
+			if (valid_input_detected && (++connected_count > 10)) {
+				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
+				connected_count = 0;
+				disconnected_count = 0;
+			} else if (!valid_input_detected && (++disconnected_count > 10)) {
+				cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
+				connected_count = 0;
+				disconnected_count = 0;
+			}
+
+			if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
+				cmd.Throttle = -1;	// Shut down engine with no control
+				cmd.Roll = 0;
+				cmd.Yaw = 0;
+				cmd.Pitch = 0;
+				//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
+				// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
+				// or leave throttle at IDLE speed or above when going into AUTO-failsafe.
+				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				ManualControlCommandSet(&cmd);
+			} else {
+				AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
+
+				// Scale channels to -1 -> +1 range
+				cmd.Roll           = scaledChannel[settings.Roll];
+				cmd.Pitch          = scaledChannel[settings.Pitch];
+				cmd.Yaw            = scaledChannel[settings.Yaw];
+				cmd.Throttle       = scaledChannel[settings.Throttle];
+				flightMode         = scaledChannel[settings.FlightMode];
+
+				AccessoryDesiredData accessory;
+				// Set Accessory 0
+				if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory0];
+					if(AccessoryDesiredInstSet(0, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+				// Set Accessory 1
+				if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory1];
+					if(AccessoryDesiredInstSet(1, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+				// Set Accsesory 2
+				if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory2];
+					if(AccessoryDesiredInstSet(2, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+
+
+				processFlightMode(&settings, flightMode);
+				processArm(&cmd, &settings);
+
+				// Update cmd object
+				ManualControlCommandSet(&cmd);
+
+			}
+
+		} else {
+			ManualControlCommandGet(&cmd);	/* Under GCS control */
+		}
+
+
+		FlightStatusGet(&flightStatus);
+
+		// Depending on the mode update the Stabilization or Actuator objects
+		switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
+			case FLIGHTMODE_UNDEFINED:
+				// This reflects a bug in the code architecture!
+				AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+				break;
+			case FLIGHTMODE_MANUAL:
+				updateActuatorDesired(&cmd);
+				break;
+			case FLIGHTMODE_STABILIZED:
+				updateStabilizationDesired(&cmd, &settings);
+				break;
+			case FLIGHTMODE_GUIDANCE:
+				// TODO: Implement
+				break;
+		}
+	}
+}
+
+static void updateActuatorDesired(ManualControlCommandData * cmd)
+{
+	ActuatorDesiredData actuator;
+	ActuatorDesiredGet(&actuator);
+	actuator.Roll = cmd->Roll;
+	actuator.Pitch = cmd->Pitch;
+	actuator.Yaw = cmd->Yaw;
+	actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
+	ActuatorDesiredSet(&actuator);
+}
+
+static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
+{
+	StabilizationDesiredData stabilization;
+	StabilizationDesiredGet(&stabilization);
+
+	StabilizationSettingsData stabSettings;
+	StabilizationSettingsGet(&stabSettings);
+
+	uint8_t * stab_settings;
+	FlightStatusData flightStatus;
+	FlightStatusGet(&flightStatus);
+	switch(flightStatus.FlightMode) {
+		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
+			stab_settings = settings->Stabilization1Settings;
+			break;
+		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
+			stab_settings = settings->Stabilization2Settings;
+			break;
+		case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
+			stab_settings = settings->Stabilization3Settings;
+			break;
+		default:
+			// Major error, this should not occur because only enter this block when one of these is true
+			AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+			return;
+	}
+
+	// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
+	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = stab_settings[0];
+	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
+	stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = stab_settings[2];
+
+	stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     0; // this is an invalid mode
+					      ;
+	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     0; // this is an invalid mode
+
+	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     0; // this is an invalid mode
+
+	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
+	StabilizationDesiredSet(&stabilization);
+}
+
+/**
+ * Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
+ */
+static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
+{
+	float valueScaled;
+
+	// Scale
+	if ((max > min && value >= neutral) || (min > max && value <= neutral))
+	{
+		if (max != neutral)
+			valueScaled = (float)(value - neutral) / (float)(max - neutral);
+		else
+			valueScaled = 0;
+	}
+	else
+	{
+		if (min != neutral)
+			valueScaled = (float)(value - neutral) / (float)(neutral - min);
+		else
+			valueScaled = 0;
+	}
+
+	// Bound
+	if (valueScaled >  1.0) valueScaled =  1.0;
+	else
+	if (valueScaled < -1.0) valueScaled = -1.0;
+
+	return valueScaled;
+}
+
+static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
+	if(end_time > start_time)
+		return (end_time - start_time) * portTICK_RATE_MS;
+	return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
+}
+
+/**
+ * @brief Determine if the aircraft is safe to arm
+ * @returns True if safe to arm, false otherwise
+ */
+static bool okToArm(void)
+{
+	// read alarms
+	SystemAlarmsData alarms;
+	SystemAlarmsGet(&alarms);
+
+
+	// Check each alarm
+	for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
+	{
+		if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
+		{	// found an alarm thats set
+			if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
+				continue;
+
+			return false;
+		}
+	}
+
+	return true;
+}
+
+/**
+ * @brief Update the flightStatus object only if value changed.  Reduces callbacks
+ * @param[in] val The new value
+ */
+static void setArmedIfChanged(uint8_t val) {
+	FlightStatusData flightStatus;
+	FlightStatusGet(&flightStatus);
+
+	if(flightStatus.Armed != val) {
+		flightStatus.Armed = val;
+		FlightStatusSet(&flightStatus);
+	}
+}
+
+/**
+ * @brief Process the inputs and determine whether to arm or not
+ * @param[out] cmd The structure to set the armed in
+ * @param[in] settings Settings indicating the necessary position
+ */
+static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
+{
+
+	bool lowThrottle = cmd->Throttle <= 0;
+
+	if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
+		// In this configuration we always disarm
+		setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
+	} else {
+		// Not really needed since this function not called when disconnected
+		if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
+			return;
+
+		// The throttle is not low, in case we where arming or disarming, abort
+		if (!lowThrottle) {
+			switch(armState) {
+				case ARM_STATE_DISARMING_MANUAL:
+				case ARM_STATE_DISARMING_TIMEOUT:
+					armState = ARM_STATE_ARMED;
+					break;
+				case ARM_STATE_ARMING_MANUAL:
+					armState = ARM_STATE_DISARMED;
+					break;
+				default:
+					// Nothing needs to be done in the other states
+					break;
+			}
+			return;
+		}
+
+		// The rest of these cases throttle is low
+		if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
+			// In this configuration, we go into armed state as soon as the throttle is low, never disarm
+			setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
+			return;
+		}
+
+
+		// When the configuration is not "Always armed" and no "Always disarmed",
+		// the state will not be changed when the throttle is not low
+		static portTickType armedDisarmStart;
+		float armingInputLevel = 0;
+
+		// Calc channel see assumptions7
+		int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
+		switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
+			case ARMING_CHANNEL_ROLL:    armingInputLevel = sign * cmd->Roll;    break;
+			case ARMING_CHANNEL_PITCH:   armingInputLevel = sign * cmd->Pitch;   break;
+			case ARMING_CHANNEL_YAW:     armingInputLevel = sign * cmd->Yaw;     break;
+		}
+
+		bool manualArm = false;
+		bool manualDisarm = false;
+
+		if (armingInputLevel <= -ARMED_THRESHOLD)
+			manualArm = true;
+		else if (armingInputLevel >= +ARMED_THRESHOLD)
+			manualDisarm = true;
+
+		switch(armState) {
+			case ARM_STATE_DISARMED:
+				setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
+
+				// only allow arming if it's OK too
+				if (manualArm && okToArm()) {
+					armedDisarmStart = lastSysTime;
+					armState = ARM_STATE_ARMING_MANUAL;
+				}
+				break;
+
+			case ARM_STATE_ARMING_MANUAL:
+				setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
+
+				if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
+					armState = ARM_STATE_ARMED;
+				else if (!manualArm)
+					armState = ARM_STATE_DISARMED;
+				break;
+
+			case ARM_STATE_ARMED:
+				// When we get here, the throttle is low,
+				// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
+				armedDisarmStart = lastSysTime;
+				armState = ARM_STATE_DISARMING_TIMEOUT;
+				setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
+				break;
+
+			case ARM_STATE_DISARMING_TIMEOUT:
+				// We get here when armed while throttle low, even when the arming timeout is not enabled
+				if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
+					armState = ARM_STATE_DISARMED;
+
+				// Switch to disarming due to manual control when needed
+				if (manualDisarm) {
+					armedDisarmStart = lastSysTime;
+					armState = ARM_STATE_DISARMING_MANUAL;
+				}
+				break;
+
+			case ARM_STATE_DISARMING_MANUAL:
+				if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
+					armState = ARM_STATE_DISARMED;
+				else if (!manualDisarm)
+					armState = ARM_STATE_ARMED;
+				break;
+		}	// End Switch
+	}
+}
+
+/**
+ * @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
+ * @param[out] cmd Pointer to the command structure to set the flight mode in
+ * @param[in] settings The settings which indicate which position is which mode
+ * @param[in] flightMode the value of the switch position
+ */
+static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
+{
+	FlightStatusData flightStatus;
+	FlightStatusGet(&flightStatus);
+
+	uint8_t newMode;
+	// Note here the code is ass
+	if (flightMode < -FLIGHT_MODE_LIMIT)
+		newMode = settings->FlightModePosition[0];
+	else if (flightMode > FLIGHT_MODE_LIMIT)
+		newMode = settings->FlightModePosition[2];
+	else
+		newMode = settings->FlightModePosition[1];
+
+	if(flightStatus.FlightMode != newMode) {
+		flightStatus.FlightMode = newMode;
+		FlightStatusSet(&flightStatus);
+	}
+
+}
+
+/**
+ * @brief Determine if the manual input value is within acceptable limits
+ * @returns return TRUE if so, otherwise return FALSE
+ */
+bool validInputRange(int16_t min, int16_t max, uint16_t value)
+{
+	if (min > max)
+	{
+		int16_t tmp = min;
+		min = max;
+		max = tmp;
+	}
+	return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
+}
+
+/**
+  * @}
+  * @}
+  */
+
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 702020966..9d3a538d0 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -77,6 +77,15 @@ static xTaskHandle taskHandle;
 static StabilizationSettingsData settings;
 static xQueueHandle queue;
 float dT = 1;
+float gyro_alpha = 0;
+float gyro_filtered[3] = {0,0,0};
+float axis_lock_accum[3] = {0,0,0};
+uint8_t max_axis_lock = 0;
+uint8_t max_axislock_rate = 0;
+float weak_leveling_kp = 0;
+uint8_t weak_leveling_max = 0;
+bool lowThrottleZeroIntegral;
+
 pid_type pids[PID_MAX];
 
 // Private functions
@@ -89,27 +98,40 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
 /**
  * Module initialization
  */
-int32_t StabilizationInitialize()
+int32_t StabilizationStart()
 {
 	// Initialize variables
-	
-	// Create object queue
-	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
-	
-	// Listen for updates.
-	//	AttitudeActualConnectQueue(queue);
-	AttitudeRawConnectQueue(queue);
-	
-	StabilizationSettingsConnectCallback(SettingsUpdatedCb);
-	SettingsUpdatedCb(StabilizationSettingsHandle());
+
 	// Start main task
 	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
 	PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
-	
 	return 0;
 }
 
+/**
+ * Module initialization
+ */
+int32_t StabilizationInitialize()
+{
+	// Initialize variables
+
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for updates.
+	//	AttitudeActualConnectQueue(queue);
+	AttitudeRawConnectQueue(queue);
+
+	StabilizationSettingsConnectCallback(SettingsUpdatedCb);
+	SettingsUpdatedCb(StabilizationSettingsHandle());
+	// Start main task
+
+	return 0;
+}
+
+MODULE_INITCALL(StabilizationInitialize, StabilizationStart)
+
 /**
  * Module task
  */
@@ -118,8 +140,8 @@ static void stabilizationTask(void* parameters)
 	portTickType lastSysTime;
 	portTickType thisSysTime;
 	UAVObjEvent ev;
-	
-	
+
+
 	ActuatorDesiredData actuatorDesired;
 	StabilizationDesiredData stabDesired;
 	RateDesiredData rateDesired;
@@ -127,28 +149,28 @@ static void stabilizationTask(void* parameters)
 	AttitudeRawData attitudeRaw;
 	SystemSettingsData systemSettings;
 	FlightStatusData flightStatus;
-	
+
 	SettingsUpdatedCb((UAVObjEvent *) NULL);
-	
+
 	// Main task loop
 	lastSysTime = xTaskGetTickCount();
 	ZeroPids();
 	while(1) {
 		PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
-		
+
 		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
 		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
 		{
 			AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
 			continue;
-		} 
-		
+		}
+
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
 		if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
 			dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
 		lastSysTime = thisSysTime;
-		
+
 		FlightStatusGet(&flightStatus);
 		StabilizationDesiredGet(&stabDesired);
 		AttitudeActualGet(&attitudeActual);
@@ -162,11 +184,11 @@ static void stabilizationTask(void* parameters)
 		float q_desired[4];
 		float q_error[4];
 		float local_error[3];
-		
+
 		// Essentially zero errors for anything in rate or none
 		if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
-			rpy_desired[0] = stabDesired.Roll;		
-		else 
+			rpy_desired[0] = stabDesired.Roll;
+		else
 			rpy_desired[0] = attitudeActual.Roll;
 
 		if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
@@ -178,13 +200,13 @@ static void stabilizationTask(void* parameters)
 			rpy_desired[2] = stabDesired.Yaw;
 		else
 			rpy_desired[2] = attitudeActual.Yaw;
-		
+
 		RPY2Quaternion(rpy_desired, q_desired);
 		quat_inverse(q_desired);
 		quat_mult(q_desired, &attitudeActual.q1, q_error);
 		quat_inverse(q_error);
 		Quaternion2RPY(q_error, local_error);
-		
+
 #else
 		// Simpler algorithm for CC, less memory
 		float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
@@ -192,49 +214,83 @@ static void stabilizationTask(void* parameters)
 			stabDesired.Yaw - attitudeActual.Yaw};
 		local_error[2] = fmod(local_error[2] + 180, 360) - 180;
 #endif
-			
+
+
+		for(uint8_t i = 0; i < MAX_AXES; i++) {
+			gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
+		}
+
 		float *attitudeDesiredAxis = &stabDesired.Roll;
 		float *actuatorDesiredAxis = &actuatorDesired.Roll;
 		float *rateDesiredAxis = &rateDesired.Roll;
-		
+
 		//Calculate desired rate
-		for(int8_t ct=0; ct< MAX_AXES; ct++)
+		for(uint8_t i=0; i< MAX_AXES; i++)
 		{
-			switch(stabDesired.StabilizationMode[ct])
+			switch(stabDesired.StabilizationMode[i])
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
-					rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
+					rateDesiredAxis[i] = attitudeDesiredAxis[i];
+					axis_lock_accum[i] = 0;
 					break;
-					
+
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
+				{
+					float weak_leveling = local_error[i] * weak_leveling_kp;
+
+					if(weak_leveling > weak_leveling_max)
+						weak_leveling = weak_leveling_max;
+					if(weak_leveling < -weak_leveling_max)
+						weak_leveling = -weak_leveling_max;
+
+					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
+
+					axis_lock_accum[i] = 0;
+					break;
+				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
-					rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]);
+					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
+					axis_lock_accum[i] = 0;
+					break;
+
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
+					if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
+						// While getting strong commands act like rate mode
+						rateDesiredAxis[i] = attitudeDesiredAxis[i];
+						axis_lock_accum[i] = 0;
+					} else {
+						// For weaker commands or no command simply attitude lock (almost) on no gyro change
+						axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
+						if(axis_lock_accum[i] > max_axis_lock)
+							axis_lock_accum[i] = max_axis_lock;
+						else if(axis_lock_accum[i] < -max_axis_lock)
+							axis_lock_accum[i] = -max_axis_lock;
+
+						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
+					}
 					break;
 			}
 		}
-		
+
 		uint8_t shouldUpdate = 1;
 		RateDesiredSet(&rateDesired);
 		ActuatorDesiredGet(&actuatorDesired);
 		//Calculate desired command
 		for(int8_t ct=0; ct< MAX_AXES; ct++)
 		{
-			if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct])
-			{
-				if(rateDesiredAxis[ct] > 0)
-				{
-					rateDesiredAxis[ct] = settings.MaximumRate[ct];
-				}else
-				{
-					rateDesiredAxis[ct] = -settings.MaximumRate[ct];
-				}
-				
-			}
+			if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
+				rateDesiredAxis[ct] = settings.MaximumRate[ct];
+			else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
+				rateDesiredAxis[ct] = -settings.MaximumRate[ct];
+
 			switch(stabDesired.StabilizationMode[ct])
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
 				{
-					float command = ApplyPid(&pids[PID_RATE_ROLL + ct],  rateDesiredAxis[ct]-attitudeRaw.gyros[ct]);
+					float command = ApplyPid(&pids[PID_RATE_ROLL + ct],  rateDesiredAxis[ct] - gyro_filtered[ct]);
 					actuatorDesiredAxis[ct] = bound(command);
 					break;
 				}
@@ -255,16 +311,16 @@ static void stabilizationTask(void* parameters)
 						break;
 				}
 					break;
-					
+
 			}
 		}
-		
+
 		// Save dT
 		actuatorDesired.UpdateTime = dT * 1000;
-		
+
 		if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
 			shouldUpdate = 0;
-		
+
 		if(shouldUpdate)
 		{
 			actuatorDesired.Throttle = stabDesired.Throttle;
@@ -272,16 +328,17 @@ static void stabilizationTask(void* parameters)
 				actuatorDesired.NumLongUpdates++;
 			ActuatorDesiredSet(&actuatorDesired);
 		}
-		
+
 		if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
-		   !shouldUpdate || (stabDesired.Throttle < 0))
+		   (lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
+		   !shouldUpdate)
 		{
 			ZeroPids();
 		}
-		
-		
+
+
 		// Clear alarms
-		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);				
+		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
 	}
 }
 
@@ -289,15 +346,15 @@ float ApplyPid(pid_type * pid, const float err)
 {
 	float diff = (err - pid->lastErr);
 	pid->lastErr = err;
-	pid->iAccumulator += err * pid->i * dT;
-	if(fabs(pid->iAccumulator) > pid->iLim) {
-		if(pid->iAccumulator >0) {
-			pid->iAccumulator = pid->iLim;
-		} else {
-			pid->iAccumulator = -pid->iLim;
-		}
+
+	// Scale up accumulator by 1000 while computing to avoid losing precision
+	pid->iAccumulator += err * (pid->i * dT * 1000);
+	if(pid->iAccumulator > (pid->iLim * 1000)) {
+		pid->iAccumulator = pid->iLim * 1000;
+	} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
+		pid->iAccumulator = -pid->iLim * 1000;
 	}
-	return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
+	return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT));
 }
 
 
@@ -307,6 +364,8 @@ static void ZeroPids(void)
 		pids[ct].iAccumulator = 0;
 		pids[ct].lastErr = 0;
 	}
+	for(uint8_t i = 0; i < 3; i++)
+		axis_lock_accum[i] = 0;
 }
 
 
@@ -328,14 +387,61 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 {
 	memset(pids,0,sizeof (pid_type) * PID_MAX);
 	StabilizationSettingsGet(&settings);
-	
-	float * data = settings.RollRatePI;
-	for(int8_t pid=0; pid < PID_MAX; pid++)
-	{
-		pids[pid].p = *data++;
-		pids[pid].i = *data++;
-		pids[pid].iLim = *data++;
-	}
+
+	// Set the roll rate PID constants
+	pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
+	pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
+	pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
+	pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
+
+	// Set the pitch rate PID constants
+	pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
+	pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
+	pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
+	pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
+
+	// Set the yaw rate PID constants
+	pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
+	pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
+	pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
+	pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
+
+	// Set the roll attitude PI constants
+	pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
+	pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
+	pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
+
+	// Set the pitch attitude PI constants
+	pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
+	pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
+	pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
+
+	// Set the yaw attitude PI constants
+	pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
+	pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
+	pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
+
+	// Maximum deviation to accumulate for axis lock
+	max_axis_lock = settings.MaxAxisLock;
+	max_axislock_rate = settings.MaxAxisLockRate;
+
+	// Settings for weak leveling
+	weak_leveling_kp = settings.WeakLevelingKp;
+	weak_leveling_max = settings.MaxWeakLevelingRate;
+
+	// Whether to zero the PID integrals while throttle is low
+	lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
+
+	// The dT has some jitter iteration to iteration that we don't want to
+	// make thie result unpredictable.  Still, it's nicer to specify the constant
+	// based on a time (in ms) rather than a fixed multiplier.  The error between
+	// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
+	// calculation
+	const float fakeDt = 0.0025;
+	if(settings.GyroTau < 0.0001)
+		gyro_alpha = 0;   // not trusting this to resolve to 0
+	else
+		gyro_alpha = exp(-fakeDt  / settings.GyroTau);
 }
 
 
diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index c36160a1e..f555d227f 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -84,18 +84,34 @@ static void updateSystemAlarms();
 static void systemTask(void *parameters);
 
 /**
- * Initialise the module, called on startup.
- * \returns 0 on success or -1 if initialisation failed
+ * Create the module task.
+ * \returns 0 on success or -1 if initialization failed
  */
-int32_t SystemModInitialize(void)
+int32_t SystemModStart(void)
 {
 	// Initialize vars
 	stackOverflow = 0;
 	// Create system task
 	xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
+	// Register task
+	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
+
 	return 0;
 }
 
+/**
+ * Initialize the module, called on startup.
+ * \returns 0 on success or -1 if initialization failed
+ */
+int32_t SystemModInitialize(void)
+{
+
+	SystemModStart();
+
+	return 0;
+}
+
+MODULE_INITCALL(SystemModInitialize, 0)
 /**
  * System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
  */
@@ -103,11 +119,8 @@ static void systemTask(void *parameters)
 {
 	portTickType lastSysTime;
 
-	// System initialization
-	OpenPilotInit();
-
-	// Register task
-	TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
+	/* create all modules thread */
+	MODULE_TASKCREATE_ALL
 
 	// Initialize vars
 	idleCounter = 0;
@@ -118,7 +131,7 @@ static void systemTask(void *parameters)
 	ObjectPersistenceConnectCallback(&objectUpdatedCb);
 
 	// Main system loop
-	while (1) {		
+	while (1) {
 		// Update the system statistics
 		updateStats();
 
@@ -260,6 +273,48 @@ static void updateWDGstats()
 	WatchdogStatusSet(&watchdogStatus);
 }
 
+/**
+ * Called periodically to update the system stats
+ */
+static uint16_t GetFreeIrqStackSize(void)
+{
+	uint32_t i = 0x200;
+
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
+extern uint32_t _irq_stack_top;
+extern uint32_t _irq_stack_end;
+uint32_t pattern = 0x0000A5A5;
+uint32_t *ptr = &_irq_stack_end;
+
+#if 1 /* the ugly way accurate but takes more time, useful for debugging */
+	uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
+
+	for (i=0; i< stack_size; i++)
+	{
+		if (ptr[i] != pattern)
+		{
+			i=i*4;
+			break;
+		}
+	}
+#else /* faster way but not accurate */
+	if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
+	{
+		i = IRQSTACK_LIMIT_CRITICAL - 1;
+	}
+	else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
+	{
+		i = IRQSTACK_LIMIT_WARNING - 1;
+	}
+	else
+	{
+		i = IRQSTACK_LIMIT_WARNING;
+	}
+#endif
+#endif
+	return i;
+}
+
 /**
  * Called periodically to update the system stats
  */
@@ -278,6 +333,9 @@ static void updateStats()
 	stats.HeapRemaining = xPortGetFreeHeapSize();
 #endif
 
+	// Get Irq stack status
+	stats.IRQStackRemaining = GetFreeIrqStackSize();
+
 	// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
 	if (idleCounterClear) {
 		idleCounter = 0;
@@ -320,6 +378,17 @@ static void updateSystemAlarms()
 		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
 	}
 
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
+	// Check IRQ stack
+	if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
+	} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
+		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
+	} else {
+		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
+	}
+#endif
+
 	// Check CPU load
 	if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
 		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c
index 3099120c7..1489be9d2 100644
--- a/flight/Modules/Telemetry/telemetry.c
+++ b/flight/Modules/Telemetry/telemetry.c
@@ -31,6 +31,7 @@
  */
 
 #include "openpilot.h"
+#include "telemetry.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
 #include "telemetrysettings.h"
@@ -81,6 +82,28 @@ static void updateTelemetryStats();
 static void gcsTelemetryStatsUpdated();
 static void updateSettings();
 
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t TelemetryStart(void)
+{
+
+	// Start telemetry tasks
+	xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
+	xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
+
+#if defined(PIOS_TELEM_PRIORITY_QUEUE)
+	xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
+#endif
+
+	return 0;
+}
+
 /**
  * Initialise the telemetry module
  * \return -1 if initialisation failed
@@ -118,20 +141,11 @@ int32_t TelemetryInitialize(void)
 	GCSTelemetryStatsConnectQueue(priorityQueue);
 	TelemetrySettingsConnectQueue(priorityQueue);
 
-	// Start telemetry tasks
-	xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
-	xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
-
-#if defined(PIOS_TELEM_PRIORITY_QUEUE)
-	xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
-#endif
-	
 	return 0;
 }
 
+MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
+
 /**
  * Register a new object, adds object to local list and connects the queue depending on the object's
  * telemetry settings.
@@ -292,7 +306,6 @@ static void telemetryTxPriTask(void *parameters)
 static void telemetryRxTask(void *parameters)
 {
 	uint32_t inputPort;
-	int32_t len;
 
 	// Task loop
 	while (1) {
@@ -306,14 +319,20 @@ static void telemetryRxTask(void *parameters)
 			inputPort = telemetryPort;
 		}
 
-		// Block until data are available
-		// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
-		len = PIOS_COM_ReceiveBufferUsed(inputPort);
-		for (int32_t n = 0; n < len; ++n) {
-			UAVTalkProcessInputStream(uavTalkCon, PIOS_COM_ReceiveBuffer(inputPort));
-		}
-		vTaskDelay(5);	// <- remove when blocking calls are implemented
+		if (inputPort) {
+			// Block until data are available
+			uint8_t serial_data[1];
+			uint16_t bytes_to_process;
 
+			bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
+			if (bytes_to_process > 0) {
+				for (uint8_t i = 0; i < bytes_to_process; i++) {
+					UAVTalkProcessInputStream(uavTalkCon,serial_data[i]);
+				}
+			}
+		} else {
+			vTaskDelay(5);
+		}
 	}
 }
 
@@ -337,7 +356,11 @@ static int32_t transmitData(uint8_t * data, int32_t length)
 		outputPort = telemetryPort;
 	}
 
-	return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
+	if (outputPort) {
+		return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
+	} else {
+		return -1;
+	}
 }
 
 /**
@@ -493,20 +516,16 @@ static void updateSettings()
     // Retrieve settings
     TelemetrySettingsGet(&settings);
 
-    // Set port speed
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
-    else
-    if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
+    if (telemetryPort) {
+	// Set port speed
+	if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
+	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
+    }
 }
 
 /**
diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index a316f4cc3..60f9d6d30 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -43,9 +43,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-USE_SPEKTRUM ?= NO
-
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
 
@@ -115,8 +112,6 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-MODNAMES = $(notdir ${MODULES} ${PYMODULES})
-
 ifndef TESTAPP
 
 ## PyMite files and modules
@@ -131,7 +126,6 @@ SRC += $(PYSRC)
 
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += ${OUTDIR}/InitMods.c
 ## OPENPILOT CORE:
 SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/openpilot.c
@@ -170,6 +164,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
 SRC += $(PIOSSTM32F10X)/pios_ppm.c
 SRC += $(PIOSSTM32F10X)/pios_pwm.c
 SRC += $(PIOSSTM32F10X)/pios_spektrum.c
+SRC += $(PIOSSTM32F10X)/pios_sbus.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
@@ -194,6 +189,7 @@ SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
 SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
@@ -363,11 +359,6 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
-ifeq ($(USE_SPEKTRUM), YES)
-CDEFS += -DUSE_SPEKTRUM
-endif
-
-
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -478,19 +469,10 @@ endif
 endif
 
 # Generate intermediate code
-gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
 
 $(PYSRC): gencode
 
-# Generate code for module initialization
-${OUTDIR}/InitMods.c: Makefile
-	@echo $(MSG_MODINIT) $(call toprel, $@)
-	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
-	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
-	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
-	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
-	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
-
 # Generate code for PyMite
 ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
 	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
diff --git a/flight/OpenPilot/Makefile.posix b/flight/OpenPilot/Makefile.posix
index 050323721..cfcdbf55f 100644
--- a/flight/OpenPilot/Makefile.posix
+++ b/flight/OpenPilot/Makefile.posix
@@ -165,6 +165,7 @@ endif
 SRC += $(PIOSPOSIX)/pios_crc.c
 SRC += $(PIOSPOSIX)/pios_sys.c
 SRC += $(PIOSPOSIX)/pios_led.c
+SRC += $(PIOSPOSIX)/pios_irq.c
 SRC += $(PIOSPOSIX)/pios_delay.c
 SRC += $(PIOSPOSIX)/pios_sdcard.c
 SRC += $(PIOSPOSIX)/pios_udp.c
@@ -173,8 +174,10 @@ SRC += $(PIOSPOSIX)/pios_servo.c
 SRC += $(PIOSPOSIX)/pios_wdg.c
 SRC += $(PIOSPOSIX)/pios_debug.c
 
+SRC += $(PIOSPOSIX)/pios_rcvr.c
+
 ## Libraries for flight calculations
-#SRC += $(FLIGHTLIB)/fifo_buffer.c
+SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
 ## RTOS and RTOS Portable 
@@ -441,9 +444,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
 	@echo ${MSG_MODINIT}
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
 	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
 # Generate code for PyMite
 ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
diff --git a/flight/OpenPilot/Makefile.win32 b/flight/OpenPilot/Makefile.win32
index 1ea309b26..261e4abfb 100644
--- a/flight/OpenPilot/Makefile.win32
+++ b/flight/OpenPilot/Makefile.win32
@@ -166,6 +166,7 @@ SRC += $(PIOSWIN32)/pios_udp.c
 SRC += $(PIOSWIN32)/pios_com.c
 SRC += $(PIOSWIN32)/pios_servo.c
 SRC += $(PIOSWIN32)/pios_wdg.c
+SRC += $(PIOSWIN32)/pios_crc.c
 #
 ## RTOS
 SRC += $(RTOSSRCDIR)/list.c 
diff --git a/flight/OpenPilot/System/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h
index 3e770e421..75a14ea13 100644
--- a/flight/OpenPilot/System/inc/FreeRTOSConfig.h
+++ b/flight/OpenPilot/System/inc/FreeRTOSConfig.h
@@ -83,6 +83,9 @@ do {\
 #define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
 #endif
 
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
+#define CHECK_IRQ_STACK
+#endif
 
 /**
   * @}
diff --git a/flight/OpenPilot/System/inc/pios_board_posix.h b/flight/OpenPilot/System/inc/pios_board_posix.h
index 741f36ba7..fe6f6ba51 100644
--- a/flight/OpenPilot/System/inc/pios_board_posix.h
+++ b/flight/OpenPilot/System/inc/pios_board_posix.h
@@ -52,15 +52,22 @@
 //-------------------------
 //#define PIOS_USART_TX_BUFFER_SIZE		256
 #define PIOS_COM_BUFFER_SIZE 1024
+#define PIOS_COM_MAX_DEVS 256
 #define PIOS_UDP_RX_BUFFER_SIZE		PIOS_COM_BUFFER_SIZE
 
-#define PIOS_COM_TELEM_RF                       0
-#define PIOS_COM_GPS                            1
-#define PIOS_COM_TELEM_USB                      2
+extern uint32_t pios_com_telem_rf_id;
+extern uint32_t pios_com_telem_usb_id;
+extern uint32_t pios_com_gps_id;
+extern uint32_t pios_com_aux_id;
+extern uint32_t pios_com_spectrum_id;
+
+#define PIOS_COM_TELEM_RF                       (pios_com_telem_rf_id)
+#define PIOS_COM_TELEM_USB                      (pios_com_telem_usb_id)
+#define PIOS_COM_GPS                            (pios_com_gps_id)
 
 #ifdef PIOS_ENABLE_AUX_UART
-#define PIOS_COM_AUX                            3
-#define PIOS_COM_DEBUG                          PIOS_COM_AUX
+#define PIOS_COM_AUX                            (pios_com_aux_id)
+#define PIOS_COM_DEBUG                          (PIOS_COM_AUX
 #endif
 
 /**
diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h
index f3fe8671b..4d561382e 100644
--- a/flight/OpenPilot/System/inc/pios_config.h
+++ b/flight/OpenPilot/System/inc/pios_config.h
@@ -42,12 +42,14 @@
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
 
-#if defined(USE_SPEKTRUM)
+#define PIOS_INCLUDE_RCVR
+
 #define PIOS_INCLUDE_SPEKTRUM
-#else
-//#define PIOS_INCLUDE_PPM
+//#define PIOS_INCLUDE_SBUS
 #define PIOS_INCLUDE_PWM
-#endif
+//#define PIOS_INCLUDE_PPM
+
+#define PIOS_INCLUDE_TELEMETRY_RF
 
 #define PIOS_INCLUDE_SERVO
 #define PIOS_INCLUDE_SPI
@@ -84,6 +86,8 @@
 /* Alarm Thresholds */
 #define HEAP_LIMIT_WARNING		4000
 #define HEAP_LIMIT_CRITICAL		1000
+#define IRQSTACK_LIMIT_WARNING		150
+#define IRQSTACK_LIMIT_CRITICAL		80
 #define CPULOAD_LIMIT_WARNING		80
 #define CPULOAD_LIMIT_CRITICAL		95
 
diff --git a/flight/OpenPilot/System/inc/pios_config_posix.h b/flight/OpenPilot/System/inc/pios_config_posix.h
index 136e264c3..4b779cc49 100644
--- a/flight/OpenPilot/System/inc/pios_config_posix.h
+++ b/flight/OpenPilot/System/inc/pios_config_posix.h
@@ -36,9 +36,14 @@
 #define PIOS_INCLUDE_SDCARD
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_TELEMETRY_RF
 #define PIOS_INCLUDE_UDP
 #define PIOS_INCLUDE_SERVO
+#define PIOS_INCLUDE_RCVR
 
+#define PIOS_RCVR_MAX_CHANNELS			12
+#define PIOS_RCVR_MAX_DEVS              3
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c
index be50653f7..81a8f17b1 100644
--- a/flight/OpenPilot/System/openpilot.c
+++ b/flight/OpenPilot/System/openpilot.c
@@ -62,11 +62,10 @@ static void TaskSDCard(void *pvParameters);
 int32_t CONSOLE_Parse(uint8_t port, char c);
 void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
 
-/* Prototype of generated InitModules() function */
-extern void InitModules(void);
-
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
+extern void Stack_Change(void);
+static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
 
 /**
 * OpenPilot Main function:
@@ -85,48 +84,42 @@ int main()
 	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
 	
-	/* Initialize the system thread */
-	SystemModInitialize();
-
-	/* Start the FreeRTOS scheduler */
-	vTaskStartScheduler();
-
-	/* If all is well we will never reach here as the scheduler will now be running. */
-	/* If we do get here, it will most likely be because we ran out of heap space. */
-	PIOS_LED_Off(LED1);
-	PIOS_LED_Off(LED2);
-	for(;;) {
-		PIOS_LED_Toggle(LED1);
-		PIOS_LED_Toggle(LED2);
-		PIOS_DELAY_WaitmS(100);
-	}
-
-	return 0;
-}
-
-/**
- * Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
- */
-void OpenPilotInit()
-{
-
 	/* Architecture dependant Hardware and
 	 * core subsystem initialisation
 	 * (see pios_board.c for your arch)
 	 * */
-	
 	PIOS_Board_Init();
 
 	/* Initialize modules */
-	InitModules();
+	MODULE_INITIALISE_ALL
 
+#if INCLUDE_TEST_TASKS
 	/* Create test tasks */
-	//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
-	//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
-	//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
-	//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
+	xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
+	xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
+	xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
+	xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
+#endif
+
+	/* swap the stack to use the IRQ stack (does nothing in sim mode) */
+	Stack_Change_Weak();
+
+	/* Start the FreeRTOS scheduler which should never returns.*/
+	vTaskStartScheduler();
+
+	/* If all is well we will never reach here as the scheduler will now be running. */
+
+	/* Do some indication to user that something bad just happened */
+	PIOS_LED_Off(LED1); \
+	for(;;) { \
+		PIOS_LED_Toggle(LED1); \
+		PIOS_DELAY_WaitmS(100); \
+	};
+
+	return 0;
 }
 
+
 #if INCLUDE_TEST_TASKS
 static void TaskTesting(void *pvParameters)
 {
@@ -153,6 +146,9 @@ static void TaskTesting(void *pvParameters)
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SPEKTRUM_Get(0), PIOS_SPEKTRUM_Get(1), PIOS_SPEKTRUM_Get(2), PIOS_SPEKTRUM_Get(3), PIOS_SPEKTRUM_Get(4), PIOS_SPEKTRUM_Get(5), PIOS_SPEKTRUM_Get(6), PIOS_SPEKTRUM_Get(7));
 #endif
+#if defined(PIOS_INCLUDE_SBUS)
+		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u\r", PIOS_SBUS_Get(0), PIOS_SBUS_Get(1), PIOS_SBUS_Get(2), PIOS_SBUS_Get(3), PIOS_SBUS_Get(4), PIOS_SBUS_Get(5), PIOS_SBUS_Get(6), PIOS_SBUS_Get(7));
+#endif
 #if defined(PIOS_INCLUDE_PWM)
 		PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "%u,%u,%u,%u,%u,%u,%u,%u uS\r", PIOS_PWM_Get(0), PIOS_PWM_Get(1), PIOS_PWM_Get(2), PIOS_PWM_Get(3), PIOS_PWM_Get(4), PIOS_PWM_Get(5), PIOS_PWM_Get(6), PIOS_PWM_Get(7));
 #endif
@@ -339,5 +335,5 @@ static void TaskSDCard(void *pvParameters)
 /**
  * @}
  * @}
- */
+ */
 
diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c
index 14be197e8..822b7a8ae 100644
--- a/flight/OpenPilot/System/pios_board.c
+++ b/flight/OpenPilot/System/pios_board.c
@@ -30,6 +30,7 @@
 #include <pios.h>
 #include <openpilot.h>
 #include <uavobjectsinit.h>
+#include "manualcontrolsettings.h"
 
 //#define I2C_DEBUG_PIN			0
 //#define USART_GPS_DEBUG_PIN		1
@@ -46,7 +47,7 @@
 void PIOS_SPI_sdcard_irq_handler(void);
 void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
 void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
-const struct pios_spi_cfg pios_spi_sdcard_cfg = {
+static const struct pios_spi_cfg pios_spi_sdcard_cfg = {
   .regs   = SPI1,
   .init   = {
     .SPI_Mode              = SPI_Mode_Master,
@@ -63,7 +64,6 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
     .ahb_clk  = RCC_AHBPeriph_DMA1,
     
     .irq = {
-      .handler = PIOS_SPI_sdcard_irq_handler,
       .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
       .init    = {
 	.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
@@ -144,7 +144,7 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
 void PIOS_SPI_ahrs_irq_handler(void);
 void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
 void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
-const struct pios_spi_cfg pios_spi_ahrs_cfg = {
+static const struct pios_spi_cfg pios_spi_ahrs_cfg = {
   .regs   = SPI2,
   .init   = {
     .SPI_Mode              = SPI_Mode_Master,
@@ -162,7 +162,6 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
     .ahb_clk  = RCC_AHBPeriph_DMA1,
     
     .irq = {
-      .handler = PIOS_SPI_ahrs_irq_handler,
       .flags   = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
       .init    = {
 	.NVIC_IRQChannel                   = DMA1_Channel4_IRQn,
@@ -258,11 +257,10 @@ void PIOS_SPI_ahrs_irq_handler(void)
 extern void PIOS_ADC_handler(void);
 void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
 // Remap the ADC DMA handler to this one
-const struct pios_adc_cfg pios_adc_cfg = {
+static const struct pios_adc_cfg pios_adc_cfg = {
 	.dma = {
 		.ahb_clk  = RCC_AHBPeriph_DMA1,
 		.irq = {
-			.handler = PIOS_ADC_DMA_Handler,
 			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
 			.init    = {
 				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
@@ -310,16 +308,10 @@ void PIOS_ADC_handler() {
 /*
  * Telemetry USART
  */
-void PIOS_USART_telem_irq_handler(void);
-void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
-const struct pios_usart_cfg pios_usart_telem_cfg = {
+static const struct pios_usart_cfg pios_usart_telem_cfg = {
   .regs  = USART2,
   .init = {
-    #if defined (PIOS_COM_TELEM_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_TELEM_BAUDRATE,
-    #else
-        .USART_BaudRate        = 57600,
-    #endif
+    .USART_BaudRate            = 57600,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
@@ -327,7 +319,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
     .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
   },
   .irq = {
-    .handler = PIOS_USART_telem_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART2_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -356,17 +347,11 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
 /*
  * GPS USART
  */
-void PIOS_USART_gps_irq_handler(void);
-void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
-const struct pios_usart_cfg pios_usart_gps_cfg = {
+static const struct pios_usart_cfg pios_usart_gps_cfg = {
   .regs = USART3,
   .remap = GPIO_PartialRemap_USART3,
   .init = {
-    #if defined (PIOS_COM_GPS_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_GPS_BAUDRATE,
-    #else
-        .USART_BaudRate        = 57600,
-    #endif
+    .USART_BaudRate            = 57600,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
@@ -374,7 +359,6 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
     .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
   },
   .irq = {
-    .handler = PIOS_USART_gps_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART3_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -404,16 +388,9 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
 /*
  * AUX USART
  */
-void PIOS_USART_aux_irq_handler(void);
-void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
-const struct pios_usart_cfg pios_usart_aux_cfg = {
+static const struct pios_usart_cfg pios_usart_aux_cfg = {
   .regs = USART1,
   .init = {
-    #if defined (PIOS_COM_AUX_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_AUX_BAUDRATE,
-    #else
-        .USART_BaudRate        = 57600,
-    #endif
     .USART_BaudRate            = 57600,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
@@ -422,7 +399,6 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
     .USART_Mode                = USART_Mode_Rx | USART_Mode_Tx,
   },
   .irq = {
-    .handler = PIOS_USART_aux_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART1_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
@@ -450,20 +426,44 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
 };
 #endif
 
-#ifdef PIOS_COM_SPEKTRUM
+#if defined(PIOS_INCLUDE_RTC)
+/*
+ * Realtime Clock (RTC)
+ */
+#include <pios_rtc_priv.h>
+
+void PIOS_RTC_IRQ_Handler (void);
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
+static const struct pios_rtc_cfg pios_rtc_main_cfg = {
+	.clksrc = RCC_RTCCLKSource_HSE_Div128,
+	.prescaler = 100,
+	.irq = {
+		.init = {
+			.NVIC_IRQChannel                   = RTC_IRQn,
+			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+			.NVIC_IRQChannelSubPriority        = 0,
+			.NVIC_IRQChannelCmd                = ENABLE,
+		  },
+	},
+};
+
+void PIOS_RTC_IRQ_Handler (void)
+{
+	PIOS_RTC_irq_handler ();
+}
+
+#endif
+
+#if defined(PIOS_INCLUDE_SPEKTRUM)
 /*
  * SPEKTRUM USART
  */
-void PIOS_USART_spektrum_irq_handler(void);
-void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
-const struct pios_usart_cfg pios_usart_spektrum_cfg = {
+#include <pios_spektrum_priv.h>
+
+static const struct pios_usart_cfg pios_usart_spektrum_cfg = {
   .regs = USART1,
   .init = {
-    #if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
-        .USART_BaudRate        = PIOS_COM_SPEKTRUM_BAUDRATE,
-    #else
-        .USART_BaudRate        = 115200,
-    #endif
+    .USART_BaudRate            = 115200,
     .USART_WordLength          = USART_WordLength_8b,
     .USART_Parity              = USART_Parity_No,
     .USART_StopBits            = USART_StopBits_1,
@@ -471,7 +471,6 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
     .USART_Mode                = USART_Mode_Rx,
   },
   .irq = {
-    .handler = PIOS_USART_spektrum_irq_handler,
     .init    = {
       .NVIC_IRQChannel                   = USART1_IRQn,
       .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -497,74 +496,24 @@ const struct pios_usart_cfg pios_usart_spektrum_cfg = {
   },
 };
 
-static uint32_t pios_usart_spektrum_id;
-void PIOS_USART_spektrum_irq_handler(void)
-{
-	SPEKTRUM_IRQHandler(pios_usart_spektrum_id);
-}
-
 #include <pios_spektrum_priv.h>
-void RTC_IRQHandler();
-void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
-const struct pios_spektrum_cfg pios_spektrum_cfg = {
-	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.gpio_init = { //used for bind feature
-		.GPIO_Mode = GPIO_Mode_Out_PP,
-		.GPIO_Speed = GPIO_Speed_2MHz,
-	},
-	.remap = 0,
-	.irq = {
-		.handler = RTC_IRQHandler,
-		.init    = {
-			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
-			.NVIC_IRQChannelSubPriority        = 0,
-			.NVIC_IRQChannelCmd                = ENABLE,
+static const struct pios_spektrum_cfg pios_spektrum_cfg = {
+	.bind = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_10,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+			.GPIO_Mode  = GPIO_Mode_Out_PP,
 		},
 	},
-	.port = GPIOA,
-	.pin = GPIO_Pin_10,
+	.remap = 0,
 };
 
-void PIOS_SUPV_irq_handler() {
-	if (RTC_GetITStatus(RTC_IT_SEC))
-	{
-		/* Call the right handler */
-		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
-
-		/* Wait until last write operation on RTC registers has finished */
-		RTC_WaitForLastTask();
-		/* Clear the RTC Second interrupt */
-		RTC_ClearITPendingBit(RTC_IT_SEC);
-	}
-}
 #endif	/* PIOS_COM_SPEKTRUM */
 
-static uint32_t pios_usart_telem_rf_id;
-void PIOS_USART_telem_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_telem_rf_id);
-}
-
-static uint32_t pios_usart_gps_id;
-void PIOS_USART_gps_irq_handler(void)
-{
-#ifdef USART_GPS_DEBUG_PIN
-	PIOS_DEBUG_PinHigh(USART_GPS_DEBUG_PIN);
-#endif
-	PIOS_USART_IRQ_Handler(pios_usart_gps_id);
-#ifdef USART_GPS_DEBUG_PIN
-	PIOS_DEBUG_PinLow(USART_GPS_DEBUG_PIN);
-#endif
-
-}
-
-#ifdef PIOS_COM_AUX
-static uint32_t pios_usart_aux_id;
-void PIOS_USART_aux_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_aux_id);
-}
-#endif
+#if defined(PIOS_INCLUDE_SBUS)
+#error PIOS_INCLUDE_SBUS not implemented
+#endif	/* PIOS_INCLUDE_SBUS */
 
 #endif /* PIOS_INCLUDE_USART */
 
@@ -572,13 +521,21 @@ void PIOS_USART_aux_irq_handler(void)
 
 #include "pios_com_priv.h"
 
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
+
+#define PIOS_COM_GPS_RX_BUF_LEN 96
+
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
 #endif	/* PIOS_INCLUDE_COM */
 
 /**
  * Pios servo configuration structures
  */
 #include <pios_servo_priv.h>
-const struct pios_servo_channel pios_servo_channels[] = {
+static const struct pios_servo_channel pios_servo_channels[] = {
 	{
 		.timer = TIM4,
 		.port = GPIOB,
@@ -662,7 +619,7 @@ const struct pios_servo_cfg pios_servo_cfg = {
  */
 #if defined(PIOS_INCLUDE_PWM)
 #include <pios_pwm_priv.h>
-const struct pios_pwm_channel pios_pwm_channels[] = {
+static const struct pios_pwm_channel pios_pwm_channels[] = {
 	{
 		.timer = TIM1,
 		.port = GPIOA,
@@ -747,7 +704,6 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
 	},
 	.remap = GPIO_PartialRemap_TIM3,
 	.irq = {
-		.handler = TIM1_CC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
@@ -778,7 +734,7 @@ void PIOS_TIM5_irq_handler()
 #include <pios_ppm_priv.h>
 void TIM6_IRQHandler();
 void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
-const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
+static const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
 	.tim_base_init = {
 		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
 		.TIM_ClockDivision = TIM_CKD_DIV1,
@@ -787,7 +743,6 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
 		.TIM_RepetitionCounter = 0x0000,
 	},
 	.irq = {
-		.handler = TIM6_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
@@ -798,14 +753,14 @@ const struct pios_ppmsv_cfg pios_ppmsv_cfg = {
 	.ccr = TIM_IT_Update,
 };
 
-void PIOS_TIM6_irq_handler()
+void PIOS_TIM6_irq_handler(void)
 {
 	PIOS_PPMSV_irq_handler();
 }
 
 void TIM1_CC_IRQHandler();
 void TIM1_CC_IRQHandler() __attribute__ ((alias ("PIOS_TIM1_CC_irq_handler")));
-const struct pios_ppm_cfg pios_ppm_cfg = {
+static const struct pios_ppm_cfg pios_ppm_cfg = {
 	.tim_base_init = {
 		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
 		.TIM_ClockDivision = TIM_CKD_DIV1,
@@ -827,7 +782,6 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM1_CC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
@@ -840,7 +794,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
 	.ccr = TIM_IT_CC2,
 };
 
-void PIOS_TIM1_CC_irq_handler()
+void PIOS_TIM1_CC_irq_handler(void)
 {
 	PIOS_PPM_irq_handler();
 }
@@ -860,7 +814,7 @@ void PIOS_I2C_main_adapter_er_irq_handler(void);
 void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler")));
 void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler")));
 
-const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
+static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
   .regs = I2C2,
   .init = {
     .I2C_Mode                = I2C_Mode_I2C,
@@ -888,7 +842,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
     },
   },
   .event = {
-    .handler = PIOS_I2C_main_adapter_ev_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_EV_IRQn,
@@ -898,7 +851,6 @@ const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = {
     },
   },
   .error = {
-    .handler = PIOS_I2C_main_adapter_er_irq_handler,
     .flags   = 0,		/* FIXME: check this */
     .init = {
       .NVIC_IRQChannel                   = I2C2_ER_IRQn,
@@ -1009,6 +961,28 @@ static const struct stm32_gpio pios_debug_pins[] = {
 
 #endif /* PIOS_ENABLE_DEBUG_PINS */
 
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+uint32_t pios_rcvr_max_channel;
+#endif /* PIOS_INCLUDE_RCVR */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_telem_rf_id;
@@ -1038,7 +1012,7 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_SPI)	
 	/* Set up the SPI interface to the SD card */
 	if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
 
 	/* Enable and mount the SDCard */
@@ -1046,23 +1020,16 @@ void PIOS_Board_Init(void) {
 	PIOS_SDCARD_MountFS(0);
 #endif /* PIOS_INCLUDE_SPI */
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* SPEKTRUM init must come before comms */
-	PIOS_RTC_Init();  // Spektrum uses RTC to check for frame failures
-	PIOS_SPEKTRUM_Init();
-
-	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
-#endif
 	/* Initialize UAVObject libraries */
 	EventDispatcherInitialize();
 	UAVObjInitialize();
 	UAVObjectsInitializeAll();
 
+#if defined(PIOS_INCLUDE_RTC)
+	/* Initialize the real-time clock and its associated tick */
+	PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+
 	/* Initialize the alarms library */
 	AlarmsInitialize();
 
@@ -1074,7 +1041,7 @@ void PIOS_Board_Init(void) {
 
 	/* Set up the SPI interface to the AHRS */
 	if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
 
 	/* Bind the AHRS comms layer to the AHRS SPI link */
@@ -1082,43 +1049,145 @@ void PIOS_Board_Init(void) {
 
 	/* Initialize the PiOS library */
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
-		PIOS_DEBUG_Assert(0);
-	}
-	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) {
-		PIOS_DEBUG_Assert(0);
-	}
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+	{
+		uint32_t pios_usart_telem_rf_id;
+		if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
+			PIOS_Assert(0);
+		}
 
-	if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
+		if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
+						  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+						  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+			PIOS_Assert(0);
+		}
 	}
-	if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
-		PIOS_DEBUG_Assert(0);
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+
+#if defined(PIOS_INCLUDE_GPS)
+	{
+		uint32_t pios_usart_gps_id;
+		if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
+			PIOS_Assert(0);
+		}
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
+				  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+				  NULL, 0)) {
+			PIOS_Assert(0);
+		}
 	}
+#endif	/* PIOS_INCLUDE_GPS */
 #endif
 
 	PIOS_Servo_Init();
 	PIOS_ADC_Init();
 	PIOS_GPIO_Init();
 
+	/* Configure the selected receiver */
+	uint8_t manualcontrolsettings_inputmode;
+	ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
+
+	switch (manualcontrolsettings_inputmode) {
+		case MANUALCONTROLSETTINGS_INPUTMODE_PWM:
 #if defined(PIOS_INCLUDE_PWM)
-	PIOS_PWM_Init();
+#if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
+#error More receiver inputs than available devices
 #endif
+			PIOS_PWM_Init();
+			uint32_t pios_pwm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, 0)) {
+			  PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_PWM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_pwm_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
+#endif  /* PIOS_INCLUDE_PWM */
+			break;
+		case MANUALCONTROLSETTINGS_INPUTMODE_PPM:
 #if defined(PIOS_INCLUDE_PPM)
-	PIOS_PPM_Init();
+#if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
+#error More receiver inputs than available devices
 #endif
+			PIOS_PPM_Init();
+			uint32_t pios_ppm_rcvr_id;
+			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, 0)) {
+			  PIOS_Assert(0);
+			}
+			for (uint8_t i = 0;
+			     i < PIOS_PPM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+			     i++) {
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_ppm_rcvr_id;
+				pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+				pios_rcvr_max_channel++;
+			}
+#endif	/* PIOS_INCLUDE_PPM */
+			break;
+		case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM:
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+#if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_CHANNELS)
+#error More receiver inputs than available devices
+#endif
+			{
+				uint32_t pios_usart_spektrum_id;
+				if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {
+					PIOS_Assert(0);
+				}
+
+				uint32_t pios_spektrum_id;
+				if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+					PIOS_Assert(0);
+				}
+
+				uint32_t pios_spektrum_rcvr_id;
+				if (PIOS_RCVR_Init(&pios_spektrum_rcvr_id, &pios_spektrum_rcvr_driver, 0)) {
+					PIOS_Assert(0);
+				}
+				for (uint8_t i = 0;
+				     i < PIOS_SPEKTRUM_NUM_INPUTS && pios_rcvr_max_channel < NELEMENTS(pios_rcvr_channel_to_id_map);
+				     i++) {
+					pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].id = pios_spektrum_rcvr_id;
+					pios_rcvr_channel_to_id_map[pios_rcvr_max_channel].channel = i;
+					pios_rcvr_max_channel++;
+				}
+			}
+#endif
+			break;
+		case MANUALCONTROLSETTINGS_INPUTMODE_SBUS:
+#if defined(PIOS_INCLUDE_SBUS)
+#error SBUS NOT ON OP YET
+#endif  /* PIOS_INCLUDE_SBUS */
+			break;
+	}
+
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+	uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+	PIOS_Assert(rx_buffer);
+	PIOS_Assert(tx_buffer);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+			  tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif  /* PIOS_INCLUDE_USB_HID */
+#endif	/* PIOS_INCLUDE_USB_HID */
 
 #if defined(PIOS_INCLUDE_I2C)
 	if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_I2C */
 	PIOS_IAP_Init();
diff --git a/flight/OpenPilot/System/pios_board_posix.c b/flight/OpenPilot/System/pios_board_posix.c
index 87d8e7402..2480d0730 100644
--- a/flight/OpenPilot/System/pios_board_posix.c
+++ b/flight/OpenPilot/System/pios_board_posix.c
@@ -29,42 +29,27 @@
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 
-/**
- * PIOS_Board_Init()
- * initializes all the core systems on this specific hardware
- * called from System/openpilot.c
- */
-void PIOS_Board_Init(void) {
+#include "pios_rcvr_priv.h"
 
-	/* Delay system */
-	PIOS_DELAY_Init();
+struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[PIOS_RCVR_MAX_CHANNELS];
+uint32_t pios_rcvr_max_channel;
 
-	/* Initialize UAVObject libraries */
-	EventDispatcherInitialize();
-	UAVObjInitialize();
-	UAVObjectsInitializeAll();
-
-	/* Initialize the alarms library */
-	AlarmsInitialize();
-
-	/* Initialize the task monitor library */
-	TaskMonitorInitialize();
-
-	/* Initialize the PiOS library */
-	PIOS_COM_Init();
+void Stack_Change() {
+}
 
+void Stack_Change_Weak() {
 }
 
 
-const struct pios_udp_cfg pios_udp0_cfg = {
+const struct pios_udp_cfg pios_udp_telem_cfg = {
   .ip = "0.0.0.0",
   .port = 9000,
 };
-const struct pios_udp_cfg pios_udp1_cfg = {
+const struct pios_udp_cfg pios_udp_gps_cfg = {
   .ip = "0.0.0.0",
   .port = 9001,
 };
-const struct pios_udp_cfg pios_udp2_cfg = {
+const struct pios_udp_cfg pios_udp_debug_cfg = {
   .ip = "0.0.0.0",
   .port = 9002,
 };
@@ -73,15 +58,19 @@ const struct pios_udp_cfg pios_udp2_cfg = {
 /*
  * AUX USART
  */
-const struct pios_udp_cfg pios_udp3_cfg = {
+const struct pios_udp_cfg pios_udp_aux_cfg = {
   .ip = "0.0.0.0",
   .port = 9003,
 };
 #endif
 
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
+
 /*
  * Board specific number of devices.
  */
+/*
 struct pios_udp_dev pios_udp_devs[] = {
 #define PIOS_UDP_TELEM  0
   {
@@ -104,7 +93,7 @@ struct pios_udp_dev pios_udp_devs[] = {
 };
 
 uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
-
+*/
 /*
  * COM devices
  */
@@ -115,28 +104,72 @@ uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
 extern const struct pios_com_driver pios_serial_com_driver;
 extern const struct pios_com_driver pios_udp_com_driver;
 
-struct pios_com_dev pios_com_devs[] = {
-  {
-    .id     = PIOS_UDP_TELEM,
-    .driver = &pios_udp_com_driver,
-  },
-  {
-    .id     = PIOS_UDP_GPS,
-    .driver = &pios_udp_com_driver,
-  },
-  {
-    .id     = PIOS_UDP_LOCAL,
-    .driver = &pios_udp_com_driver,
-  },
-#ifdef PIOS_COM_AUX
-  {
-    .id     = PIOS_UDP_AUX,
-    .driver = &pios_udp_com_driver,
-  },
-#endif
-};
+uint32_t pios_com_telem_rf_id;
+uint32_t pios_com_telem_usb_id;
+uint32_t pios_com_gps_id;
+uint32_t pios_com_aux_id;
+uint32_t pios_com_spectrum_id;
 
-const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
+/**
+ * PIOS_Board_Init()
+ * initializes all the core systems on this specific hardware
+ * called from System/openpilot.c
+ */
+void PIOS_Board_Init(void) {
+
+	/* Delay system */
+	PIOS_DELAY_Init();
+
+	/* Initialize UAVObject libraries */
+	EventDispatcherInitialize();
+	UAVObjInitialize();
+	UAVObjectsInitializeAll();
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	/* Initialize the task monitor library */
+	TaskMonitorInitialize();
+
+#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+	{
+		uint32_t pios_udp_telem_rf_id;
+		if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
+			PIOS_Assert(0);
+		}
+
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		PIOS_Assert(tx_buffer);
+		if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
+						  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+						  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+
+#if defined(PIOS_INCLUDE_GPS)
+	{
+		uint32_t pios_udp_gps_id;
+		if (PIOS_USART_Init(&pios_udp_gps_id, &pios_udp_gps_cfg)) {
+			PIOS_Assert(0);
+		}
+		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
+		PIOS_Assert(rx_buffer);
+		if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
+				  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+				  NULL, 0)) {
+			PIOS_Assert(0);
+		}
+	}
+#endif	/* PIOS_INCLUDE_GPS */
+#endif
+
+
+}
 
 /**
  * @}
diff --git a/flight/PiOS.posix/inc/pios_com.h b/flight/PiOS.posix/inc/pios_com.h
index 361e820d5..cbee33735 100644
--- a/flight/PiOS.posix/inc/pios_com.h
+++ b/flight/PiOS.posix/inc/pios_com.h
@@ -1,55 +1,65 @@
-/**
- ******************************************************************************
- *
- * @file       pios_com.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      COM layer functions header
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef PIOS_COM_H
-#define PIOS_COM_H
-
-/* Public Functions */
-extern int32_t PIOS_COM_Init(void);
-extern int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud);
-extern int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c);
-extern int32_t PIOS_COM_SendChar(uint8_t port, char c);
-extern int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str);
-extern int32_t PIOS_COM_SendString(uint8_t port, char *str);
-extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...);
-extern int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...);
-extern uint8_t PIOS_COM_ReceiveBuffer(uint8_t port);
-extern int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port);
-
-extern int32_t PIOS_COM_ReceiveHandler(void);
-
-struct pios_com_driver {
-  void    (*init)(uint8_t id);
-  void    (*set_baud)(uint8_t id, uint32_t baud);
-  int32_t (*tx_nb)(uint8_t id, uint8_t *buffer, uint16_t len);
-  int32_t (*tx)(uint8_t id, uint8_t *buffer, uint16_t len);
-  int32_t (*rx)(uint8_t id);
-  int32_t (*rx_avail)(uint8_t id);
-};
-
-#endif /* PIOS_COM_H */
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_COM COM layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_com.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      COM layer functions header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_COM_H
+#define PIOS_COM_H
+
+typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
+
+struct pios_com_driver {
+	void (*init)(uint32_t id);
+	void (*set_baud)(uint32_t id, uint32_t baud);
+	void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
+	void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
+	void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
+	void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
+};
+
+/* Public Functions */
+extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
+extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
+extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
+extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
+extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
+extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
+extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
+extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
+extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
+extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
+extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
+extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
+
+#endif /* PIOS_COM_H */
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS.posix/inc/pios_com_priv.h b/flight/PiOS.posix/inc/pios_com_priv.h
index 5b285edac..54af82bcb 100644
--- a/flight/PiOS.posix/inc/pios_com_priv.h
+++ b/flight/PiOS.posix/inc/pios_com_priv.h
@@ -1,5 +1,10 @@
 /**
  ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_COM COM layer functions
+ * @brief Hardware communication layer
+ * @{
  *
  * @file       pios_com_priv.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@@ -29,13 +34,11 @@
 
 #include <pios.h>
 
-struct pios_com_dev {
-  uint8_t                              id;
-  const struct pios_com_driver * const driver;
-};
-
-extern struct pios_com_dev pios_com_devs[];
-extern const uint8_t             pios_com_num_devices;
+extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id);
 
 #endif /* PIOS_COM_PRIV_H */
 
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS.posix/inc/pios_initcall.h b/flight/PiOS.posix/inc/pios_initcall.h
index c80cd47a8..deb6e0eb6 100644
--- a/flight/PiOS.posix/inc/pios_initcall.h
+++ b/flight/PiOS.posix/inc/pios_initcall.h
@@ -38,7 +38,32 @@
  * and we cannot define a linker script for each of them atm
  */
 
-#define uavobj_initcall(fn)
+
+typedef int32_t (*initcall_t)(void);
+typedef struct {
+	initcall_t fn_minit;
+	initcall_t fn_tinit;
+} initmodule_t;
+
+/* Init module section */
+extern initmodule_t __module_initcall_start[], __module_initcall_end[];
+
+extern void InitModules();
+extern void StartModules();
+
+#define UAVOBJ_INITCALL(fn)
+#define MODULE_INITCALL(ifn, sfn)
+
+#define MODULE_TASKCREATE_ALL { \
+	/* Start all module threads */ \
+	StartModules(); \
+	}
+
+#define MODULE_INITIALISE_ALL { \
+	/* Initialize modules */ \
+	InitModules(); \
+	/* Initialize the system thread */ \
+	SystemModInitialize();}
 
 #endif	/* PIOS_INITCALL_H */
 
diff --git a/flight/PiOS.posix/inc/pios_irq.h b/flight/PiOS.posix/inc/pios_irq.h
new file mode 100644
index 000000000..f9b9dbb97
--- /dev/null
+++ b/flight/PiOS.posix/inc/pios_irq.h
@@ -0,0 +1,38 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_IRQ IRQ Setup Functions
+ * @{
+ *
+ * @file       pios_irq.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      IRQ functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_IRQ_H
+#define PIOS_IRQ_H
+
+/* Public Functions */
+extern int32_t PIOS_IRQ_Disable(void);
+extern int32_t PIOS_IRQ_Enable(void);
+
+#endif /* PIOS_IRQ_H */
diff --git a/flight/PiOS.posix/inc/pios_rcvr.h b/flight/PiOS.posix/inc/pios_rcvr.h
new file mode 100644
index 000000000..a32160894
--- /dev/null
+++ b/flight/PiOS.posix/inc/pios_rcvr.h
@@ -0,0 +1,54 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_RCVR RCVR layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_rcvr.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      RCVR layer functions header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_H
+#define PIOS_RCVR_H
+
+struct pios_rcvr_channel_map {
+	uint32_t id;
+	uint8_t  channel;
+};
+
+extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
+
+struct pios_rcvr_driver {
+  void    (*init)(uint32_t id);
+  int32_t (*read)(uint32_t id, uint8_t channel);
+};
+
+/* Public Functions */
+extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
+
+#endif /* PIOS_RCVR_H */
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS.posix/inc/pios_rcvr_priv.h b/flight/PiOS.posix/inc/pios_rcvr_priv.h
new file mode 100644
index 000000000..968dc2116
--- /dev/null
+++ b/flight/PiOS.posix/inc/pios_rcvr_priv.h
@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RCVR RCVR Functions
+ * @brief PIOS interface for RCVR drivers
+ * @{
+ *
+ * @file       pios_rcvr_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      USART private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_PRIV_H
+#define PIOS_RCVR_PRIV_H
+
+#include <pios.h>
+
+extern uint32_t pios_rcvr_max_channel;
+
+extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
+
+extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
+
+#endif /* PIOS_RCVR_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS.posix/inc/pios_udp.h b/flight/PiOS.posix/inc/pios_udp.h
index 7376ee6a1..36964a342 100644
--- a/flight/PiOS.posix/inc/pios_udp.h
+++ b/flight/PiOS.posix/inc/pios_udp.h
@@ -31,21 +31,5 @@
 /* Global Types */
 
 /* Public Functions */
-//extern void PIOS_UDP_Init(void);
-void PIOS_UDP_Init(void);
-extern void PIOS_UDP_ChangeBaud(uint8_t usart, uint32_t baud);
-
-extern int32_t PIOS_UDP_RxBufferFree(uint8_t usart);
-extern int32_t PIOS_UDP_RxBufferUsed(uint8_t usart);
-extern int32_t PIOS_UDP_RxBufferGet(uint8_t usart);
-extern int32_t PIOS_UDP_RxBufferPeek(uint8_t usart);
-extern int32_t PIOS_UDP_RxBufferPut(uint8_t usart, uint8_t b);
-
-extern int32_t PIOS_UDP_TxBufferFree(uint8_t usart);
-extern int32_t PIOS_UDP_TxBufferGet(uint8_t usart);
-extern int32_t PIOS_UDP_TxBufferPutMoreNonBlocking(uint8_t usart, uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_UDP_TxBufferPutMore(uint8_t usart, uint8_t *buffer, uint16_t len);
-extern int32_t PIOS_UDP_TxBufferPutNonBlocking(uint8_t usart, uint8_t b);
-extern int32_t PIOS_UDP_TxBufferPut(uint8_t usart, uint8_t b);
 
 #endif /* PIOS_UDP_H */
diff --git a/flight/PiOS.posix/inc/pios_udp_priv.h b/flight/PiOS.posix/inc/pios_udp_priv.h
index 8f714cc56..999e192e9 100644
--- a/flight/PiOS.posix/inc/pios_udp_priv.h
+++ b/flight/PiOS.posix/inc/pios_udp_priv.h
@@ -29,6 +29,7 @@
 
 #include <pios.h>
 #include <stdio.h>
+#include <pthread.h>
 #include <sys/socket.h>
 #include <arpa/inet.h>
 #include <stdlib.h>
@@ -37,30 +38,34 @@
 #include <fcntl.h>
 #include <netinet/in.h>
 
-
-
 struct pios_udp_cfg {
   const char * ip;
   uint16_t port;
 };
 
-struct pios_udp_buffer {
-  uint8_t   buf[PIOS_UDP_RX_BUFFER_SIZE];
-  uint16_t  head;
-  uint16_t  tail;
-  uint16_t  size;
-};
+typedef struct {
+  const struct pios_udp_cfg * cfg;
+  pthread_t rxThread;
 
-struct pios_udp_dev {
-  const struct pios_udp_cfg * const cfg;
-  struct pios_udp_buffer      rx;
   int socket;
   struct sockaddr_in server;
   struct sockaddr_in client;
   uint32_t clientLength;
-};
 
-extern struct pios_udp_dev pios_udp_devs[];
-extern uint8_t             pios_udp_num_devices;
+  pthread_cond_t cond;
+  pthread_mutex_t mutex;
+
+  pios_com_callback tx_out_cb;
+  uint32_t tx_out_context;
+  pios_com_callback rx_in_cb;
+  uint32_t rx_in_context;
+
+  uint8_t rx_buffer[PIOS_UDP_RX_BUFFER_SIZE];
+  uint8_t tx_buffer[PIOS_UDP_RX_BUFFER_SIZE];
+} pios_udp_dev;
+
+extern int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg);
+
+
 
 #endif /* PIOS_UDP_PRIV_H */
diff --git a/flight/PiOS.posix/pios.h b/flight/PiOS.posix/pios.h
index a82d13b81..9256891b1 100644
--- a/flight/PiOS.posix/pios.h
+++ b/flight/PiOS.posix/pios.h
@@ -58,6 +58,7 @@
 #include <pios_sys.h>
 #include <pios_delay.h>
 #include <pios_led.h>
+#include <pios_irq.h>
 #include <pios_sdcard.h>
 #include <pios_udp.h>
 #include <pios_com.h>
@@ -65,6 +66,7 @@
 #include <pios_wdg.h>
 #include <pios_debug.h>
 #include <pios_crc.h>
+#include <pios_rcvr.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
diff --git a/flight/PiOS.posix/posix/pios_com.c b/flight/PiOS.posix/posix/pios_com.c
index a70715f24..77c2e2595 100644
--- a/flight/PiOS.posix/posix/pios_com.c
+++ b/flight/PiOS.posix/posix/pios_com.c
@@ -1,285 +1,522 @@
-/**
- ******************************************************************************
- *
- * @file       pios_com.c  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	       Parts by Thorsten Klose (tk@midibox.org)
- * @brief      COM layer functions
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   PIOS_COM COM layer functions
- * @{
- * 
- *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-
-/* Project Includes */
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_COM COM layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_com.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      COM layer functions
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
 #include "pios.h"
 
 #if defined(PIOS_INCLUDE_COM)
 
+#include "fifo_buffer.h"
 #include <pios_com_priv.h>
 
-static struct pios_com_dev * find_com_dev_by_id (uint8_t port)
-{
-  if (port >= pios_com_num_devices) {
-    /* Undefined COM port for this board (see pios_board.c) */
-    return NULL;
-  }
+#if !defined(PIOS_INCLUDE_FREERTOS)
+#include "pios_delay.h"		/* PIOS_DELAY_WaitmS */
+#endif
 
-  /* Get a handle for the device configuration */
-  return &(pios_com_devs[port]);
+enum pios_com_dev_magic {
+  PIOS_COM_DEV_MAGIC = 0xaa55aa55,
+};
+
+struct pios_com_dev {
+	enum pios_com_dev_magic magic;
+	uint32_t lower_id;
+	const struct pios_com_driver * driver;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	xSemaphoreHandle tx_sem;
+	xSemaphoreHandle rx_sem;
+#endif
+
+	bool has_rx;
+	bool has_tx;
+
+	t_fifo_buffer rx;
+	t_fifo_buffer tx;
+};
+
+static bool PIOS_COM_validate(struct pios_com_dev * com_dev)
+{
+	return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
 }
 
-/**
-* Initialises COM layer
-* \param[in] mode currently only mode 0 supported
-* \return < 0 if initialisation failed
-*/
-int32_t PIOS_COM_Init(void)
-{
-	int32_t ret = 0;
-
-	/* If any COM assignment: */
-#if defined(PIOS_INCLUDE_SERIAL)
-	PIOS_SERIAL_Init();
-#endif
-
-#if defined(PIOS_INCLUDE_UDP)
-	PIOS_UDP_Init();
-#endif
-
-	return ret;
-}
-
-/**
-* Change the port speed without re-initializing
-* \param[in] port COM port
-* \param[in] baud Requested baud rate
-* \return -1 if port not available
-* \return 0 on success
-*/
-int32_t PIOS_COM_ChangeBaud(uint8_t port, uint32_t baud)
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+// static struct pios_com_dev * PIOS_COM_alloc(void)
+//{
+//	struct pios_com_dev * com_dev;
+//
+//	com_dev = (struct pios_com_dev *)malloc(sizeof(*com_dev));
+//	if (!com_dev) return (NULL);
+//
+//	com_dev->magic = PIOS_COM_DEV_MAGIC;
+//	return(com_dev);
+//}
+#else
+static struct pios_com_dev pios_com_devs[PIOS_COM_MAX_DEVS];
+static uint8_t pios_com_num_devs;
+static uint32_t PIOS_COM_create(void)
 {
-  struct pios_com_dev * com_dev;
+	struct pios_com_dev * com_dev;
 
-  com_dev = find_com_dev_by_id (port);
+	if (pios_com_num_devs >= PIOS_COM_MAX_DEVS) {
+		return (PIOS_COM_MAX_DEVS+1);
+	}
 
-  if (!com_dev) {
-    /* Undefined COM port for this board (see pios_board.c) */
-    return -1;
-  }
+	com_dev = &pios_com_devs[pios_com_num_devs++];
+	com_dev->magic = PIOS_COM_DEV_MAGIC;
 
-  /* Invoke the driver function if it exists */
-  if (com_dev->driver->set_baud) {
-    com_dev->driver->set_baud(com_dev->id, baud);
-  }
-
-  return 0;
+	return (pios_com_num_devs);
 }
-
-/**
-* Sends a package over given port
-* \param[in] port COM port
-* \param[in] buffer character buffer
-* \param[in] len buffer length
-* \return -1 if port not available
-* \return -2 if non-blocking mode activated: buffer is full
-*            caller should retry until buffer is free again
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendBufferNonBlocking(uint8_t port, uint8_t *buffer, uint16_t len)
+static struct pios_com_dev * PIOS_COM_find_dev(uint32_t com_dev_id)
 {
-  struct pios_com_dev * com_dev;
+	if (!com_dev_id) return NULL;
+	if (com_dev_id>pios_com_num_devs+1)	return NULL;
+	return &pios_com_devs[com_dev_id-1];
+}
+#endif
 
-  com_dev = find_com_dev_by_id (port);
+static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield);
+static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield);
 
-  if (!com_dev) {
-    /* Undefined COM port for this board (see pios_board.c) */
-    return -1;
-  }
+/**
+  * Initialises COM layer
+  * \param[out] handle
+  * \param[in] driver
+  * \param[in] id
+  * \return < 0 if initialisation failed
+  */
+int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len)
+{
+	PIOS_Assert(com_id);
+	PIOS_Assert(driver);
 
-  /* Invoke the driver function if it exists */
-  if (com_dev->driver->tx_nb) {
-    return com_dev->driver->tx_nb(com_dev->id, buffer, len);
-  }
+	bool has_rx = (rx_buffer && rx_buffer_len > 0);
+	bool has_tx = (tx_buffer && tx_buffer_len > 0);
+	PIOS_Assert(has_rx || has_tx);
+	PIOS_Assert(driver->bind_tx_cb || !has_tx);
+	PIOS_Assert(driver->bind_rx_cb || !has_rx);
 
-  return 0;
+	uint32_t com_dev_id;
+	struct pios_com_dev * com_dev;
+
+	com_dev_id = PIOS_COM_create();
+	com_dev = PIOS_COM_find_dev(com_dev_id);
+	if (!com_dev) goto out_fail;
+
+	com_dev->driver   = driver;
+	com_dev->lower_id = lower_id;
+
+	com_dev->has_rx = has_rx;
+	com_dev->has_tx = has_tx;
+
+	if (has_rx) {
+		fifoBuf_init(&com_dev->rx, rx_buffer, rx_buffer_len);
+#if defined(PIOS_INCLUDE_FREERTOS)
+		vSemaphoreCreateBinary(com_dev->rx_sem);
+#endif	/* PIOS_INCLUDE_FREERTOS */
+		(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_RxInCallback, com_dev_id);
+		if (com_dev->driver->rx_start) {
+			/* Start the receiver */
+			(com_dev->driver->rx_start)(com_dev->lower_id,
+						    fifoBuf_getFree(&com_dev->rx));
+		}
+	}
+
+	if (has_tx) {
+		fifoBuf_init(&com_dev->tx, tx_buffer, tx_buffer_len);
+#if defined(PIOS_INCLUDE_FREERTOS)
+		vSemaphoreCreateBinary(com_dev->tx_sem);
+#endif	/* PIOS_INCLUDE_FREERTOS */
+		(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, com_dev_id);
+	}
+
+	*com_id = com_dev_id;
+	return(0);
+
+out_fail:
+	return(-1);
 }
 
-/**
-* Sends a package over given port
-* (blocking function)
-* \param[in] port COM port
-* \param[in] buffer character buffer
-* \param[in] len buffer length
-* \return -1 if port not available
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendBuffer(uint8_t port, uint8_t *buffer, uint16_t len)
+static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield)
 {
-  struct pios_com_dev * com_dev;
+#if defined(PIOS_INCLUDE_FREERTOS)
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+	xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken);
 
-  com_dev = find_com_dev_by_id (port);
-
-  if (!com_dev) {
-    /* Undefined COM port for this board (see pios_board.c) */
-    return -1;
-  }
-
-  /* Invoke the driver function if it exists */
-  if (com_dev->driver->tx) {
-    return com_dev->driver->tx(com_dev->id, buffer, len);
-  }
-
-  return 0;
+	if (xHigherPriorityTaskWoken != pdFALSE) {
+		*need_yield = true;
+	} else {
+		*need_yield = false;
+	}
+#else
+	*need_yield = false;
+#endif
 }
 
-/**
-* Sends a single character over given port
-* \param[in] port COM port
-* \param[in] c character
-* \return -1 if port not available
-* \return -2 buffer is full
-*            caller should retry until buffer is free again
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendCharNonBlocking(uint8_t port, char c)
-{
-	return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)&c, 1);
-}
-
-/**
-* Sends a single character over given port
-* (blocking function)
-* \param[in] port COM port
-* \param[in] c character
-* \return -1 if port not available
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendChar(uint8_t port, char c)
-{
-	return PIOS_COM_SendBuffer(port, (uint8_t *)&c, 1);
-}
-
-/**
-* Sends a string over given port
-* \param[in] port COM port
-* \param[in] str zero-terminated string
-* \return -1 if port not available
-* \return -2 buffer is full
-*         caller should retry until buffer is free again
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendStringNonBlocking(uint8_t port, char *str)
-{
-	return PIOS_COM_SendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
-}
-
-/**
-* Sends a string over given port
-* (blocking function)
-* \param[in] port COM port
-* \param[in] str zero-terminated string
-* \return -1 if port not available
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendString(uint8_t port, char *str)
-{
-	return PIOS_COM_SendBuffer(port, (uint8_t *)str, strlen(str));
-}
-
-/**
-* Sends a formatted string (-> printf) over given port
-* \param[in] port COM port
-* \param[in] *format zero-terminated format string - 128 characters supported maximum!
-* \param[in] ... optional arguments,
-*        128 characters supported maximum!
-* \return -2 if non-blocking mode activated: buffer is full
-*         caller should retry until buffer is free again
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendFormattedStringNonBlocking(uint8_t port, char *format, ...)
-{
-	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
-
-	va_list args;
-
-	va_start(args, format);
-	vsprintf((char *)buffer, format, args);
-	return PIOS_COM_SendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
-}
-
-/**
-* Sends a formatted string (-> printf) over given port
-* (blocking function)
-* \param[in] port COM port
-* \param[in] *format zero-terminated format string - 128 characters supported maximum!
-* \param[in] ... optional arguments,
-* \return -1 if port not available
-* \return 0 on success
-*/
-int32_t PIOS_COM_SendFormattedString(uint8_t port, char *format, ...)
-{
-	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
-	va_list args;
-
-	va_start(args, format);
-	vsprintf((char *)buffer, format, args);
-	return PIOS_COM_SendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
-}
-
-/**
-* Transfer bytes from port buffers into another buffer
-* \param[in] port COM port
+static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+	xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken);
+
+	if (xHigherPriorityTaskWoken != pdFALSE) {
+		*need_yield = true;
+	} else {
+		*need_yield = false;
+	}
+#else
+	*need_yield = false;
+#endif
+}
+
+static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(context);
+
+	bool valid = PIOS_COM_validate(com_dev);
+	PIOS_Assert(valid);
+	PIOS_Assert(com_dev->has_rx);
+
+	PIOS_IRQ_Disable();
+	uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->rx, buf, buf_len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_into_fifo > 0) {
+		/* Data has been added to the buffer */
+		PIOS_COM_UnblockRx(com_dev, need_yield);
+	}
+
+	if (headroom) {
+		*headroom = fifoBuf_getFree(&com_dev->rx);
+	}
+
+	return (bytes_into_fifo);
+}
+
+static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(context);
+
+	bool valid = PIOS_COM_validate(com_dev);
+	PIOS_Assert(valid);
+	PIOS_Assert(buf);
+	PIOS_Assert(buf_len);
+	PIOS_Assert(com_dev->has_tx);
+
+	PIOS_IRQ_Disable();
+	uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->tx, buf, buf_len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_from_fifo > 0) {
+		/* More space has been made in the buffer */
+		PIOS_COM_UnblockTx(com_dev, need_yield);
+	}
+
+	if (headroom) {
+		*headroom = fifoBuf_getUsed(&com_dev->tx);
+	}
+
+	return (bytes_from_fifo);
+}
+
+/**
+* Change the port speed without re-initializing
+* \param[in] port COM port
+* \param[in] baud Requested baud rate
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
+
+	if (!PIOS_COM_validate(com_dev)) {
+		/* Undefined COM port for this board (see pios_board.c) */
+		return -1;
+	}
+
+	/* Invoke the driver function if it exists */
+	if (com_dev->driver->set_baud) {
+		com_dev->driver->set_baud(com_dev->lower_id, baud);
+	}
+
+	return 0;
+}
+
+/**
+* Sends a package over given port
+* \param[in] port COM port
+* \param[in] buffer character buffer
+* \param[in] len buffer length
+* \return -1 if port not available
+* \return -2 if non-blocking mode activated: buffer is full
+*            caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
+
+	if (!PIOS_COM_validate(com_dev)) {
+		/* Undefined COM port for this board (see pios_board.c) */
+		return -1;
+	}
+
+	PIOS_Assert(com_dev->has_tx);
+
+	if (len >= fifoBuf_getFree(&com_dev->tx)) {
+		/* Buffer cannot accept all requested bytes (retry) */
+		return -2;
+	}
+
+	PIOS_IRQ_Disable();
+	uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_into_fifo > 0) {
+		/* More data has been put in the tx buffer, make sure the tx is started */
+		if (com_dev->driver->tx_start) {
+			com_dev->driver->tx_start(com_dev->lower_id,
+						  fifoBuf_getUsed(&com_dev->tx));
+		}
+	}
+
+	return (0);
+}
+
+/**
+* Sends a package over given port
+* (blocking function)
+* \param[in] port COM port
+* \param[in] buffer character buffer
+* \param[in] len buffer length
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
+
+	if (!PIOS_COM_validate(com_dev)) {
+		/* Undefined COM port for this board (see pios_board.c) */
+		return -1;
+	}
+
+	PIOS_Assert(com_dev->has_tx);
+
+	int32_t rc;
+	do {
+	  rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len);
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	  if (rc == -2) {
+	    /* Make sure the transmitter is running while we wait */
+	    if (com_dev->driver->tx_start) {
+	      (com_dev->driver->tx_start)(com_dev->lower_id,
+					  fifoBuf_getUsed(&com_dev->tx));
+	    }
+	    if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) {
+	      return -3;
+	    }
+	  }
+#endif
+	} while (rc == -2);
+
+	return rc;
+}
+
+/**
+* Sends a single character over given port
+* \param[in] port COM port
+* \param[in] c character
+* \return -1 if port not available
+* \return -2 buffer is full
+*            caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c)
+{
+	return PIOS_COM_SendBufferNonBlocking(com_id, (uint8_t *)&c, 1);
+}
+
+/**
+* Sends a single character over given port
+* (blocking function)
+* \param[in] port COM port
+* \param[in] c character
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendChar(uint32_t com_id, char c)
+{
+	return PIOS_COM_SendBuffer(com_id, (uint8_t *)&c, 1);
+}
+
+/**
+* Sends a string over given port
+* \param[in] port COM port
+* \param[in] str zero-terminated string
+* \return -1 if port not available
+* \return -2 buffer is full
+*         caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str)
+{
+	return PIOS_COM_SendBufferNonBlocking(com_id, (uint8_t *)str, (uint16_t)strlen(str));
+}
+
+/**
+* Sends a string over given port
+* (blocking function)
+* \param[in] port COM port
+* \param[in] str zero-terminated string
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendString(uint32_t com_id, const char *str)
+{
+	return PIOS_COM_SendBuffer(com_id, (uint8_t *)str, strlen(str));
+}
+
+/**
+* Sends a formatted string (-> printf) over given port
+* \param[in] port COM port
+* \param[in] *format zero-terminated format string - 128 characters supported maximum!
+* \param[in] ... optional arguments,
+*        128 characters supported maximum!
+* \return -2 if non-blocking mode activated: buffer is full
+*         caller should retry until buffer is free again
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...)
+{
+	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
+
+	va_list args;
+
+	va_start(args, format);
+	vsprintf((char *)buffer, format, args);
+	return PIOS_COM_SendBufferNonBlocking(com_id, buffer, (uint16_t)strlen((char *)buffer));
+}
+
+/**
+* Sends a formatted string (-> printf) over given port
+* (blocking function)
+* \param[in] port COM port
+* \param[in] *format zero-terminated format string - 128 characters supported maximum!
+* \param[in] ... optional arguments,
+* \return -1 if port not available
+* \return 0 on success
+*/
+int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...)
+{
+	uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
+	va_list args;
+
+	va_start(args, format);
+	vsprintf((char *)buffer, format, args);
+	return PIOS_COM_SendBuffer(com_id, buffer, (uint16_t)strlen((char *)buffer));
+}
+
+/**
+* Transfer bytes from port buffers into another buffer
+* \param[in] port COM port
 * \returns Byte from buffer
-*/
-uint8_t PIOS_COM_ReceiveBuffer(uint8_t port)
-{
-  struct pios_com_dev * com_dev;
-
-  com_dev = find_com_dev_by_id (port);
-  //PIOS_DEBUG_Assert(com_dev);
-  //PIOS_DEBUG_Assert(com_dev->driver->rx);
-
-  return com_dev->driver->rx(com_dev->id);
-}
-
-/**
-* Get the number of bytes waiting in the buffer
-* \param[in] port COM port
-* \return Number of bytes used in buffer
-*/
-int32_t PIOS_COM_ReceiveBufferUsed(uint8_t port)
+*/
+uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms)
 {
-  struct pios_com_dev * com_dev;
+	PIOS_Assert(buf);
+	PIOS_Assert(buf_len);
 
-  com_dev = find_com_dev_by_id (port);
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
 
-  if (!com_dev) {
-    /* Undefined COM port for this board (see pios_board.c) */
-    return 0;
-  }
+	if (!PIOS_COM_validate(com_dev)) {
+		/* Undefined COM port for this board (see pios_board.c) */
+		PIOS_Assert(0);
+	}
+	PIOS_Assert(com_dev->has_rx);
 
-  if (!com_dev->driver->rx_avail) {
-    return 0;
-  }
+ check_again:
+	PIOS_IRQ_Disable();
+	uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
+	PIOS_IRQ_Enable();
 
-  return com_dev->driver->rx_avail(com_dev->id);
+	if (bytes_from_fifo == 0 && timeout_ms > 0) {
+		/* No more bytes in receive buffer */
+		/* Make sure the receiver is running while we wait */
+		if (com_dev->driver->rx_start) {
+			/* Notify the lower layer that there is now room in the rx buffer */
+			(com_dev->driver->rx_start)(com_dev->lower_id,
+						    fifoBuf_getFree(&com_dev->rx));
+		}
+#if defined(PIOS_INCLUDE_FREERTOS)
+		if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
+			/* Make sure we don't come back here again */
+			timeout_ms = 0;
+			goto check_again;
+		}
+#else
+		PIOS_DELAY_WaitmS(1);
+		timeout_ms--;
+		goto check_again;
+#endif
+	}
+
+	/* Return received byte */
+	return (bytes_from_fifo);
 }
-
-#endif
+
+/**
+* Get the number of bytes waiting in the buffer
+* \param[in] port COM port
+* \return Number of bytes used in buffer
+*/
+int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
+{
+	struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
+
+	if (!PIOS_COM_validate(com_dev)) {
+		/* Undefined COM port for this board (see pios_board.c) */
+		PIOS_Assert(0);
+	}
+
+	PIOS_Assert(com_dev->has_rx);
+	return (fifoBuf_getUsed(&com_dev->rx));
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS.posix/posix/pios_delay.c b/flight/PiOS.posix/posix/pios_delay.c
index c295b4ac9..cec10467c 100644
--- a/flight/PiOS.posix/posix/pios_delay.c
+++ b/flight/PiOS.posix/posix/pios_delay.c
@@ -67,10 +67,6 @@ int32_t PIOS_DELAY_WaituS(uint16_t uS)
 	while (!nanosleep(&wait,&rest)) {
 		wait=rest;
 	}
-	//uint16_t start = PIOS_DELAY_TIMER->CNT;
-
-	/* Note that this event works on 16bit counter wrap-arounds */
-	//while((uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS);
 
 	/* No error */
 	return 0;
diff --git a/flight/PiOS.posix/posix/pios_irq.c b/flight/PiOS.posix/posix/pios_irq.c
new file mode 100644
index 000000000..b30d09fee
--- /dev/null
+++ b/flight/PiOS.posix/posix/pios_irq.c
@@ -0,0 +1,69 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_IRQ IRQ Setup Functions
+ * @brief STM32 Hardware code to enable and disable interrupts
+ * @{
+ *
+ * @file       pios_irq.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
+ * @brief      IRQ Enable/Disable routines
+ * @see        The GNU Public License (GPL) Version 3
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_IRQ)
+
+/* Private Function Prototypes */
+
+/**
+* Disables all interrupts (nested)
+* \return < 0 On errors
+*/
+int32_t PIOS_IRQ_Disable(void)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	taskENTER_CRITICAL();
+#endif
+	return 0;
+}
+
+/**
+* Enables all interrupts (nested)
+* \return < 0 on errors
+* \return -1 on nesting errors (PIOS_IRQ_Disable() hasn't been called before)
+*/
+int32_t PIOS_IRQ_Enable(void)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	taskEXIT_CRITICAL();
+#endif
+	return 0;
+}
+
+#endif
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS.posix/posix/pios_rcvr.c b/flight/PiOS.posix/posix/pios_rcvr.c
new file mode 100644
index 000000000..652730547
--- /dev/null
+++ b/flight/PiOS.posix/posix/pios_rcvr.c
@@ -0,0 +1,100 @@
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_RCVR)
+
+#include <pios_rcvr_priv.h>
+
+enum pios_rcvr_dev_magic {
+  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
+};
+
+struct pios_rcvr_dev {
+  enum pios_rcvr_dev_magic        magic;
+  uint32_t                        lower_id;
+  const struct pios_rcvr_driver * driver;
+};
+
+static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
+{
+  return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
+  if (!rcvr_dev) return (NULL);
+
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+  return(rcvr_dev);
+}
+#else
+static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
+static uint8_t pios_rcvr_num_devs;
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
+    return (NULL);
+  }
+
+  rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+
+  return (rcvr_dev);
+}
+#endif
+
+/**
+  * Initialises RCVR layer
+  * \param[out] handle
+  * \param[in] driver
+  * \param[in] id
+  * \return < 0 if initialisation failed
+  */
+int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id)
+{
+  PIOS_DEBUG_Assert(rcvr_id);
+  PIOS_DEBUG_Assert(driver);
+
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
+  if (!rcvr_dev) goto out_fail;
+
+  rcvr_dev->driver   = driver;
+  rcvr_dev->lower_id = lower_id;
+
+
+  *rcvr_id = pios_rcvr_num_devs - 1;
+
+  return(0);
+
+out_fail:
+  return(-1);
+}
+
+int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
+{
+  struct pios_rcvr_dev * rcvr_dev = &pios_rcvr_devs[rcvr_id];
+
+  if (!PIOS_RCVR_validate(rcvr_dev)) {
+    /* Undefined RCVR port for this board (see pios_board.c) */
+    PIOS_DEBUG_Assert(0);
+  }
+
+  PIOS_DEBUG_Assert(rcvr_dev->driver->read);
+
+  return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS.posix/posix/pios_udp.c b/flight/PiOS.posix/posix/pios_udp.c
index a7ab90841..39077b455 100644
--- a/flight/PiOS.posix/posix/pios_udp.c
+++ b/flight/PiOS.posix/posix/pios_udp.c
@@ -32,18 +32,35 @@
 
 #if defined(PIOS_INCLUDE_UDP)
 
+#include <signal.h>
 #include <pios_udp_priv.h>
 
+/* We need a list of UDP devices */
+
+#define PIOS_UDP_MAX_DEV 256
+static int8_t pios_udp_num_devices = 0;
+
+static pios_udp_dev pios_udp_devices[PIOS_UDP_MAX_DEV];
+
+
+
 /* Provide a COM driver */
+static void PIOS_UDP_ChangeBaud(uint32_t udp_id, uint32_t baud);
+static void PIOS_UDP_RegisterRxCallback(uint32_t udp_id, pios_com_callback rx_in_cb, uint32_t context);
+static void PIOS_UDP_RegisterTxCallback(uint32_t udp_id, pios_com_callback tx_out_cb, uint32_t context);
+static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail);
+static void PIOS_UDP_RxStart(uint32_t udp_id, uint16_t rx_bytes_avail);
+
 const struct pios_com_driver pios_udp_com_driver = {
-  .set_baud = PIOS_UDP_ChangeBaud,
-  .tx_nb    = PIOS_UDP_TxBufferPutMoreNonBlocking,
-  .tx       = PIOS_UDP_TxBufferPutMore,
-  .rx       = PIOS_UDP_RxBufferGet,
-  .rx_avail = PIOS_UDP_RxBufferUsed,
+	.set_baud   = PIOS_UDP_ChangeBaud,
+	.tx_start   = PIOS_UDP_TxStart,
+	.rx_start   = PIOS_UDP_RxStart,
+	.bind_tx_cb = PIOS_UDP_RegisterTxCallback,
+	.bind_rx_cb = PIOS_UDP_RegisterRxCallback,
 };
 
-static struct pios_udp_dev * find_udp_dev_by_id (uint8_t udp)
+
+static pios_udp_dev * find_udp_dev_by_id (uint8_t udp)
 {
   if (udp >= pios_udp_num_devices) {
     /* Undefined UDP port for this board (see pios_board.c) */
@@ -51,410 +68,174 @@ static struct pios_udp_dev * find_udp_dev_by_id (uint8_t udp)
   }
 
   /* Get a handle for the device configuration */
-  return &(pios_udp_devs[udp]);
+  return &(pios_udp_devices[udp]);
 }
 
 /**
-* Open some UDP sockets
-*/
-void PIOS_UDP_Init(void)
-{
-  struct pios_udp_dev * udp_dev;
-  uint8_t                 i;
-
-  for (i = 0; i < pios_udp_num_devices; i++) {
-    /* Get a handle for the device configuration */
-    udp_dev = find_udp_dev_by_id(i);
-    //PIOS_DEBUG_Assert(udp_dev);
-
-    /* Clear buffer counters */
-    udp_dev->rx.head = udp_dev->rx.tail = udp_dev->rx.size = 0;
-
-    /* assign socket */
-    udp_dev->socket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
-    memset(&udp_dev->server,0,sizeof(udp_dev->server));
-    memset(&udp_dev->client,0,sizeof(udp_dev->client));
-    udp_dev->server.sin_family = AF_INET;
-    udp_dev->server.sin_addr.s_addr = inet_addr(udp_dev->cfg->ip);
-    udp_dev->server.sin_port = htons(udp_dev->cfg->port);
-    int res= bind(udp_dev->socket, (struct sockaddr *)&udp_dev->server,sizeof(udp_dev->server));
-    /* use nonblocking IO */
-    int flags = fcntl(udp_dev->socket, F_GETFL, 0);
-    fcntl(udp_dev->socket, F_SETFL, flags | O_NONBLOCK);
-    printf("udp dev %i - socket %i opened - result %i\n",i,udp_dev->socket,res);
-
-    /* TODO do some error handling - wait no, we can't - we are void anyway ;) */
-  }
-}
-
-
-/**
-* Changes the baud rate of the UDP peripheral without re-initialising.
-* \param[in] udp UDP name (GPS, TELEM, AUX)
-* \param[in] baud Requested baud rate
-*/
-void PIOS_UDP_ChangeBaud(uint8_t udp, uint32_t baud)
-{
-}
-
-
-/**
-* puts a byte onto the receive buffer
-* \param[in] UDP UDP name
-* \param[in] b byte which should be put into Rx buffer
-* \return 0 if no error
-* \return -1 if UDP not available
-* \return -2 if buffer full (retry)
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_RxBufferPut(uint8_t udp, uint8_t b)
-{
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -1;
-  }
-
-  if (udp_dev->rx.size >= sizeof(udp_dev->rx.buf)) {
-    /* Buffer full (retry) */
-    return -2;
-  }
-
-  /* Copy received byte into receive buffer */
-  udp_dev->rx.buf[udp_dev->rx.head++] = b;
-  if (udp_dev->rx.head >= sizeof(udp_dev->rx.buf)) {
-    udp_dev->rx.head = 0;
-  }
-  udp_dev->rx.size++;
-
-  /* No error */
-  return 0;
-}
-
-/**
- * attempt to receive
+ * RxThread
  */
-void PIOS_UDP_RECV(uint8_t udp) {
-
-  struct pios_udp_dev * udp_dev;
-  unsigned char localbuffer[PIOS_UDP_RX_BUFFER_SIZE];
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return;
-  }
-
-  /* use nonblocking IO */
-  int flags = fcntl(udp_dev->socket, F_GETFL, 0);
-  fcntl(udp_dev->socket, F_SETFL, flags | O_NONBLOCK);
-  
-  /* receive data */
-  int received;
-  udp_dev->clientLength=sizeof(udp_dev->client);
-  if ((received = recvfrom(udp_dev->socket,
-  			localbuffer,
-			(PIOS_UDP_RX_BUFFER_SIZE - udp_dev->rx.size),
-			0,
-			(struct sockaddr *) &udp_dev->client,
-			(socklen_t*)&udp_dev->clientLength)) < 0) {
-
-    return;
-  }
-  /* copy received data to buffer */
-  int t;
-  for (t=0;t<received;t++) {
-    PIOS_UDP_RxBufferPut(udp,localbuffer[t]);
-  }
-
-
-}
-
-/**
-* Returns number of free bytes in receive buffer
-* \param[in] UDP UDP name
-* \return UDP number of free bytes
-* \return 1: UDP available
-* \return 0: UDP not available
-*/
-int32_t PIOS_UDP_RxBufferFree(uint8_t udp)
+void * PIOS_UDP_RxThread(void * udp_dev_n)
 {
-  struct pios_udp_dev * udp_dev;
 
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
+	/* needed because of FreeRTOS.posix scheduling */
+	sigset_t set;
+	sigfillset(&set);
+	sigprocmask(SIG_BLOCK, &set, NULL);
 
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -2;
-  }
+	pios_udp_dev * udp_dev = (pios_udp_dev*) udp_dev_n;
 
-  /* fill buffer */
-  PIOS_UDP_RECV(udp);
+   /**
+	* com devices never get closed except by application "reboot"
+	* we also never give up our mutex except for waiting
+	*/
+   while(1) {
 
-  return (sizeof(udp_dev->rx.buf) - udp_dev->rx.size);
-}
+		/**
+		 * receive 
+		 */
+		int received;
+		udp_dev->clientLength=sizeof(udp_dev->client);
+		if ((received = recvfrom(udp_dev->socket,
+				&udp_dev->rx_buffer,
+				PIOS_UDP_RX_BUFFER_SIZE,
+				0,
+				(struct sockaddr *) &udp_dev->client,
+				(socklen_t*)&udp_dev->clientLength)) >= 0)
+		{
 
-/**
-* Returns number of used bytes in receive buffer
-* \param[in] UDP UDP name
-* \return > 0: number of used bytes
-* \return 0 if UDP not available
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_RxBufferUsed(uint8_t udp)
-{
-  struct pios_udp_dev * udp_dev;
+			/* copy received data to buffer if possible */
+			/* we do NOT buffer data locally. If the com buffer can't receive, data is discarded! */
+			/* (thats what the USART driver does too!) */
+			bool rx_need_yield = false;
+			if (udp_dev->rx_in_cb) {
+			  (void) (udp_dev->rx_in_cb)(udp_dev->rx_in_context, udp_dev->rx_buffer, received, NULL, &rx_need_yield);
+			}
 
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
+#if defined(PIOS_INCLUDE_FREERTOS)
+			if (rx_need_yield) {
+				vPortYieldFromISR();
+			}
+#endif	/* PIOS_INCLUDE_FREERTOS */
 
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -2;
-  }
+		}
 
-  /* fill buffer */
-  PIOS_UDP_RECV(udp);
 
-  return (udp_dev->rx.size);
-}
-
-/**
-* Gets a byte from the receive buffer
-* \param[in] UDP UDP name
-* \return -1 if UDP not available
-* \return -2 if no new byte available
-* \return >= 0: number of received bytes
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_RxBufferGet(uint8_t udp)
-{
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -2;
-  }
-
-  /* fill buffer */
-  PIOS_UDP_RECV(udp);
-
-  if (!udp_dev->rx.size) {
-    /* Nothing new in the buffer */
-    return -1;
-  }
-
-  /* get byte */
-  uint8_t b = udp_dev->rx.buf[udp_dev->rx.tail++];
-  if (udp_dev->rx.tail >= sizeof(udp_dev->rx.buf)) {
-    udp_dev->rx.tail = 0;
-  }
-  udp_dev->rx.size--;
-  
-  /* Return received byte */
-  return b;
-}
-
-/**
-* Returns the next byte of the receive buffer without taking it
-* \param[in] UDP UDP name
-* \return -1 if UDP not available
-* \return -2 if no new byte available
-* \return >= 0: number of received bytes
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_RxBufferPeek(uint8_t udp)
-{
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -2;
-  }
-
-  /* fill buffer */
-  PIOS_UDP_RECV(udp);
-
-  if (!udp_dev->rx.size) {
-    /* Nothing new in the buffer */
-    return -1;
-  }
-
-  /* get byte */
-  uint8_t b = udp_dev->rx.buf[udp_dev->rx.tail];
-  
-  /* Return received byte */
-  return b;
-}
-
-/**
-* returns number of free bytes in transmit buffer
-* \param[in] UDP UDP name
-* \return number of free bytes
-* \return 0 if UDP not available
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_TxBufferFree(uint8_t udp)
-{
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return 0;
-  }
-
-  return PIOS_UDP_RX_BUFFER_SIZE;
-}
-
-/**
-* returns number of used bytes in transmit buffer
-* \param[in] UDP UDP name
-* \return number of used bytes
-* \return 0 if UDP not available
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_TxBufferUsed(uint8_t udp)
-{
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return 0;
-  }
-
-  return 0;
+	}
 }
 
 
 /**
-* puts more than one byte onto the transmit buffer (used for atomic sends)
-* \param[in] UDP UDP name
-* \param[in] *buffer pointer to buffer to be sent
-* \param[in] len number of bytes to be sent
-* \return 0 if no error
-* \return -1 if UDP not available
-* \return -2 if buffer full or cannot get all requested bytes (retry)
-* \return -3 if UDP not supported by UDPTxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
+* Open UDP socket
 */
-int32_t PIOS_UDP_TxBufferPutMoreNonBlocking(uint8_t udp, uint8_t *buffer, uint16_t len)
+int32_t PIOS_UDP_Init(uint32_t * udp_id, const struct pios_udp_cfg * cfg)
 {
-  struct pios_udp_dev * udp_dev;
 
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
+  pios_udp_dev * udp_dev = &pios_udp_devices[pios_udp_num_devices];
 
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -1;
-  }
-
-  if (len >= PIOS_UDP_RX_BUFFER_SIZE) {
-    /* Buffer cannot accept all requested bytes (retry) */
-    return -2;
-  }
-  /* send data to client - non blocking*/
-
-  /* use nonblocking IO */
-  int flags = fcntl(udp_dev->socket, F_GETFL, 0);
-  fcntl(udp_dev->socket, F_SETFL, flags | O_NONBLOCK);
-  sendto(udp_dev->socket, buffer, len, 0,
-                         (struct sockaddr *) &udp_dev->client,
-                         (socklen_t)sizeof(udp_dev->client));
+  pios_udp_num_devices++;
 
 
-  /* No error */
-  return 0;
+  /* initialize */
+  udp_dev->rx_in_cb = NULL;
+  udp_dev->tx_out_cb = NULL;
+  udp_dev->cfg=cfg;
+
+  /* assign socket */
+  udp_dev->socket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  memset(&udp_dev->server,0,sizeof(udp_dev->server));
+  memset(&udp_dev->client,0,sizeof(udp_dev->client));
+  udp_dev->server.sin_family = AF_INET;
+  udp_dev->server.sin_addr.s_addr = inet_addr(udp_dev->cfg->ip);
+  udp_dev->server.sin_port = htons(udp_dev->cfg->port);
+  int res= bind(udp_dev->socket, (struct sockaddr *)&udp_dev->server,sizeof(udp_dev->server));
+
+  /* Create transmit thread for this connection */
+  pthread_create(&udp_dev->rxThread, NULL, PIOS_UDP_RxThread, (void*)udp_dev);
+
+  printf("udp dev %i - socket %i opened - result %i\n",pios_udp_num_devices-1,udp_dev->socket,res);
+
+  return res;
 }
 
-/**
-* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
-* (blocking function)
-* \param[in] UDP UDP name
-* \param[in] *buffer pointer to buffer to be sent
-* \param[in] len number of bytes to be sent
-* \return 0 if no error
-* \return -1 if UDP not available
-* \return -3 if UDP not supported by UDPTxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_TxBufferPutMore(uint8_t udp, uint8_t *buffer, uint16_t len)
+
+void PIOS_UDP_ChangeBaud(uint32_t udp_id, uint32_t baud)
 {
-  struct pios_udp_dev * udp_dev;
-
-  /* Get a handle for the device configuration */
-  udp_dev = find_udp_dev_by_id(udp);
-
-  if (!udp_dev) {
-    /* Undefined UDP port for this board (see pios_board.c) */
-    return -1;
-  }
-
-  if (len >= PIOS_UDP_RX_BUFFER_SIZE) {
-    /* Buffer cannot accept all requested bytes (retry) */
-    return -2;
-  }
-
-  /* send data to client - blocking*/
-  /* use blocking IO */
-  int flags = fcntl(udp_dev->socket, F_GETFL, 0);
-  fcntl(udp_dev->socket, F_SETFL, flags & ~O_NONBLOCK);
-  sendto(udp_dev->socket, buffer, len, 0,
-                         (struct sockaddr *) &udp_dev->client,
-                         sizeof(udp_dev->client));
-
-  /* No error */
-  return 0;
+	/**
+	 * doesn't apply!
+	 */
 }
 
-/**
-* puts a byte onto the transmit buffer
-* \param[in] UDP UDP name
-* \param[in] b byte which should be put into Tx buffer
-* \return 0 if no error
-* \return -1 if UDP not available
-* \return -2 if buffer full (retry)
-* \return -3 if UDP not supported by UDPTxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_TxBufferPut_NonBlocking(uint8_t udp, uint8_t b)
+
+static void PIOS_UDP_RxStart(uint32_t udp_id, uint16_t rx_bytes_avail)
 {
-  return PIOS_UDP_TxBufferPutMoreNonBlocking(udp, &b, 1);
+	/**
+	 * lazy!
+	 */
 }
 
-/**
-* puts a byte onto the transmit buffer<BR>
-* (blocking function)
-* \param[in] UDP UDP name
-* \param[in] b byte which should be put into Tx buffer
-* \return 0 if no error
-* \return -1 if UDP not available
-* \return -3 if UDP not supported by UDPTxBufferPut Routine
-* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
-*/
-int32_t PIOS_UDP_TxBufferPut(uint8_t udp, uint8_t b)
+
+static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail)
 {
-  return PIOS_UDP_TxBufferPutMore(udp, &b, 1);
+	pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id);
+
+	PIOS_Assert(udp_dev);
+
+	int32_t length,len,rem;
+
+	/**
+	 * we send everything directly whenever notified of data to send (lazy!)
+	 */
+	if (udp_dev->tx_out_cb) {
+		while (tx_bytes_avail>0) {
+			bool tx_need_yield = false;
+			length = (udp_dev->tx_out_cb)(udp_dev->tx_out_context, udp_dev->tx_buffer, PIOS_UDP_RX_BUFFER_SIZE, NULL, &tx_need_yield);
+			rem = length;
+			while (rem>0) {
+				len = sendto(udp_dev->socket, udp_dev->tx_buffer, length, 0,
+						 (struct sockaddr *) &udp_dev->client,
+						 sizeof(udp_dev->client));
+				if (len<=0) {
+					rem=0;
+				} else {
+					rem -= len;
+				}
+			}
+			tx_bytes_avail -= length;
+		}
+	}
+
 }
 
+static void PIOS_UDP_RegisterRxCallback(uint32_t udp_id, pios_com_callback rx_in_cb, uint32_t context)
+{
+	pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id);
+
+	PIOS_Assert(udp_dev);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	udp_dev->rx_in_context = context;
+	udp_dev->rx_in_cb = rx_in_cb;
+}
+
+static void PIOS_UDP_RegisterTxCallback(uint32_t udp_id, pios_com_callback tx_out_cb, uint32_t context)
+{
+	pios_udp_dev * udp_dev = find_udp_dev_by_id(udp_id);
+
+	PIOS_Assert(udp_dev);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	udp_dev->tx_out_context = context;
+	udp_dev->tx_out_cb = tx_out_cb;
+}
+
+
+
+
 
 #endif
diff --git a/flight/PiOS.win32/inc/pios_crc.h b/flight/PiOS.win32/inc/pios_crc.h
new file mode 100644
index 000000000..3a64f8bab
--- /dev/null
+++ b/flight/PiOS.win32/inc/pios_crc.h
@@ -0,0 +1,31 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_CRC CRC Functions
+ * @{
+ *
+ * @file       pios_crc.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      CRC functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
+uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
diff --git a/flight/PiOS.win32/inc/pios_initcall.h b/flight/PiOS.win32/inc/pios_initcall.h
index 73d5e72f7..f370f27ee 100644
--- a/flight/PiOS.win32/inc/pios_initcall.h
+++ b/flight/PiOS.win32/inc/pios_initcall.h
@@ -38,7 +38,18 @@
  * and we cannot define a linker script for each of them atm
  */
 
-#define uavobj_initcall(fn)
+#define UAVOBJ_INITCALL(fn)
+#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
+
+#define MODULE_TASKCREATE_ALL
+
+#define MODULE_INITIALISE_ALL { \
+	/* Initialize modules */ \
+	InitModules(); \
+	/* Start the FreeRTOS scheduler which never returns.*/ \
+	/* Initialize the system thread */ \
+	SystemModInitialize();}
+
 
 #endif	/* PIOS_INITCALL_H */
 
diff --git a/flight/PiOS.win32/pios.h b/flight/PiOS.win32/pios.h
index 0c908cafc..a4600cee5 100644
--- a/flight/PiOS.win32/pios.h
+++ b/flight/PiOS.win32/pios.h
@@ -63,6 +63,7 @@
 #include <pios_com.h>
 #include <pios_servo.h>
 #include <pios_wdg.h>
+#include <pios_crc.h>
 
 #define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
 
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
index 787826afa..94f09de91 100644
--- a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
+++ b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
@@ -941,3 +941,8 @@ void vPortExitCritical( void )
 		}
 	}
 }
+
+unsigned long ulPortGetTimerValue( void )
+{
+	return (unsigned long) clock();
+}
\ No newline at end of file
diff --git a/flight/PiOS.win32/win32/pios_crc.c b/flight/PiOS.win32/win32/pios_crc.c
new file mode 100644
index 000000000..548ba2648
--- /dev/null
+++ b/flight/PiOS.win32/win32/pios_crc.c
@@ -0,0 +1,74 @@
+/*
+ *  pios_crc.c
+ *  OpenPilotOSX
+ *
+ *  Created by James Cotton on 6/4/11.
+ *  Copyright 2011 OpenPilot. All rights reserved.
+ *
+ */
+
+#include "pios.h"
+
+// CRC lookup table
+static const uint8_t crc_table[256] = {
+	0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+	0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
+	0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+	0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
+	0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
+	0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+	0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+	0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
+	0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+	0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
+	0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
+	0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+	0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
+	0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+	0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+	0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
+};
+
+/**
+ * Update the crc value with new data.
+ *
+ * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
+ * using the configuration:
+ *    Width        = 8
+ *    Poly         = 0x07
+ *    XorIn        = 0x00
+ *    ReflectIn    = False
+ *    XorOut       = 0x00
+ *    ReflectOut   = False
+ *    Algorithm    = table-driven
+ *
+ * \param crc      The current crc value.
+ * \param data     Pointer to a buffer of \a data_len bytes.
+ * \param length   Number of bytes in the \a data buffer.
+ * \return         The updated crc value.
+ */
+uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data)
+{
+	return crc_table[crc ^ data];
+}
+
+/*
+ * @brief Update a CRC with a data buffer
+ * @param[in] crc Starting CRC value
+ * @param[in] data Data buffer
+ * @param[in] length Number of bytes to process
+ * @returns Updated CRC
+ */
+uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
+{
+	// use registers for speed
+	register int32_t len = length;
+	register uint8_t crc8 = crc;
+	register const uint8_t *p = data;
+	
+	while (len--)
+		crc8 = crc_table[crc8 ^ *p++];
+	
+	return crc8;
+}
+
diff --git a/flight/PiOS.win32/win32/pios_delay.c b/flight/PiOS.win32/win32/pios_delay.c
index 0fed0d8d4..a8d892601 100644
--- a/flight/PiOS.win32/win32/pios_delay.c
+++ b/flight/PiOS.win32/win32/pios_delay.c
@@ -62,11 +62,7 @@ int32_t PIOS_DELAY_Init(void)
 int32_t PIOS_DELAY_WaituS(uint16_t uS)
 {
 	Sleep(uS/1000);
-	//uint16_t start = PIOS_DELAY_TIMER->CNT;
-	/* Note that this event works on 16bit counter wrap-arounds */
-	//while((uint16_t)(PIOS_DELAY_TIMER->CNT - start) <= uS);
 
-	/* No error */
 	return 0;
 }
 
diff --git a/flight/PiOS/Boards/STM32103CB_AHRS.h b/flight/PiOS/Boards/STM32103CB_AHRS.h
index b407c0f42..26d88fce1 100644
--- a/flight/PiOS/Boards/STM32103CB_AHRS.h
+++ b/flight/PiOS/Boards/STM32103CB_AHRS.h
@@ -79,12 +79,6 @@ TIM8  |           |           |           |
 #define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN }
 #define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK }
 
-//-------------------------
-// Delay Timer
-//-------------------------
-#define PIOS_DELAY_TIMER			TIM2
-#define PIOS_DELAY_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
-
 //-------------------------
 // System Settings
 //-------------------------
@@ -118,9 +112,6 @@ extern uint32_t pios_i2c_main_adapter_id;
 // PIOS_USART
 //-------------------------
 #define PIOS_USART_MAX_DEVS			2
-#define PIOS_USART_RX_BUFFER_SIZE		256
-#define PIOS_USART_TX_BUFFER_SIZE		256
-#define PIOS_USART_BAUDRATE			230400
 
 //-------------------------
 // PIOS_COM
@@ -128,6 +119,7 @@ extern uint32_t pios_i2c_main_adapter_id;
 // See also pios_board.c
 //-------------------------
 #define PIOS_COM_MAX_DEVS			2
+
 extern uint32_t pios_com_aux_id;
 #define PIOS_COM_AUX				(pios_com_aux_id)
 #define PIOS_COM_DEBUG				PIOS_COM_AUX
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index 16e58b5c2..18e0da624 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -34,7 +34,7 @@
 Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
 ------+-----------+-----------+-----------+----------
 TIM1  |  Servo 4  |           |           |
-TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |  
+TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
 TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
 TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 ------+-----------+-----------+-----------+----------
@@ -76,7 +76,7 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_WDG_MANUAL          0x0008
 
 //------------------------
-// TELEMETRY 
+// TELEMETRY
 //------------------------
 #define TELEM_QUEUE_SIZE         20
 
@@ -91,12 +91,6 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN }
 #define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK }
 
-//-------------------------
-// Delay Timer
-//-------------------------
-#define PIOS_DELAY_TIMER			TIM3
-#define PIOS_DELAY_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
-
 //-------------------------
 // System Settings
 //-------------------------
@@ -131,23 +125,18 @@ extern uint32_t pios_i2c_main_adapter_id;
 //-------------------------
 #define PIOS_USART_MAX_DEVS			2
 
-#define PIOS_USART_RX_BUFFER_SIZE               256
-#define PIOS_USART_TX_BUFFER_SIZE               256
-
 //-------------------------
 // PIOS_COM
 //
 // See also pios_board.c
 //-------------------------
-#define PIOS_COM_MAX_DEVS			4
+#define PIOS_COM_MAX_DEVS			3
 
-#define PIOS_COM_TELEM_BAUDRATE         57600
 extern uint32_t pios_com_telem_rf_id;
 #define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
 #define PIOS_COM_DEBUG                  PIOS_COM_TELEM_RF
 
 #if defined(PIOS_INCLUDE_GPS)
-#define PIOS_COM_GPS_BAUDRATE           57600
 extern uint32_t pios_com_gps_id;
 #define PIOS_COM_GPS                    (pios_com_gps_id)
 #endif	/* PIOS_INCLUDE_GPS */
@@ -155,12 +144,6 @@ extern uint32_t pios_com_gps_id;
 extern uint32_t pios_com_telem_usb_id;
 #define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
 
-#ifdef PIOS_INCLUDE_SPEKTRUM
-#define PIOS_COM_SPEKTRUM_BAUDRATE      115200
-extern uint32_t pios_com_spektrum_id;
-#define PIOS_COM_SPEKTRUM               (pios_com_spektrum_id)
-#endif
-
 //-------------------------
 // ADC
 // PIOS_ADC_PinGet(0) = Gyro Z
@@ -197,7 +180,7 @@ extern uint32_t pios_com_spektrum_id;
 #define PIOS_ADC_CHANNELS			{ PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
 #define PIOS_ADC_MAPPING			{ PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
 #define PIOS_ADC_CHANNEL_MAPPING		{ PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
-#define PIOS_ADC_NUM_CHANNELS			(PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR) 
+#define PIOS_ADC_NUM_CHANNELS			(PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
 #define PIOS_ADC_NUM_ADC_CHANNELS		2
 #define PIOS_ADC_USE_ADC2			1
 #define PIOS_ADC_CLOCK_FUNCTION			RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
@@ -219,10 +202,27 @@ extern uint32_t pios_com_spektrum_id;
 #define PIOS_ADC_RATE		(72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 #define PIOS_ADC_MAX_OVERSAMPLING               36
 
+//------------------------
+// PIOS_RCVR
+// See also pios_board.c
+//------------------------
+#define PIOS_RCVR_MAX_DEVS                      1
+#define PIOS_RCVR_MAX_CHANNELS			12
+
 //-------------------------
-// Receiver PWM inputs
+// Receiver PPM input
 //-------------------------
-#define PIOS_PWM_MAX_INPUTS                     6
+#define PIOS_PPM_NUM_INPUTS                     12
+
+//-------------------------
+// Receiver PWM input
+//-------------------------
+#define PIOS_PWM_NUM_INPUTS                     6
+
+//-------------------------
+// Receiver SPEKTRUM input
+//-------------------------
+#define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------
 // Servo outputs
@@ -252,10 +252,9 @@ extern uint32_t pios_com_spektrum_id;
 // USB
 //-------------------------
 #define PIOS_USB_ENABLED                        1
+#define PIOS_USB_HID_MAX_DEVS                   1
 #define PIOS_USB_DETECT_GPIO_PORT               GPIOC
 #define PIOS_USB_DETECT_GPIO_PIN                GPIO_Pin_15
 #define PIOS_USB_DETECT_EXTI_LINE               EXTI_Line15
 #define PIOS_IRQ_USB_PRIORITY                   PIOS_IRQ_PRIO_MID
-#define PIOS_USB_RX_BUFFER_SIZE                 128
-#define PIOS_USB_TX_BUFFER_SIZE                 128
 #endif /* STM32103CB_AHRS_H_ */
diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
index a8eead4bd..7027a42bd 100644
--- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
@@ -117,14 +117,6 @@ TIM4  |                     STOPWATCH                    |
 #define TX_LED_OFF						PIOS_LED_Off(LED4)
 #define TX_LED_TOGGLE					PIOS_LED_Toggle(LED4)
 
-// *****************************************************************
-// Delay Timer
-
-//#define PIOS_DELAY_TIMER				TIM2
-//#define PIOS_DELAY_TIMER_RCC_FUNC		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
-#define PIOS_DELAY_TIMER				TIM1
-#define PIOS_DELAY_TIMER_RCC_FUNC		RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE)
-
 // *****************************************************************
 // Timer interrupt
 
@@ -152,9 +144,6 @@ extern uint32_t pios_spi_port_id;
 //-------------------------
 #define PIOS_USART_MAX_DEVS             1
 
-#define PIOS_USART_RX_BUFFER_SIZE		512
-#define PIOS_USART_TX_BUFFER_SIZE		512
-
 //-------------------------
 // PIOS_COM
 //
@@ -404,12 +393,11 @@ extern uint32_t pios_com_telem_usb_id;
 
 #if defined(PIOS_INCLUDE_USB_HID)
 	#define PIOS_USB_ENABLED				1
+	#define PIOS_USB_HID_MAX_DEVS                   1
 	#define PIOS_USB_DETECT_GPIO_PORT		GPIO_IN_2_PORT
 	#define PIOS_USB_DETECT_GPIO_PIN		GPIO_IN_2_PIN
 	#define PIOS_USB_DETECT_EXTI_LINE		EXTI_Line4
 	#define PIOS_IRQ_USB_PRIORITY			8
-        #define PIOS_USB_RX_BUFFER_SIZE                 512
-        #define PIOS_USB_TX_BUFFER_SIZE                 512
 #endif
 
 // *****************************************************************
diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h
index d0c988b21..d661e8b96 100644
--- a/flight/PiOS/Boards/STM3210E_INS.h
+++ b/flight/PiOS/Boards/STM3210E_INS.h
@@ -125,9 +125,6 @@ extern uint32_t pios_i2c_gyro_adapter_id;
 //-------------------------
 #define PIOS_USART_MAX_DEVS             2
 
-#define PIOS_USART_RX_BUFFER_SIZE       256
-#define PIOS_USART_TX_BUFFER_SIZE       256
-
 //-------------------------
 // PIOS_COM
 //
@@ -135,23 +132,15 @@ extern uint32_t pios_i2c_gyro_adapter_id;
 //-------------------------
 #define PIOS_COM_MAX_DEVS               2
 
-#define PIOS_COM_GPS_BAUDRATE           57600
 extern uint32_t pios_com_gps_id;
 #define PIOS_COM_GPS                    (pios_com_gps_id)
 
 #ifdef PIOS_ENABLE_AUX_UART
-#define PIOS_COM_AUX_BAUDRATE           57600
 extern uint32_t pios_com_aux_id;
 #define PIOS_COM_AUX                    (pios_com_aux_id)
 #define PIOS_COM_DEBUG                  PIOS_COM_AUX
 #endif
 
-//-------------------------
-// Delay Timer
-//-------------------------
-#define PIOS_DELAY_TIMER                        TIM2
-#define PIOS_DELAY_TIMER_RCC_FUNC               RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
-
 //-------------------------
 // System Settings
 //-------------------------
diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h
index c042184ea..3098ee259 100644
--- a/flight/PiOS/Boards/STM3210E_OP.h
+++ b/flight/PiOS/Boards/STM3210E_OP.h
@@ -139,9 +139,6 @@ extern uint32_t pios_i2c_main_adapter_id;
 //-------------------------
 #define PIOS_USART_MAX_DEVS             3
 
-#define PIOS_USART_RX_BUFFER_SIZE       512
-#define PIOS_USART_TX_BUFFER_SIZE       512
-
 //-------------------------
 // PIOS_COM
 //
@@ -149,11 +146,9 @@ extern uint32_t pios_i2c_main_adapter_id;
 //-------------------------
 #define PIOS_COM_MAX_DEVS               4
 
-#define PIOS_COM_TELEM_BAUDRATE         57600
 extern uint32_t pios_com_telem_rf_id;
 #define PIOS_COM_TELEM_RF               (pios_com_telem_rf_id)
 
-#define PIOS_COM_GPS_BAUDRATE           57600
 extern uint32_t pios_com_gps_id;
 #define PIOS_COM_GPS                    (pios_com_gps_id)
 
@@ -161,24 +156,11 @@ extern uint32_t pios_com_telem_usb_id;
 #define PIOS_COM_TELEM_USB              (pios_com_telem_usb_id)
 
 #ifdef PIOS_ENABLE_AUX_UART
-#define PIOS_COM_AUX_BAUDRATE           57600
 extern uint32_t pios_com_aux_id;
 #define PIOS_COM_AUX                    (pios_com_aux_id)
 #define PIOS_COM_DEBUG                  PIOS_COM_AUX
 #endif
 
-#ifdef PIOS_INCLUDE_SPEKTRUM
-#define PIOS_COM_SPEKTRUM_BAUDRATE      115200
-extern uint32_t pios_com_spektrum_id;
-#define PIOS_COM_SPEKTRUM               (pios_com_spektrum_id)
-#endif
-
-//-------------------------
-// Delay Timer
-//-------------------------
-#define PIOS_DELAY_TIMER                        TIM2
-#define PIOS_DELAY_TIMER_RCC_FUNC               RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
-
 //-------------------------
 // System Settings
 //-------------------------
@@ -193,37 +175,33 @@ extern uint32_t pios_com_spektrum_id;
 #define PIOS_IRQ_PRIO_HIGH                      5               // for SPI, ADC, I2C etc...
 #define PIOS_IRQ_PRIO_HIGHEST                   4               // for USART etc...
 
-//-------------------------
-// Receiver PWM inputs
-//-------------------------
-/*#define PIOS_PWM_SUPV_ENABLED                   1
-#define PIOS_PWM_SUPV_TIMER                     TIM6
-#define PIOS_PWM_SUPV_TIMER_RCC_FUNC            RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
-#define PIOS_PWM_SUPV_HZ                        25
-#define PIOS_PWM_SUPV_IRQ_CHANNEL               TIM6_IRQn
-#define PIOS_PWM_SUPV_IRQ_FUNC                  void TIM6_IRQHandler(void)*/
+//------------------------
+// PIOS_RCVR
+// See also pios_board.c
+//------------------------
+#define PIOS_RCVR_MAX_DEVS			1
+#define PIOS_RCVR_MAX_CHANNELS			12
 
 //-------------------------
 // Receiver PPM input
 //-------------------------
-#define PIOS_PPM_NUM_INPUTS                     8  //Could be more if needed
-#define PIOS_PPM_SUPV_ENABLED                   1
+#define PIOS_PPM_NUM_INPUTS                     12
+
 //-------------------------
-// SPEKTRUM input
+// Receiver PWM input
 //-------------------------
-//#define PIOS_SPEKTRUM_SUPV_ENABLED                   1
-//#define PIOS_SPEKTRUM_SUPV_TIMER                     TIM6
-//#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC            RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
-//#define PIOS_SPEKTRUM_SUPV_HZ                        60 // 1/22ms
-//#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL               TIM6_IRQn
-//#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC                  void TIM6_IRQHandler(void)
+#define PIOS_PWM_NUM_INPUTS                     8
+
+//-------------------------
+// Receiver SPEKTRUM input
+//-------------------------
+#define PIOS_SPEKTRUM_NUM_INPUTS                12
 
 //-------------------------
 // Servo outputs
 //-------------------------
 #define PIOS_SERVO_UPDATE_HZ                    50
 #define PIOS_SERVOS_INITIAL_POSITION            0 /* dont want to start motors, have no pulse till settings loaded */
-#define PIOS_PWM_MAX_INPUTS                     8
 
 //-------------------------
 // ADC
@@ -317,12 +295,11 @@ extern uint32_t pios_com_spektrum_id;
 // USB
 //-------------------------
 #define PIOS_USB_ENABLED                        1
+#define PIOS_USB_HID_MAX_DEVS                   1
 #define PIOS_USB_DETECT_GPIO_PORT               GPIOC
 #define PIOS_USB_DETECT_GPIO_PIN                GPIO_Pin_4
 #define PIOS_USB_DETECT_EXTI_LINE               EXTI_Line4
 #define PIOS_IRQ_USB_PRIORITY                   PIOS_IRQ_PRIO_MID
-#define PIOS_USB_RX_BUFFER_SIZE                 512
-#define PIOS_USB_TX_BUFFER_SIZE                 512
 
 /**
  * glue macros for file IO
diff --git a/flight/PiOS/Common/pios_adxl345.c b/flight/PiOS/Common/pios_adxl345.c
index e11cadf19..91fb3f91f 100644
--- a/flight/PiOS/Common/pios_adxl345.c
+++ b/flight/PiOS/Common/pios_adxl345.c
@@ -96,6 +96,22 @@ void PIOS_ADXL345_Init()
 	PIOS_ADXL345_SetMeasure(1); 
 }
 
+/**
+ * @brief Return number of entries in the fifo
+ */
+uint8_t  PIOS_ADXL345_FifoElements()
+{
+	uint8_t buf[2] = {0,0};
+	uint8_t rec[2] = {0,0};
+	buf[0] = ADXL_FIFOSTATUS_ADDR | ADXL_READ_BIT ; // Read fifo status
+	
+	PIOS_ADXL345_ClaimBus();
+	PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
+	PIOS_ADXL345_ReleaseBus();
+	
+	return rec[1] & 0x3f;
+}
+
 /**
  * @brief Read a single set of values from the x y z channels
  * @returns The number of samples remaining in the fifo
diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c
index 0d2c21d30..b7a9a67e5 100644
--- a/flight/PiOS/Common/pios_com.c
+++ b/flight/PiOS/Common/pios_com.c
@@ -34,11 +34,37 @@
 
 #if defined(PIOS_INCLUDE_COM)
 
+#include "fifo_buffer.h"
 #include <pios_com_priv.h>
 
+#if !defined(PIOS_INCLUDE_FREERTOS)
+#include "pios_delay.h"		/* PIOS_DELAY_WaitmS */
+#endif
+
+enum pios_com_dev_magic {
+  PIOS_COM_DEV_MAGIC = 0xaa55aa55,
+};
+
+struct pios_com_dev {
+	enum pios_com_dev_magic magic;
+	uint32_t lower_id;
+	const struct pios_com_driver * driver;
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	xSemaphoreHandle tx_sem;
+	xSemaphoreHandle rx_sem;
+#endif
+
+	bool has_rx;
+	bool has_tx;
+
+	t_fifo_buffer rx;
+	t_fifo_buffer tx;
+};
+
 static bool PIOS_COM_validate(struct pios_com_dev * com_dev)
 {
-	return (com_dev->magic == PIOS_COM_DEV_MAGIC);
+	return (com_dev && (com_dev->magic == PIOS_COM_DEV_MAGIC));
 }
 
 #if defined(PIOS_INCLUDE_FREERTOS) && 0
@@ -70,6 +96,11 @@ static struct pios_com_dev * PIOS_COM_alloc(void)
 }
 #endif
 
+static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield);
+static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield);
+
 /**
   * Initialises COM layer
   * \param[out] handle
@@ -77,18 +108,48 @@ static struct pios_com_dev * PIOS_COM_alloc(void)
   * \param[in] id
   * \return < 0 if initialisation failed
   */
-int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, const uint32_t lower_id)
+int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len)
 {
-	PIOS_DEBUG_Assert(com_id);
-	PIOS_DEBUG_Assert(driver);
+	PIOS_Assert(com_id);
+	PIOS_Assert(driver);
+
+	bool has_rx = (rx_buffer && rx_buffer_len > 0);
+	bool has_tx = (tx_buffer && tx_buffer_len > 0);
+	PIOS_Assert(has_rx || has_tx);
+	PIOS_Assert(driver->bind_tx_cb || !has_tx);
+	PIOS_Assert(driver->bind_rx_cb || !has_rx);
 
 	struct pios_com_dev * com_dev;
 
 	com_dev = (struct pios_com_dev *) PIOS_COM_alloc();
 	if (!com_dev) goto out_fail;
 
-	com_dev->driver = driver;
-	com_dev->id     = lower_id;
+	com_dev->driver   = driver;
+	com_dev->lower_id = lower_id;
+
+	com_dev->has_rx = has_rx;
+	com_dev->has_tx = has_tx;
+
+	if (has_rx) {
+		fifoBuf_init(&com_dev->rx, rx_buffer, rx_buffer_len);
+#if defined(PIOS_INCLUDE_FREERTOS)
+		vSemaphoreCreateBinary(com_dev->rx_sem);
+#endif	/* PIOS_INCLUDE_FREERTOS */
+		(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_RxInCallback, (uint32_t)com_dev);
+		if (com_dev->driver->rx_start) {
+			/* Start the receiver */
+			(com_dev->driver->rx_start)(com_dev->lower_id,
+						    fifoBuf_getFree(&com_dev->rx));
+		}
+	}
+
+	if (has_tx) {
+		fifoBuf_init(&com_dev->tx, tx_buffer, tx_buffer_len);
+#if defined(PIOS_INCLUDE_FREERTOS)
+		vSemaphoreCreateBinary(com_dev->tx_sem);
+#endif	/* PIOS_INCLUDE_FREERTOS */
+		(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_TxOutCallback, (uint32_t)com_dev);
+	}
 
 	*com_id = (uint32_t)com_dev;
 	return(0);
@@ -97,6 +158,88 @@ out_fail:
 	return(-1);
 }
 
+static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+	xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken);
+
+	if (xHigherPriorityTaskWoken != pdFALSE) {
+		*need_yield = true;
+	} else {
+		*need_yield = false;
+	}
+#else
+	*need_yield = false;
+#endif
+}
+
+static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield)
+{
+#if defined(PIOS_INCLUDE_FREERTOS)
+	static signed portBASE_TYPE xHigherPriorityTaskWoken;
+	xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken);
+
+	if (xHigherPriorityTaskWoken != pdFALSE) {
+		*need_yield = true;
+	} else {
+		*need_yield = false;
+	}
+#else
+	*need_yield = false;
+#endif
+}
+
+static uint16_t PIOS_COM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_dev * com_dev = (struct pios_com_dev *)context;
+
+	bool valid = PIOS_COM_validate(com_dev);
+	PIOS_Assert(valid);
+	PIOS_Assert(com_dev->has_rx);
+
+	PIOS_IRQ_Disable();
+	uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->rx, buf, buf_len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_into_fifo > 0) {
+		/* Data has been added to the buffer */
+		PIOS_COM_UnblockRx(com_dev, need_yield);
+	}
+
+	if (headroom) {
+		*headroom = fifoBuf_getFree(&com_dev->rx);
+	}
+
+	return (bytes_into_fifo);
+}
+
+static uint16_t PIOS_COM_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_dev * com_dev = (struct pios_com_dev *)context;
+
+	bool valid = PIOS_COM_validate(com_dev);
+	PIOS_Assert(valid);
+	PIOS_Assert(buf);
+	PIOS_Assert(buf_len);
+	PIOS_Assert(com_dev->has_tx);
+
+	PIOS_IRQ_Disable();
+	uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->tx, buf, buf_len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_from_fifo > 0) {
+		/* More space has been made in the buffer */
+		PIOS_COM_UnblockTx(com_dev, need_yield);
+	}
+
+	if (headroom) {
+		*headroom = fifoBuf_getUsed(&com_dev->tx);
+	}
+
+	return (bytes_from_fifo);
+}
+
 /**
 * Change the port speed without re-initializing
 * \param[in] port COM port
@@ -115,7 +258,7 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
 
 	/* Invoke the driver function if it exists */
 	if (com_dev->driver->set_baud) {
-		com_dev->driver->set_baud(com_dev->id, baud);
+		com_dev->driver->set_baud(com_dev->lower_id, baud);
 	}
 
 	return 0;
@@ -140,12 +283,26 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
 		return -1;
 	}
 
-	/* Invoke the driver function if it exists */
-	if (com_dev->driver->tx_nb) {
-		return com_dev->driver->tx_nb(com_dev->id, buffer, len);
+	PIOS_Assert(com_dev->has_tx);
+
+	if (len >= fifoBuf_getFree(&com_dev->tx)) {
+		/* Buffer cannot accept all requested bytes (retry) */
+		return -2;
 	}
 
-	return 0;
+	PIOS_IRQ_Disable();
+	uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_into_fifo > 0) {
+		/* More data has been put in the tx buffer, make sure the tx is started */
+		if (com_dev->driver->tx_start) {
+			com_dev->driver->tx_start(com_dev->lower_id,
+						  fifoBuf_getUsed(&com_dev->tx));
+		}
+	}
+
+	return (0);
 }
 
 /**
@@ -166,12 +323,27 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
 		return -1;
 	}
 
-	/* Invoke the driver function if it exists */
-	if (com_dev->driver->tx) {
-		return com_dev->driver->tx(com_dev->id, buffer, len);
-	}
+	PIOS_Assert(com_dev->has_tx);
 
-	return 0;
+	int32_t rc;
+	do {
+	  rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len);
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	  if (rc == -2) {
+	    /* Make sure the transmitter is running while we wait */
+	    if (com_dev->driver->tx_start) {
+	      (com_dev->driver->tx_start)(com_dev->lower_id,
+					  fifoBuf_getUsed(&com_dev->tx));
+	    }
+	    if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) {
+	      return -3;
+	    }
+	  }
+#endif
+	} while (rc == -2);
+
+	return rc;
 }
 
 /**
@@ -273,18 +445,47 @@ int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...)
 * \param[in] port COM port
 * \returns Byte from buffer
 */
-uint8_t PIOS_COM_ReceiveBuffer(uint32_t com_id)
+uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms)
 {
+	PIOS_Assert(buf);
+	PIOS_Assert(buf_len);
+
 	struct pios_com_dev * com_dev = (struct pios_com_dev *)com_id;
 
 	if (!PIOS_COM_validate(com_dev)) {
 		/* Undefined COM port for this board (see pios_board.c) */
-		PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
+	}
+	PIOS_Assert(com_dev->has_rx);
+
+ check_again:
+	PIOS_IRQ_Disable();
+	uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
+	PIOS_IRQ_Enable();
+
+	if (bytes_from_fifo == 0 && timeout_ms > 0) {
+		/* No more bytes in receive buffer */
+		/* Make sure the receiver is running while we wait */
+		if (com_dev->driver->rx_start) {
+			/* Notify the lower layer that there is now room in the rx buffer */
+			(com_dev->driver->rx_start)(com_dev->lower_id,
+						    fifoBuf_getFree(&com_dev->rx));
+		}
+#if defined(PIOS_INCLUDE_FREERTOS)
+		if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
+			/* Make sure we don't come back here again */
+			timeout_ms = 0;
+			goto check_again;
+		}
+#else
+		PIOS_DELAY_WaitmS(1);
+		timeout_ms--;
+		goto check_again;
+#endif
 	}
 
-	PIOS_DEBUG_Assert(com_dev->driver->rx);
-
-	return com_dev->driver->rx(com_dev->id);
+	/* Return received byte */
+	return (bytes_from_fifo);
 }
 
 /**
@@ -298,14 +499,11 @@ int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
 
 	if (!PIOS_COM_validate(com_dev)) {
 		/* Undefined COM port for this board (see pios_board.c) */
-	PIOS_DEBUG_Assert(0);
+		PIOS_Assert(0);
 	}
 
-	if (!com_dev->driver->rx_avail) {
-		return 0;
-	}
-
-	return com_dev->driver->rx_avail(com_dev->id);
+	PIOS_Assert(com_dev->has_rx);
+	return (fifoBuf_getUsed(&com_dev->rx));
 }
 
 #endif
diff --git a/flight/PiOS/Common/pios_flash_w25x.c b/flight/PiOS/Common/pios_flash_w25x.c
index 624f76ef8..f474beb3f 100644
--- a/flight/PiOS/Common/pios_flash_w25x.c
+++ b/flight/PiOS/Common/pios_flash_w25x.c
@@ -41,11 +41,11 @@ static uint8_t PIOS_Flash_W25X_Busy() ;
 
 static uint32_t PIOS_SPI_FLASH;
 
-/** 
+/**
  * @brief Claim the SPI bus for flash use and assert CS pin
  * @return 0 for sucess, -1 for failure to get semaphore
  */
-static int8_t PIOS_Flash_W25X_ClaimBus() 
+static int8_t PIOS_Flash_W25X_ClaimBus()
 {
 	int8_t ret = PIOS_SPI_ClaimBus(PIOS_SPI_FLASH);
 	PIOS_FLASH_ENABLE;
@@ -55,7 +55,7 @@ static int8_t PIOS_Flash_W25X_ClaimBus()
 /**
  * @brief Release the SPI bus sempahore and ensure flash chip not using bus
  */
-static void PIOS_Flash_W25X_ReleaseBus() 
+static void PIOS_Flash_W25X_ReleaseBus()
 {
 	PIOS_FLASH_DISABLE;
 	PIOS_SPI_ReleaseBus(PIOS_SPI_FLASH);
@@ -64,8 +64,8 @@ static void PIOS_Flash_W25X_ReleaseBus()
 /**
  * @brief Returns if the flash chip is busy
  */
-static uint8_t PIOS_Flash_W25X_Busy() 
-{	
+static uint8_t PIOS_Flash_W25X_Busy()
+{
 	return PIOS_Flash_W25X_ReadStatus() & W25X_STATUS_BUSY;
 }
 
@@ -73,12 +73,12 @@ static uint8_t PIOS_Flash_W25X_Busy()
  * @brief Execute the write enable instruction and returns the status
  * @returns 0 if successful, -1 if unable to claim bus
  */
-static uint8_t PIOS_Flash_W25X_WriteEnable() 
+static uint8_t PIOS_Flash_W25X_WriteEnable()
 {
 	uint8_t out[] = {W25X_WRITE_ENABLE};
 	if(PIOS_Flash_W25X_ClaimBus() != 0)
 		return -1;
-	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);	
+	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
 	PIOS_Flash_W25X_ReleaseBus();
 	return 0;
 }
@@ -97,27 +97,27 @@ int8_t PIOS_Flash_W25X_Init(uint32_t spi_id)
 
 
 /**
- * @brief Read the status register from flash chip and return it 
+ * @brief Read the status register from flash chip and return it
  */
-uint8_t PIOS_Flash_W25X_ReadStatus() 
+uint8_t PIOS_Flash_W25X_ReadStatus()
 {
 	uint8_t out[2] = {W25X_READ_STATUS, 0};
 	uint8_t in[2] = {0,0};
 	PIOS_Flash_W25X_ClaimBus();
-	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);	
+	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
 	PIOS_Flash_W25X_ReleaseBus();
 	return in[1];
 }
 
 /**
- * @brief Read the status register from flash chip and return it 
+ * @brief Read the status register from flash chip and return it
  */
-uint8_t PIOS_Flash_W25X_ReadID() 
+uint8_t PIOS_Flash_W25X_ReadID()
 {
 	uint8_t out[] = {W25X_DEVICE_ID, 0, 0, 0, 0, 0};
 	uint8_t in[6];
 	PIOS_Flash_W25X_ClaimBus();
-	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);	
+	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,in,sizeof(out),NULL);
 	PIOS_Flash_W25X_ReleaseBus();
 	return in[5];
 }
@@ -127,28 +127,27 @@ uint8_t PIOS_Flash_W25X_ReadID()
  * @param[in] add Address of flash to erase
  * @returns 0 if successful
  * @retval -1 if unable to claim bus
- * @retval 
+ * @retval
  */
 int8_t PIOS_Flash_W25X_EraseSector(uint32_t addr)
 {
 	uint8_t ret;
 	uint8_t out[] = {W25X_SECTOR_ERASE, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
-	
+
 	if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
 		return ret;
-	
+
 	if(PIOS_Flash_W25X_ClaimBus() != 0)
-		return -1;	
+		return -1;
 	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
 	PIOS_Flash_W25X_ReleaseBus();
 
+	uint32_t i = 1;
 	while(PIOS_Flash_W25X_Busy()) {
-		//TODO: Fail on timeout
-#if defined(PIOS_INCLUDE_FREERTOS)
-		vTaskDelay(1);
-#endif
+		if(++i == 0)
+			return -1;
 	}
-	
+
 	return 0;
 }
 
@@ -160,25 +159,26 @@ int8_t PIOS_Flash_W25X_EraseChip()
 {
 	uint8_t ret;
 	uint8_t out[] = {W25X_CHIP_ERASE};
-	
+
 	if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
 		return ret;
-	
+
 	if(PIOS_Flash_W25X_ClaimBus() != 0)
 		return -1;
-	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);	
+	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
 	PIOS_Flash_W25X_ReleaseBus();
+
+	uint32_t i = 1;
 	while(PIOS_Flash_W25X_Busy()) {
-		//TODO: Fail on timeout
-#if defined(PIOS_INCLUDE_FREERTOS)
-		vTaskDelay(1);
-#endif
+		if(++i == 0)
+			return -1;
 	}
+
 	return 0;
 }
 
 
-/** 
+/**
  * @brief Write one page of data (up to 256 bytes) aligned to a page start
  * @param[in] addr Address in flash to write to
  * @param[in] data Pointer to data to write to flash
@@ -192,37 +192,38 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
 {
 	uint8_t ret;
 	uint8_t out[4] = {W25X_PAGE_WRITE, (addr >> 16) & 0xff, (addr >> 8) & 0xff , addr & 0xff};
-	
+
 	/* Can only write one page at a time */
-	if(len > 0x100) 
+	if(len > 0x100)
 		return -2;
-	
+
 	/* Ensure number of bytes fits after starting address before end of page */
-	if(((addr & 0xff) + len) > 0x100) 
+	if(((addr & 0xff) + len) > 0x100)
 		return -3;
-	
+
 	if((ret = PIOS_Flash_W25X_WriteEnable()) != 0)
 		return ret;
-	
+
 	/* Execute write page command and clock in address.  Keep CS asserted */
 	if(PIOS_Flash_W25X_ClaimBus() != 0)
 		return -1;
 	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,out,NULL,sizeof(out),NULL);
-	
+
 	/* Clock out data to flash */
 	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,data,NULL,len,NULL);
 
 	PIOS_Flash_W25X_ReleaseBus();
 
+	uint32_t i = 1;
 	while(PIOS_Flash_W25X_Busy()) {
-#if defined(PIOS_INCLUDE_FREERTOS)
-		vTaskDelay(1);
-#endif
+		if(++i == 0)
+			return -1;
 	}
+
 	return 0;
 }
 
-/** 
+/**
  * @brief Read data from a location in flash memory
  * @param[in] addr Address in flash to write to
  * @param[in] data Pointer to data to write from flash
@@ -243,6 +244,6 @@ int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
 	PIOS_SPI_TransferBlock(PIOS_SPI_FLASH,NULL,data,len,NULL);
 
 	PIOS_Flash_W25X_ReleaseBus();
-	
+
 	return 0;
 }
diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index 11a40822a..08fe640c9 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -12,19 +12,19 @@
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
  * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
@@ -33,7 +33,7 @@
 #include "uavobjectmanager.h"
 
 // Private functions
-static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
+static int32_t PIOS_FLASHFS_ClearObjectTableHeader();
 static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
 static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
 
@@ -56,11 +56,12 @@ struct fileHeader {
 } __attribute__((packed));
 
 
-#define OBJECT_TABLE_MAGIC 0x85FB3C34
+#define OBJECT_TABLE_MAGIC 0x85FB3C35
 #define OBJ_MAGIC          0x3015AE71
 #define OBJECT_TABLE_START 0x00000010
 #define OBJECT_TABLE_END   0x00001000
 #define SECTOR_SIZE        0x00001000
+#define MAX_BADMAGIC       4
 
 /**
  * @brief Initialize the flash object setting FS
@@ -68,34 +69,50 @@ struct fileHeader {
  */
 int32_t PIOS_FLASHFS_Init()
 {
-	
+
 	// Check for valid object table or create one
 	uint32_t object_table_magic;
-	if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
-		return -1;	
-	if(object_table_magic != OBJECT_TABLE_MAGIC) {
-		if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
+	uint8_t magic_fail_count = 0;
+	bool magic_good = false;
+
+	while(!magic_good) {
+		if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
 			return -1;
+		if(object_table_magic != OBJECT_TABLE_MAGIC) {
+			if(magic_fail_count++ > MAX_BADMAGIC) {
+				PIOS_FLASHFS_ClearObjectTableHeader();
+				PIOS_LED_Toggle(LED1);
+				magic_fail_count = 0;
+				magic_good = true;
+			} else {
+				PIOS_DELAY_WaituS(100);
+			}
+
+		}
+		else {
+			magic_good = true;
+		}
+
 	}
 
 	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
 	numObjects = 0;
-		
+
 	// Loop through header area while objects detect to count how many saved
 	while(addr < OBJECT_TABLE_END) {
 		// Read the instance data
 		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
 			return -1;
-		
-		// Counting number of valid headers	
-		if(header.objMagic != OBJ_MAGIC) 
+
+		// Counting number of valid headers
+		if(header.objMagic != OBJ_MAGIC)
 			break;
-		
+
 		numObjects++;
 		addr += sizeof(header);
 	}
-	
+
 	return 0;
 }
 
@@ -103,7 +120,7 @@ int32_t PIOS_FLASHFS_Init()
  * @brief Erase the headers for all objects in the flash chip
  * @return 0 if successful, -1 if not
  */
-static int32_t PIOS_FLASHFS_CleabObjectTableHeader() 
+static int32_t PIOS_FLASHFS_ClearObjectTableHeader()
 {
 	if(PIOS_Flash_W25X_EraseSector(0) != 0)
 		return -1;
@@ -121,26 +138,26 @@ static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
  * @parma instId Instance id for that object
  * @return address if successful, -1 if not found
  */
-static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
 {
 	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
-		
+
 	// Loop through header area while objects detect to count how many saved
 	while(addr < OBJECT_TABLE_END) {
 		// Read the instance data
 		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 			return -1;
-		if(header.objMagic != OBJ_MAGIC) 
+		if(header.objMagic != OBJ_MAGIC)
 			break; // stop searching once hit first non-object header
 		else if (header.objId == objId && header.instId == instId)
 			break;
 		addr += sizeof(header);
 	}
-	
+
 	if (header.objId == objId && header.instId == instId)
 		return header.address;
-	
+
 	return -1;
 }
 
@@ -150,7 +167,7 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
  * @param[in] instId The instance id of object to be saved
  * @return 0 if success or error code
  * @retval -1 Object not found
- * @retval -2 No room in object table 
+ * @retval -2 No room in object table
  * @retval -3 Unable to write entry into object table
  * @retval -4 FS not initialized
  */
@@ -160,26 +177,26 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 
 	if(numObjects < 0)
 		return -4;
-	
+
 	// Don't worry about max size of flash chip here, other code will catch that
 	header.objMagic = OBJ_MAGIC;
 	header.objId = objId;
 	header.instId = instId;
 	header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
-	
+
 	int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
 
 	// No room for this header in object table
-	if((addr + sizeof(header)) > OBJECT_TABLE_END) 
-		return -2;		
-	
+	if((addr + sizeof(header)) > OBJECT_TABLE_END)
+		return -2;
+
 	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -3;
-		
+
 	// This numObejcts value must stay consistent or there will be a break in the table
 	// and later the table will have bad values in it
-	numObjects++;	
-	return header.address;	
+	numObjects++;
+	return header.address;
 }
 
 
@@ -191,38 +208,38 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
  * @note This uses one sector on the flash chip per object so that no buffering in ram
  * must be done when erasing the sector before a save
  */
-int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) 
+int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 {
 	uint32_t objId = UAVObjGetID(obj);
 	uint8_t crc = 0;
 
 	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-	
+
 	// Object currently not saved
-	if(addr < 0) 
+	if(addr < 0)
 		addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
-	
+
 	// Could not allocate a sector
 	if(addr < 0)
 		return -1;
-	
+
 	struct fileHeader header = {
 		.id = objId,
 		.instId = instId,
 		.size = UAVObjGetNumBytes(obj)
 	};
-	
+
 	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
 		return -2;
 
 	// Save header
-	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.		
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
 	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -3;
-	
+
 	// Update CRC
 	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
-	
+
 	// Save data
 	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
 		return -4;
@@ -233,7 +250,7 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	// Save CRC (written so will work when CRC changes to uint16)
 	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header) + UAVObjGetNumBytes(obj), (uint8_t *) &crc, sizeof(crc)) != 0)
 		return -4;
-	
+
 	return 0;
 }
 
@@ -259,20 +276,20 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	uint8_t crcFlash = 0;
 	const uint8_t crc_read_step = 8;
 	uint8_t crc_read_buffer[crc_read_step];
-	
+
 	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-		
+
 	// Object currently not saved
-	if(addr < 0) 
+	if(addr < 0)
 		return -1;
 
 	struct fileHeader header;
-	
+
 	// Load header
 	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
 	if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -2;
-	
+
 	// Update CRC
 	crc = PIOS_CRC_updateCRC(0, (uint8_t *) &header, sizeof(header));
 
@@ -290,7 +307,7 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	// Read CRC (written so will work when CRC changes to uint16)
 	if(PIOS_Flash_W25X_ReadData(addr + sizeof(header) + objSize, (uint8_t *) &crcFlash, sizeof(crcFlash)) != 0)
 		return -5;
-	
+
 	if(crc != crcFlash)
 		return -6;
 
@@ -308,22 +325,22 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
  * @return 0 if success or error code
  * @retval -1 if object not in file table
  * @retval -2 Erase failed
- * @note To avoid buffering the file table (1k ram!) the entry in the file table 
- * remains but destination sector is erased.  This will make the load fail as the 
+ * @note To avoid buffering the file table (1k ram!) the entry in the file table
+ * remains but destination sector is erased.  This will make the load fail as the
  * file header won't match the object.  At next save it goes back there.
  */
 int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
 {
 	uint32_t objId = UAVObjGetID(obj);
-	
+
 	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
-	
+
 	// Object currently not saved
-	if(addr < 0) 
+	if(addr < 0)
 		return -1;
 
 	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
 		return -2;
-	
+
 	return 0;
-}
\ No newline at end of file
+}
diff --git a/flight/PiOS/Common/pios_hcsr04.c b/flight/PiOS/Common/pios_hcsr04.c
index aa6dece83..6db1bc401 100644
--- a/flight/PiOS/Common/pios_hcsr04.c
+++ b/flight/PiOS/Common/pios_hcsr04.c
@@ -32,8 +32,8 @@
 #include "pios.h"
 
 #if defined(PIOS_INCLUDE_HCSR04)
-#if !defined(PIOS_INCLUDE_SPEKTRUM)
-#error Only supported with spektrum interface!
+#if !(defined(PIOS_INCLUDE_SPEKTRUM) || defined(PIOS_INCLUDE_SBUS))
+#error Only supported with Spektrum or S.Bus interface!
 #endif
 
 /* Local Variables */
diff --git a/flight/PiOS/Common/pios_rcvr.c b/flight/PiOS/Common/pios_rcvr.c
new file mode 100644
index 000000000..29acb2594
--- /dev/null
+++ b/flight/PiOS/Common/pios_rcvr.c
@@ -0,0 +1,98 @@
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_RCVR)
+
+#include <pios_rcvr_priv.h>
+
+enum pios_rcvr_dev_magic {
+  PIOS_RCVR_DEV_MAGIC = 0x99aabbcc,
+};
+
+struct pios_rcvr_dev {
+  enum pios_rcvr_dev_magic        magic;
+  uint32_t                        lower_id;
+  const struct pios_rcvr_driver * driver;
+};
+
+static bool PIOS_RCVR_validate(struct pios_rcvr_dev * rcvr_dev)
+{
+  return (rcvr_dev->magic == PIOS_RCVR_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *)malloc(sizeof(*rcvr_dev));
+  if (!rcvr_dev) return (NULL);
+
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+  return(rcvr_dev);
+}
+#else
+static struct pios_rcvr_dev pios_rcvr_devs[PIOS_RCVR_MAX_DEVS];
+static uint8_t pios_rcvr_num_devs;
+static struct pios_rcvr_dev * PIOS_RCVR_alloc(void)
+{
+  struct pios_rcvr_dev * rcvr_dev;
+
+  if (pios_rcvr_num_devs >= PIOS_RCVR_MAX_DEVS) {
+    return (NULL);
+  }
+
+  rcvr_dev = &pios_rcvr_devs[pios_rcvr_num_devs++];
+  rcvr_dev->magic = PIOS_RCVR_DEV_MAGIC;
+
+  return (rcvr_dev);
+}
+#endif
+
+/**
+  * Initialises RCVR layer
+  * \param[out] handle
+  * \param[in] driver
+  * \param[in] id
+  * \return < 0 if initialisation failed
+  */
+int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, uint32_t lower_id)
+{
+  PIOS_DEBUG_Assert(rcvr_id);
+  PIOS_DEBUG_Assert(driver);
+
+  struct pios_rcvr_dev * rcvr_dev;
+
+  rcvr_dev = (struct pios_rcvr_dev *) PIOS_RCVR_alloc();
+  if (!rcvr_dev) goto out_fail;
+
+  rcvr_dev->driver   = driver;
+  rcvr_dev->lower_id = lower_id;
+
+  *rcvr_id = (uint32_t)rcvr_dev;
+  return(0);
+
+out_fail:
+  return(-1);
+}
+
+int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
+{
+  struct pios_rcvr_dev * rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
+
+  if (!PIOS_RCVR_validate(rcvr_dev)) {
+    /* Undefined RCVR port for this board (see pios_board.c) */
+    PIOS_Assert(0);
+  }
+
+  PIOS_DEBUG_Assert(rcvr_dev->driver->read);
+
+  return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
index f063be198..f3abbb52c 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
@@ -1,6 +1,6 @@
 /*
     FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-	
+
 
     ***************************************************************************
      *                                                                       *
@@ -79,16 +79,18 @@ static union xRTOS_HEAP
 		volatile portDOUBLE dDummy;
 	#else
 		volatile unsigned long ulDummy;
-	#endif	
+	#endif
 	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap;
+} xHeap __attribute__ ((section (".heap")));
 
 static size_t xNextFreeByte = ( size_t ) 0;
+static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
+
 /*-----------------------------------------------------------*/
 
 void *pvPortMalloc( size_t xWantedSize )
 {
-void *pvReturn = NULL; 
+void *pvReturn = NULL;
 
 	/* Ensure that blocks are always aligned to the required number of bytes. */
 	#if portBYTE_ALIGNMENT != 1
@@ -102,17 +104,17 @@ void *pvReturn = NULL;
 	vTaskSuspendAll();
 	{
 		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&
+		if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
 			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
 		{
 			/* Return the next free byte then increment the index past this
 			block. */
 			pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] );
-			xNextFreeByte += xWantedSize;			
-		}	
+			xNextFreeByte += xWantedSize;
+		}
 	}
 	xTaskResumeAll();
-	
+
 	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
 	{
 		if( pvReturn == NULL )
@@ -121,7 +123,7 @@ void *pvReturn = NULL;
 			vApplicationMallocFailedHook();
 		}
 	}
-	#endif	
+	#endif
 
 	return pvReturn;
 }
@@ -129,8 +131,8 @@ void *pvReturn = NULL;
 
 void vPortFree( void *pv )
 {
-	/* Memory cannot be freed using this scheme.  See heap_2.c and heap_3.c 
-	for alternative implementations, and the memory management pages of 
+	/* Memory cannot be freed using this scheme.  See heap_2.c and heap_3.c
+	for alternative implementations, and the memory management pages of
 	http://www.FreeRTOS.org for more information. */
 	( void ) pv;
 }
@@ -145,8 +147,14 @@ void vPortInitialiseBlocks( void )
 
 size_t xPortGetFreeHeapSize( void )
 {
-	return ( configTOTAL_HEAP_SIZE - xNextFreeByte );
+	return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
 }
+/*-----------------------------------------------------------*/
 
-
-
+void xPortIncreaseHeapSize( size_t bytes )
+{
+	vTaskSuspendAll();
+	currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
+	xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
index 1d1c76a60..91258edd6 100644
--- a/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
+++ b/flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
@@ -1,6 +1,6 @@
 /*
     FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
-	
+
 
     ***************************************************************************
      *                                                                       *
@@ -81,7 +81,7 @@ static union xRTOS_HEAP
 		volatile unsigned long ulDummy;
 	#endif
 	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap;
+} xHeap __attribute__ ((section (".heap")));
 
 /* Define the linked list structure.  This is used to link free blocks in order
 of their size. */
@@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd;
 /* Keeps track of the number of free bytes remaining, but says nothing about
 fragmentation. */
 static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
+static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
 
 /* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
 
@@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock;														\
 	xStart.xBlockSize = ( size_t ) 0;												\
 																					\
 	/* xEnd is used to mark the end of the list of free blocks. */					\
-	xEnd.xBlockSize = configTOTAL_HEAP_SIZE;										\
+	xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;										\
 	xEnd.pxNextFreeBlock = NULL;													\
 																					\
 	/* To start with there is a single free block that is sized to take up the		\
 	entire heap space. */															\
 	pxFirstFreeBlock = ( void * ) xHeap.ucHeap;										\
-	pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE;							\
+	pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE;							\
 	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;										\
 }
 /*-----------------------------------------------------------*/
@@ -181,7 +182,7 @@ void *pvReturn = NULL;
 			}
 		}
 
-		if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
+		if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
 		{
 			/* Blocks are stored in byte order - traverse the list from the start
 			(smallest) block until one of adequate size is found. */
@@ -220,7 +221,7 @@ void *pvReturn = NULL;
 					/* Insert the new block into the list of free blocks. */
 					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
 				}
-				
+
 				xFreeBytesRemaining -= pxBlock->xBlockSize;
 			}
 		}
@@ -276,3 +277,18 @@ void vPortInitialiseBlocks( void )
 {
 	/* This just exists to keep the linker quiet. */
 }
+
+void xPortIncreaseHeapSize( size_t bytes )
+{
+	xBlockLink *pxNewBlockLink;
+	vTaskSuspendAll();
+	currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
+	xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;
+	xFreeBytesRemaining += bytes;
+	/* Insert the new block into the list of free blocks. */
+	pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
+	pxNewBlockLink->xBlockSize = bytes;
+	prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+	xTaskResumeAll();
+}
+/*-----------------------------------------------------------*/
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
index c16bd7af9..f818fff42 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
@@ -3,7 +3,8 @@ PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   xPortPendSVHandler = 0 ) ;
 PROVIDE (   xPortSysTickHandler = 0 ) ;
 
-_estack = 0x20004FF0;
+/* This is the size of the stack for early init and for all FreeRTOS IRQs */
+_irq_stack_size = 0x400;
 
 /* Section Definitions */
 SECTIONS
@@ -59,6 +60,24 @@ SECTIONS
         _ebss = . ;
     } > SRAM
 
+    /* 
+     * This stack is used both as the initial sp during early init as well as ultimately
+     * being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
+     * is used for _all_ interrupt handlers.  The end of this stack should be placed
+     * against the lowest address in RAM so that a stack overrun results in a hard fault
+     * at the first access beyond the end of the stack.
+     */
+    .irq_stack :
+    {
+         . = ALIGN(4);
+         _irq_stack_end = . ;
+         . = . + _irq_stack_size ;
+         . = ALIGN(4);
+         _irq_stack_top = . - 4 ;
+         _init_stack_top = _irq_stack_top;
+         . = ALIGN(4);
+    } > SRAM
+    
     . = ALIGN(4);
     _end = . ;
 
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
index e1cb0bd0f..d2c4abb17 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
@@ -1,3 +1,8 @@
+/* This is the size of the stack for all FreeRTOS IRQs */
+_irq_stack_size = 0x180;
+/* This is the size of the stack for early init: life span is until scheduler starts */
+_init_stack_size = 0x100;
+
 /* Stub out these functions since we don't use them anyway */
 PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   xPortPendSVHandler = 0 ) ;
@@ -5,8 +10,6 @@ PROVIDE (   xPortSysTickHandler = 0 ) ;
 
 PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
 
-_estack = 0x20004FF0;
-
 /* Section Definitions */
 SECTIONS
 {
@@ -29,6 +32,16 @@ SECTIONS
 	__uavobj_initcall_end   = .;
     } >FLASH
 
+    /* module sections */
+    .initcallmodule.init :
+    {
+        . = ALIGN(4);
+	__module_initcall_start = .;
+        KEEP(*(.initcallmodule.init))
+	. = ALIGN(4);
+	__module_initcall_end   = .;
+    } >FLASH
+
     .ARM.extab :
     {
         *(.ARM.extab* .gnu.linkonce.armextab.*)
@@ -43,6 +56,23 @@ SECTIONS
     _etext = .;
     _sidata = .;
 
+    /*
+     * This stack is used both as the initial sp during early init as well as ultimately
+     * being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
+     * is used for _all_ interrupt handlers.  The end of this stack should be placed
+     * against the lowest address in RAM so that a stack overrun results in a hard fault
+     * at the first access beyond the end of the stack.
+     */
+    .irq_stack :
+    {
+         . = ALIGN(4);
+         _irq_stack_end = . ;
+         . = . + _irq_stack_size ;
+         . = ALIGN(4);
+         _irq_stack_top = . - 4 ;
+         . = ALIGN(4);
+    } > SRAM
+
     .data : AT (_etext)
     {
         _sdata = .;
@@ -51,18 +81,49 @@ SECTIONS
         _edata = . ;
     } > SRAM
 
+
+
     /* .bss section which is used for uninitialized data */
     .bss (NOLOAD) :
     {
         _sbss = . ;
         *(.bss .bss.*)
         *(COMMON)
-        . = ALIGN(4);
-        _ebss = . ;
     } > SRAM
 
-    . = ALIGN(4);
-    _end = . ;
+    .heap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sheap = . ;
+        _sheap_pre_rtos = . ;
+        *(.heap)
+        . = ALIGN(4);
+        _eheap = . ;
+        _eheap_pre_rtos = . ;
+        _init_stack_end = . ;
+        _sheap_post_rtos = . ;
+        . = . + _init_stack_size ;
+        . = ALIGN(4);
+        _eheap_post_rtos = . ;
+        _init_stack_top = . - 4 ;
+    } > SRAM
+
+    
+    _free_ram = . ;
+    .free_ram (NOLOAD) :
+    {
+	. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
+        /* This is used by the startup in order to initialize the .bss section */
+	_ebss = . ;
+	_eram = . ;
+    } > SRAM
+
+    /* keep the heap section at the end of the SRAM
+     * this will allow to claim the remaining bytes not used
+     * at run time! (done by the reset vector).
+     */
+
+    PROVIDE ( _end = _ebss ) ;
 
     /* Stabs debugging sections.  */
     .stab          0 : { *(.stab) }
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
index 31e35b305..ef25c9344 100644
--- a/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
@@ -250,6 +250,7 @@ SECTIONS
          . = . + _irq_stack_size ;
          . = ALIGN(4);
          _irq_stack_top = . - 4 ;
+         _init_stack_top = _irq_stack_top;
          . = ALIGN(4);
     } >RAM
 	
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
index fa01b6c41..7716ccbf2 100644
--- a/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
@@ -223,6 +223,7 @@ SECTIONS
          . = . + _irq_stack_size ;
          . = ALIGN(4);
          _irq_stack_top = . - 4 ;
+         _init_stack_top = _irq_stack_top;
          . = ALIGN(4);
     } >RAM
 	
@@ -364,5 +365,3 @@ SECTIONS
     .debug_typenames 0 : { *(.debug_typenames) }
     .debug_varnames  0 : { *(.debug_varnames) }
 }
-
-
diff --git a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
index 94aafbd78..87a65d7c1 100644
--- a/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
@@ -1,5 +1,7 @@
 /* This is the size of the stack for early init and for all FreeRTOS IRQs */
 _irq_stack_size = 0x400;
+/* This is the size of the stack for early init: life span is until scheduler starts */
+_init_stack_size = 0x400;
 
 /* Check valid alignment for VTOR */
 ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@@ -191,6 +193,16 @@ SECTIONS
 	__uavobj_initcall_end   = .;
     } >FLASH
 
+    /* module sections */
+    .initcallmodule.init :
+    {
+        . = ALIGN(4);
+	__module_initcall_start = .;
+        KEEP(*(.initcallmodule.init))
+	. = ALIGN(4);
+	__module_initcall_end   = .;
+    } >FLASH
+
     /* the program code is stored in the .text section, which goes to Flash */
     .text :
     {
@@ -250,17 +262,44 @@ SECTIONS
     .bss :
     {
             . = ALIGN(4);
-        /* This is used by the startup in order to initialize the .bss secion */
+        /* This is used by the startup in order to initialize the .bss section */
         _sbss = .;
         
         *(.bss)
         *(COMMON)
-        
-            . = ALIGN(4);
-            /* This is used by the startup in order to initialize the .bss secion */
-         _ebss = . ;
     } >RAM
     
+    .heap (NOLOAD) :
+    {
+        . = ALIGN(4);
+        _sheap = . ;
+        _sheap_pre_rtos = . ;
+        *(.heap)
+        . = ALIGN(4);
+        _eheap = . ;
+        _eheap_pre_rtos = . ;
+        _init_stack_end = . ; 
+        _sheap_post_rtos = . ;
+        . = . + _init_stack_size ;
+        . = ALIGN(4);
+        _eheap_post_rtos = . ;
+        _init_stack_top = . - 4 ;
+    } > RAM
+
+    _free_ram = . ;
+    .free_ram (NOLOAD) :
+    {
+	. = ORIGIN(RAM) + LENGTH(RAM) - _free_ram ;
+        /* This is used by the startup in order to initialize the .bss section */
+	_ebss = . ;
+	_eram = . ;
+    } > RAM
+
+    /* keep the heap section at the end of the SRAM
+     * this will allow to claim the remaining bytes not used
+     * at run time! (done by the reset vector).
+     */
+
     PROVIDE ( end = _ebss );
     PROVIDE ( _end = _ebss );
 
diff --git a/flight/PiOS/STM32F10x/pios_delay.c b/flight/PiOS/STM32F10x/pios_delay.c
index 56c556555..c4e74717b 100644
--- a/flight/PiOS/STM32F10x/pios_delay.c
+++ b/flight/PiOS/STM32F10x/pios_delay.c
@@ -7,10 +7,10 @@
  * @{
  *
  * @file       pios_delay.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
+ * @author     Michael Smith Copyright (C) 2011
  * @brief      Delay Functions 
- *                 - Provides a micro-second granular delay using a TIM 
+ *                 - Provides a micro-second granular delay using the CPU
+ *                   cycle counter.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -31,72 +31,97 @@
  */
 
 /* Project Includes */
-#include "pios.h"
+#include <pios.h>
 
 #if defined(PIOS_INCLUDE_DELAY)
 
+/* these should be defined by CMSIS, but they aren't */
+#define DWT_CTRL	(*(volatile uint32_t *)0xe0001000)
+#define CYCCNTENA	(1<<0)
+#define DWT_CYCCNT	(*(volatile uint32_t *)0xe0001004)
+
+
+/* cycles per microsecond */
+static uint32_t us_ticks;
+
 /**
-* Initialises the Timer used by PIOS_DELAY functions<BR>
-* This is called from pios.c as part of the main() function
-* at system start up.
-* \return < 0 if initialisation failed
-*/
+ * Initialises the Timer used by PIOS_DELAY functions.
+ *
+ * \return always zero (success)
+ */
 
 int32_t PIOS_DELAY_Init(void)
 {
-	/* Enable timer clock */
-	PIOS_DELAY_TIMER_RCC_FUNC;
+	RCC_ClocksTypeDef	clocks;
 
-	/* Time base configuration */
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-	TIM_TimeBaseStructure.TIM_Period = 65535;	// maximum value
-	TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;	// for 1 uS accuracy fixed to 72Mhz
-	TIM_TimeBaseStructure.TIM_ClockDivision = 0;
-	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-	TIM_TimeBaseInit(PIOS_DELAY_TIMER, &TIM_TimeBaseStructure);
+	/* compute the number of system clocks per microsecond */
+	RCC_GetClocksFreq(&clocks);
+	us_ticks = clocks.SYSCLK_Frequency / 1000000;
+	PIOS_DEBUG_Assert(us_ticks > 1);
 
-	/* Enable counter */
-	TIM_Cmd(PIOS_DELAY_TIMER, ENABLE);
+	/* turn on access to the DWT registers */
+	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+
+	/* enable the CPU cycle counter */
+	DWT_CTRL |= CYCCNTENA;
+
+	return 0;
+}
+
+/**
+ * Waits for a specific number of uS
+ *
+ * Example:<BR>
+ * \code
+ *   // Wait for 500 uS
+ *   PIOS_DELAY_Wait_uS(500);
+ * \endcode
+ * \param[in] uS delay
+ * \return < 0 on errors
+ */
+int32_t PIOS_DELAY_WaituS(uint32_t uS)
+{
+	uint32_t	elapsed = 0;
+	uint32_t	last_count = DWT_CYCCNT;
+	
+	for (;;) {
+		uint32_t current_count = DWT_CYCCNT;
+		uint32_t elapsed_uS;
+
+		/* measure the time elapsed since the last time we checked */
+		elapsed += current_count - last_count;
+		last_count = current_count;
+
+		/* convert to microseconds */
+		elapsed_uS = elapsed / us_ticks;
+		if (elapsed_uS >= uS)
+			break;
+
+		/* reduce the delay by the elapsed time */
+		uS -= elapsed_uS;
+
+		/* keep fractional microseconds for the next iteration */
+		elapsed %= us_ticks;
+	}
 
 	/* No error */
 	return 0;
 }
 
 /**
-* Waits for a specific number of uS<BR>
-* Example:<BR>
-* \code
-*   // Wait for 500 uS
-*   PIOS_DELAY_Wait_uS(500);
-* \endcode
-* \param[in] uS delay (1..65535 microseconds)
-* \return < 0 on errors
-*/
-int32_t PIOS_DELAY_WaituS(uint16_t uS)
+ * Waits for a specific number of mS
+ *
+ * Example:<BR>
+ * \code
+ *   // Wait for 500 mS
+ *   PIOS_DELAY_Wait_mS(500);
+ * \endcode
+ * \param[in] mS delay
+ * \return < 0 on errors
+ */
+int32_t PIOS_DELAY_WaitmS(uint32_t mS)
 {
-	uint16_t start = PIOS_DELAY_TIMER->CNT;
-
-	/* Note that this event works on 16bit counter wrap-arounds */
-	while ((uint16_t) (PIOS_DELAY_TIMER->CNT - start) <= uS) ;
-
-	/* No error */
-	return 0;
-}
-
-/**
-* Waits for a specific number of mS<BR>
-* Example:<BR>
-* \code
-*   // Wait for 500 mS
-*   PIOS_DELAY_Wait_mS(500);
-* \endcode
-* \param[in] mS delay (1..65535 milliseconds)
-* \return < 0 on errors
-*/
-int32_t PIOS_DELAY_WaitmS(uint16_t mS)
-{
-	for (int i = 0; i < mS; i++) {
+	while (mS--) {
 		PIOS_DELAY_WaituS(1000);
 	}
 
@@ -108,22 +133,19 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
  * @brief Query the Delay timer for the current uS 
  * @return A microsecond value
  */
-uint16_t PIOS_DELAY_GetuS()
+uint32_t PIOS_DELAY_GetuS(void)
 {
-	return PIOS_DELAY_TIMER->CNT;
+	return DWT_CYCCNT / us_ticks;
 }
 
 /**
- * @brief Compute the difference between now and a reference time
- * @param[in] the reference time to compare now to
- * @return The number of uS since the delay
- * 
- * @note the user is responsible for worrying about rollover on the 16 bit uS counter
+ * @brief Calculate time in microseconds since a previous time
+ * @param[in] t previous time
+ * @return time in us since previous time t.
  */
-int32_t PIOS_DELAY_DiffuS(uint16_t ref)
+uint32_t PIOS_DELAY_GetuSSince(uint32_t t)
 {
-	int32_t ret_t = ref;
-	return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
+	return (PIOS_DELAY_GetuS() - t);
 }
 
 #endif
diff --git a/flight/PiOS/STM32F10x/pios_ppm.c b/flight/PiOS/STM32F10x/pios_ppm.c
index 885b3e27d..fe7421a17 100644
--- a/flight/PiOS/STM32F10x/pios_ppm.c
+++ b/flight/PiOS/STM32F10x/pios_ppm.c
@@ -34,34 +34,59 @@
 
 #if defined(PIOS_INCLUDE_PPM)
 
-/* Local Variables */
+/* Provide a RCVR driver */
+static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
 
+const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
+	.read = PIOS_PPM_Get,
+};
+
+#define PIOS_PPM_IN_MIN_NUM_CHANNELS		4
+#define PIOS_PPM_IN_MAX_NUM_CHANNELS		PIOS_PPM_NUM_INPUTS
+#define PIOS_PPM_STABLE_CHANNEL_COUNT		25	// frames
+#define PIOS_PPM_IN_MIN_SYNC_PULSE_US		3800	// microseconds
+#define PIOS_PPM_IN_MIN_CHANNEL_PULSE_US	750	// microseconds
+#define PIOS_PPM_IN_MAX_CHANNEL_PULSE_US	2250   // microseconds
+#define PIOS_PPM_INPUT_INVALID			0
+
+/* Local Variables */
 static TIM_ICInitTypeDef TIM_ICInitStructure;
 static uint8_t PulseIndex;
-static uint32_t PreviousValue;
-static uint32_t CurrentValue;
-static uint32_t CapturedValue;
-static uint32_t CaptureValue[PIOS_PPM_NUM_INPUTS];
+static uint32_t PreviousTime;
+static uint32_t CurrentTime;
+static uint32_t DeltaTime;
+static uint32_t CaptureValue[PIOS_PPM_IN_MAX_NUM_CHANNELS];
+static uint32_t CaptureValueNewFrame[PIOS_PPM_IN_MAX_NUM_CHANNELS];
+static uint32_t LargeCounter;
+static int8_t NumChannels;
+static int8_t NumChannelsPrevFrame;
+static uint8_t NumChannelCounter;
 
-static uint8_t SupervisorState = 0;
-static uint32_t CapCounter[PIOS_PPM_NUM_INPUTS];
-static uint32_t CapCounterPrev[PIOS_PPM_NUM_INPUTS];
+static uint8_t supv_timer = 0;
+static bool Tracking;
+static bool Fresh;
+
+static void PIOS_PPM_Supervisor(uint32_t ppm_id);
 
-/**
-* Initialises all the LED's
-*/
 void PIOS_PPM_Init(void)
 {
 	/* Flush counter variables */
 	int32_t i;
 
 	PulseIndex = 0;
-	PreviousValue = 0;
-	CurrentValue = 0;
-	CapturedValue = 0;
+	PreviousTime = 0;
+	CurrentTime = 0;
+	DeltaTime = 0;
+	LargeCounter = 0;
+	NumChannels = -1;
+	NumChannelsPrevFrame = -1;
+	NumChannelCounter = 0;
+	Tracking = FALSE;
+	Fresh = FALSE;
 
-	for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
+	for (i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
 		CaptureValue[i] = 0;
+		CaptureValueNewFrame[i] = 0;
 	}
 
 	NVIC_InitTypeDef NVIC_InitStructure = pios_ppm_cfg.irq.init;
@@ -85,7 +110,6 @@ void PIOS_PPM_Init(void)
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
 			break;
 #ifdef STM32F10X_HD
-
 		case (int32_t)TIM5:
 			NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
 			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
@@ -121,85 +145,20 @@ void PIOS_PPM_Init(void)
 	TIM_TimeBaseInit(pios_ppm_cfg.timer, &TIM_TimeBaseStructure);
 
 	/* Enable the Capture Compare Interrupt Request */
-	TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr, ENABLE);
+	TIM_ITConfig(pios_ppm_cfg.timer, pios_ppm_cfg.ccr | TIM_IT_Update, ENABLE);
 
 	/* Enable timers */
 	TIM_Cmd(pios_ppm_cfg.timer, ENABLE);
 
-	/* Supervisor Setup */
-#if (PIOS_PPM_SUPV_ENABLED)
-	/* Flush counter variables */
-	for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
-		CapCounter[i] = 0;
-	}
-	for (i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
-		CapCounterPrev[i] = 0;
-	}
-
-	NVIC_InitStructure = pios_ppmsv_cfg.irq.init;
-
-	/* Enable appropriate clock to timer module */
-	switch((int32_t) pios_ppmsv_cfg.timer) {
-		case (int32_t)TIM1:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
-			break;
-		case (int32_t)TIM2:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
-			break;
-		case (int32_t)TIM3:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
-			break;
-		case (int32_t)TIM4:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
-			break;
-#ifdef STM32F10X_HD
-
-		case (int32_t)TIM5:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
-			break;
-		case (int32_t)TIM6:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
-			break;
-		case (int32_t)TIM7:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
-			break;
-		case (int32_t)TIM8:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
-			break;
-#endif
-	}
-
-	/* Configure interrupts */
-	NVIC_Init(&NVIC_InitStructure);
-
-	/* Time base configuration */
-	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-	TIM_TimeBaseStructure = pios_ppmsv_cfg.tim_base_init;
-	TIM_TimeBaseInit(pios_ppmsv_cfg.timer, &TIM_TimeBaseStructure);
-
-	/* Enable the CCx Interrupt Request */
-	TIM_ITConfig(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr, ENABLE);
-
-	/* Clear update pending flag */
-	TIM_ClearFlag(pios_ppmsv_cfg.timer, TIM_FLAG_Update);
-
-	/* Enable counter */
-	TIM_Cmd(pios_ppmsv_cfg.timer, ENABLE);
-#endif
-
 	/* Setup local variable which stays in this scope */
 	/* Doing this here and using a local variable saves doing it in the ISR */
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
 	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
 	TIM_ICInitStructure.TIM_ICFilter = 0x0;
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, 0)) {
+		PIOS_DEBUG_Assert(0);
+	}
 }
 
 /**
@@ -208,13 +167,13 @@ void PIOS_PPM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int32_t PIOS_PPM_Get(int8_t Channel)
+static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (Channel >= PIOS_PPM_NUM_INPUTS) {
+	if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[channel];
 }
 
 /**
@@ -224,75 +183,128 @@ int32_t PIOS_PPM_Get(int8_t Channel)
 */
 void PIOS_PPM_irq_handler(void)
 {
-	/* Do this as it's more efficient */
+	/* Timer Overflow Interrupt
+	 * The time between timer overflows must be greater than the PPM
+	 * frame period. If a full frame has not decoded in the between timer
+	 * overflows then capture values should be cleared.
+	 */
+
+	if (TIM_GetITStatus(pios_ppm_cfg.timer, TIM_IT_Update) == SET) {
+		/* Clear TIMx overflow interrupt pending bit */
+		TIM_ClearITPendingBit(pios_ppm_cfg.timer, TIM_IT_Update);
+
+		/* If sharing a timer with a servo output the ARR register will
+		   be set according to the PWM period. When timer reaches the
+		   ARR value a timer overflow interrupt will fire. We use the
+		   interrupt accumulate a 32-bit timer. */
+		LargeCounter = LargeCounter + pios_ppm_cfg.timer->ARR;
+	}
+
+	/* Signal edge interrupt */
 	if (TIM_GetITStatus(pios_ppm_cfg.timer, pios_ppm_cfg.ccr) == SET) {
-		PreviousValue = CurrentValue;
+		PreviousTime = CurrentTime;
+
 		switch((int32_t) pios_ppm_cfg.ccr) {
 			case (int32_t)TIM_IT_CC1:
-				CurrentValue = TIM_GetCapture1(pios_ppm_cfg.timer);
+				CurrentTime = TIM_GetCapture1(pios_ppm_cfg.timer);
 				break;
 			case (int32_t)TIM_IT_CC2:
-				CurrentValue = TIM_GetCapture2(pios_ppm_cfg.timer);
+				CurrentTime = TIM_GetCapture2(pios_ppm_cfg.timer);
 				break;
 			case (int32_t)TIM_IT_CC3:
-				CurrentValue = TIM_GetCapture3(pios_ppm_cfg.timer);
+				CurrentTime = TIM_GetCapture3(pios_ppm_cfg.timer);
 				break;
 			case (int32_t)TIM_IT_CC4:
-				CurrentValue = TIM_GetCapture4(pios_ppm_cfg.timer);
+				CurrentTime = TIM_GetCapture4(pios_ppm_cfg.timer);
 				break;
 		}
-	}
 
-	/* Clear TIMx Capture compare interrupt pending bit */
-	TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
+		/* Clear TIMx Capture compare interrupt pending bit */
+		TIM_ClearITPendingBit(pios_ppm_cfg.timer, pios_ppm_cfg.ccr);
 
-	/* Capture computation */
-	if (CurrentValue > PreviousValue) {
-		CapturedValue = (CurrentValue - PreviousValue);
-	} else {
-		CapturedValue = ((0xFFFF - PreviousValue) + CurrentValue);
-	}
+		/* Convert to 32-bit timer result */
+		CurrentTime = CurrentTime + LargeCounter;
 
-	/* sync pulse */
-	if (CapturedValue > 8000) {
-		PulseIndex = 0;
-		/* trying to detect bad pulses, not sure this is working correctly yet. I need a scope :P */
-	} else if (CapturedValue > 750 && CapturedValue < 2500) {
-		if (PulseIndex < PIOS_PPM_NUM_INPUTS) {
-			CaptureValue[PulseIndex] = CapturedValue;
-			CapCounter[PulseIndex]++;
-			PulseIndex++;
+		/* Capture computation */		
+		DeltaTime = CurrentTime - PreviousTime;
+
+		PreviousTime = CurrentTime;
+
+		/* Sync pulse detection */
+		if (DeltaTime > PIOS_PPM_IN_MIN_SYNC_PULSE_US) {
+			if (PulseIndex == NumChannelsPrevFrame
+			 && PulseIndex >= PIOS_PPM_IN_MIN_NUM_CHANNELS
+			 && PulseIndex <= PIOS_PPM_IN_MAX_NUM_CHANNELS)
+			{
+				/* If we see n simultaneous frames of the same
+				 number of channels we save it as our frame size */
+				if (NumChannelCounter < PIOS_PPM_STABLE_CHANNEL_COUNT)
+					NumChannelCounter++;
+				else
+					NumChannels = PulseIndex;
+			} else {
+				NumChannelCounter = 0;
+			}
+
+			/* Check if the last frame was well formed */
+			if (PulseIndex == NumChannels && Tracking) {
+				/* The last frame was well formed */
+				for (uint32_t i = 0; i < NumChannels; i++) {
+					CaptureValue[i] = CaptureValueNewFrame[i];
+				}
+				for (uint32_t i = NumChannels;
+				     i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
+					CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
+				}
+			}
+
+			Fresh = TRUE;
+			Tracking = TRUE;
+			NumChannelsPrevFrame = PulseIndex;
+			PulseIndex = 0;
+
+			/* We rely on the supervisor to set CaptureValue to invalid
+			 if no valid frame is found otherwise we ride over it */
+
+		} else if (Tracking) {
+			/* Valid pulse duration 0.75 to 2.5 ms*/
+			if (DeltaTime > PIOS_PPM_IN_MIN_CHANNEL_PULSE_US
+			    && DeltaTime < PIOS_PPM_IN_MAX_CHANNEL_PULSE_US
+			    && PulseIndex < PIOS_PPM_IN_MAX_NUM_CHANNELS) {
+
+				CaptureValueNewFrame[PulseIndex] = DeltaTime;
+				PulseIndex++;
+			} else {
+				/* Not a valid pulse duration */
+				Tracking = FALSE;
+				for (uint32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
+					CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
+				}
+			}
 		}
 	}
 }
 
-/**
-* This function handles TIM3 global interrupt request.
-*/
-void PIOS_PPMSV_irq_handler(void) {
-	/* Clear timer interrupt pending bit */
-	TIM_ClearITPendingBit(pios_ppmsv_cfg.timer, pios_ppmsv_cfg.ccr);
-
-	/* Simple state machine */
-	if (SupervisorState == 0) {
-		/* Save this states values */
-		for (int32_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
-			CapCounterPrev[i] = CapCounter[i];
-		}
-
-		/* Move to next state */
-		SupervisorState = 1;
-	} else {
-		/* See what channels have been updated */
-		for (int32_t i = 0; i < PIOS_PPM_NUM_INPUTS; i++) {
-			if (CapCounter[i] == CapCounterPrev[i]) {
-				CaptureValue[i] = 0;
-			}
-		}
-
-		/* Move to next state */
-		SupervisorState = 0;
+static void PIOS_PPM_Supervisor(uint32_t ppm_id) {
+	/* 
+	 * RTC runs at 625Hz so divide down the base rate so
+	 * that this loop runs at 25Hz.
+	 */
+	if(++supv_timer < 25) {
+		return;
 	}
+	supv_timer = 0;
+
+	if (!Fresh) {
+		Tracking = FALSE;
+
+		for (int32_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS ; i++) {
+			CaptureValue[i] = PIOS_PPM_INPUT_INVALID;
+			CaptureValueNewFrame[i] = PIOS_PPM_INPUT_INVALID;
+		}
+	}
+
+	Fresh = FALSE;
 }
 
 #endif
diff --git a/flight/PiOS/STM32F10x/pios_pwm.c b/flight/PiOS/STM32F10x/pios_pwm.c
index c524b3d9f..433c272bb 100644
--- a/flight/PiOS/STM32F10x/pios_pwm.c
+++ b/flight/PiOS/STM32F10x/pios_pwm.c
@@ -34,15 +34,20 @@
 
 #if defined(PIOS_INCLUDE_PWM)
 
-/* Local Variables */
-static uint8_t CaptureState[PIOS_PWM_MAX_INPUTS];
-static uint16_t RiseValue[PIOS_PWM_MAX_INPUTS];
-static uint16_t FallValue[PIOS_PWM_MAX_INPUTS];
-static uint32_t CaptureValue[PIOS_PWM_MAX_INPUTS];
+/* Provide a RCVR driver */
+static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel);
 
-//static uint8_t SupervisorState = 0;
-static uint32_t CapCounter[PIOS_PWM_MAX_INPUTS];
-//static uint32_t CapCounterPrev[MAX_CHANNELS];
+const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
+	.read = PIOS_PWM_Get,
+};
+
+/* Local Variables */
+static uint8_t CaptureState[PIOS_PWM_NUM_INPUTS];
+static uint16_t RiseValue[PIOS_PWM_NUM_INPUTS];
+static uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
+static uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
+
+static uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
 
 /**
 * Initialises all the pins
@@ -127,52 +132,6 @@ void PIOS_PWM_Init(void)
 		/* Warning, I don't think this will work for multiple remaps at once */
 		GPIO_PinRemapConfig(pios_pwm_cfg.remap, ENABLE);
 	}
-
-#if 0	
-	/* Supervisor Setup */
-#if (PIOS_PWM_SUPV_ENABLED)
-	/* Flush counter variables */
-	for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-		CapCounter[i] = 0;
-	}
-	for (i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-		CapCounterPrev[i] = 0;
-	}
-
-	/* Enable timer clock */
-	PIOS_PWM_SUPV_TIMER_RCC_FUNC;
-
-	/* Configure interrupts */
-	NVIC_InitStructure.NVIC_IRQChannel = PIOS_PWM_SUPV_IRQ_CHANNEL;
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
-
-	/* Time base configuration */
-	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-	TIM_TimeBaseStructure.TIM_Period = ((1000000 / PIOS_PWM_SUPV_HZ) - 1);
-	TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;	/* For 1 uS accuracy */
-	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
-	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-	TIM_TimeBaseInit(PIOS_PWM_SUPV_TIMER, &TIM_TimeBaseStructure);
-
-	/* Enable the CC2 Interrupt Request */
-	TIM_ITConfig(PIOS_PWM_SUPV_TIMER, TIM_IT_Update, ENABLE);
-
-	/* Clear update pending flag */
-	TIM_ClearFlag(TIM2, TIM_FLAG_Update);
-
-	/* Enable counter */
-	TIM_Cmd(PIOS_PWM_SUPV_TIMER, ENABLE);
-#endif
-
-	/* Setup local variable which stays in this scope */
-	/* Doing this here and using a local variable saves doing it in the ISR */
-	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
-	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
-	TIM_ICInitStructure.TIM_ICFilter = 0x0;
-#endif
 }
 
 /**
@@ -181,13 +140,13 @@ void PIOS_PWM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int32_t PIOS_PWM_Get(int8_t Channel)
+static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (Channel >= pios_pwm_cfg.num_channels) {
+	if (channel >= pios_pwm_cfg.num_channels) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[channel];
 }
 
 void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
@@ -254,84 +213,6 @@ void PIOS_PWM_irq_handler(TIM_TypeDef * timer)
 	}
 }
 
-#if 0
-/**
-* Handle TIM5 global interrupt request
-*/
-void TIM5_IRQHandler(void)
-{
-	/* Do this as it's more efficient */
-	if (TIM_GetITStatus(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]) == SET) {
-		if (CaptureState[2] == 0) {
-			RiseValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
-		} else {
-			FallValue[2] = TIM_GetCapture1(PIOS_PWM_TIM_PORT[2]);
-		}
-
-		/* Clear TIM3 Capture compare interrupt pending bit */
-		TIM_ClearITPendingBit(PIOS_PWM_TIM_PORT[2], PIOS_PWM_TIM_CCR[2]);
-
-		/* Simple rise or fall state machine */
-		if (CaptureState[2] == 0) {
-			/* Switch states */
-			CaptureState[2] = 1;
-
-			/* Switch polarity of input capture */
-			TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
-			TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
-			TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
-
-		} else {
-			/* Capture computation */
-			if (FallValue[2] > RiseValue[2]) {
-				CaptureValue[2] = (FallValue[2] - RiseValue[2]);
-			} else {
-				CaptureValue[2] = ((0xFFFF - RiseValue[2]) + FallValue[2]);
-			}
-
-			/* Switch states */
-			CaptureState[2] = 0;
-
-			/* Increase supervisor counter */
-			CapCounter[2]++;
-
-			/* Switch polarity of input capture */
-			TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
-			TIM_ICInitStructure.TIM_Channel = PIOS_PWM_TIM_CHANNEL[2];
-			TIM_ICInit(PIOS_PWM_TIM_PORT[2], &TIM_ICInitStructure);
-		}
-	}
-}
-
-/**
-* This function handles TIM3 global interrupt request.
-*/
-PIOS_PWM_SUPV_IRQ_FUNC {
-	/* Clear timer interrupt pending bit */
-	TIM_ClearITPendingBit(PIOS_PWM_SUPV_TIMER, TIM_IT_Update);
-
-	/* Simple state machine */
-	if (SupervisorState == 0) {
-		/* Save this states values */
-		for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-			CapCounterPrev[i] = CapCounter[i];
-		}
-
-		/* Move to next state */
-		SupervisorState = 1;
-	} else {
-		/* See what channels have been updated */
-		for (int32_t i = 0; i < PIOS_PWM_NUM_INPUTS; i++) {
-			if (CapCounter[i] == CapCounterPrev[i]) {
-				CaptureValue[i] = 0;
-			}
-		}
-
-		/* Move to next state */
-		SupervisorState = 0;
-	}
-}
-#endif
 #endif
 
 /** 
diff --git a/flight/PiOS/STM32F10x/pios_rtc.c b/flight/PiOS/STM32F10x/pios_rtc.c
index 98d3160c1..b80a9e0d1 100644
--- a/flight/PiOS/STM32F10x/pios_rtc.c
+++ b/flight/PiOS/STM32F10x/pios_rtc.c
@@ -32,30 +32,39 @@
 #include "pios.h"
 
 #if defined(PIOS_INCLUDE_RTC)
+#include <pios_rtc_priv.h>
 
-#ifndef PIOS_RTC_PRESCALAR
-#define PIOS_RTC_PRESCALAR 100
+#ifndef PIOS_RTC_PRESCALER
+#define PIOS_RTC_PRESCALER 100
 #endif
 
-void PIOS_RTC_Init()
+struct rtc_callback_entry {
+  void (*fn)(uint32_t);
+  uint32_t data;
+};
+
+#define PIOS_RTC_MAX_CALLBACKS 3
+struct rtc_callback_entry rtc_callback_list[PIOS_RTC_MAX_CALLBACKS];
+static uint8_t rtc_callback_next = 0;
+
+void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg)
 {
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
 			       ENABLE);
 	PWR_BackupAccessCmd(ENABLE);
 	
-	RCC_RTCCLKConfig(RCC_RTCCLKSource_HSE_Div128);
+	RCC_RTCCLKConfig(cfg->clksrc);
 	RCC_RTCCLKCmd(ENABLE);
 	RTC_WaitForLastTask();
 	RTC_WaitForSynchro();
 	RTC_WaitForLastTask();
 
-#if defined(PIOS_INCLUDE_SPEKTRUM)
-	/* Enable the RTC Second interrupt */
+	/* Configure and enable the RTC Second interrupt */
+	NVIC_Init(&cfg->irq.init);
 	RTC_ITConfig( RTC_IT_SEC, ENABLE );
-	/* Wait until last write operation on RTC registers has finished */
 	RTC_WaitForLastTask();
-#endif
-	RTC_SetPrescaler(PIOS_RTC_PRESCALAR);	// counting at 8e6 / 128
+
+	RTC_SetPrescaler(cfg->prescaler);
 	RTC_WaitForLastTask();
 	RTC_SetCounter(0);
 	RTC_WaitForLastTask();
@@ -66,9 +75,12 @@ uint32_t PIOS_RTC_Counter()
 	return RTC_GetCounter();
 }
 
+/* FIXME: This shouldn't use hard-coded clock rates, dividers or prescalers.
+ *        Should get these from the cfg struct passed to init.
+ */
 float PIOS_RTC_Rate()
 {
-	return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALAR);
+	return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALER);
 }
 
 float PIOS_RTC_MsPerTick() 
@@ -76,6 +88,39 @@ float PIOS_RTC_MsPerTick()
 	return 1000.0f / PIOS_RTC_Rate();
 }
 
+/* TODO: This needs a mutex around rtc_callbacks[] */
+bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data)
+{
+	struct rtc_callback_entry * cb;
+	if (rtc_callback_next >= PIOS_RTC_MAX_CALLBACKS) {
+		return false;
+	}
+
+	cb = &rtc_callback_list[rtc_callback_next++];
+
+	cb->fn   = fn;
+	cb->data = data;
+	return true;
+}
+
+void PIOS_RTC_irq_handler (void)
+{
+	if (RTC_GetITStatus(RTC_IT_SEC))
+	{
+		/* Call all registered callbacks */
+		for (uint8_t i = 0; i < rtc_callback_next; i++) {
+			struct rtc_callback_entry * cb = &rtc_callback_list[i];
+			if (cb->fn) {
+				(cb->fn)(cb->data);
+			}
+		}
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
+}
 #endif
 
 /** 
diff --git a/flight/PiOS/STM32F10x/pios_sbus.c b/flight/PiOS/STM32F10x/pios_sbus.c
new file mode 100644
index 000000000..a80fe8fe3
--- /dev/null
+++ b/flight/PiOS/STM32F10x/pios_sbus.c
@@ -0,0 +1,223 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_SBUS Futaba S.Bus receiver functions
+ * @brief Code to read Futaba S.Bus input
+ * @{
+ *
+ * @file       pios_sbus.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+#include "pios_sbus_priv.h"
+
+#if defined(PIOS_INCLUDE_SBUS)
+
+/* Global Variables */
+
+/* Provide a RCVR driver */
+static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel);
+
+const struct pios_rcvr_driver pios_sbus_rcvr_driver = {
+	.read = PIOS_SBUS_Get,
+};
+
+/* Local Variables */
+static uint16_t channel_data[SBUS_NUMBER_OF_CHANNELS];
+static uint8_t received_data[SBUS_FRAME_LENGTH - 2];
+static uint8_t receive_timer;
+static uint8_t failsafe_timer;
+static uint8_t frame_found;
+
+static void PIOS_SBUS_Supervisor(uint32_t sbus_id);
+
+/**
+ * reset_channels() function clears all channel data in case of
+ * lost signal or explicit failsafe flag from the S.Bus data stream
+ */
+static void reset_channels(void)
+{
+	for (int i = 0; i < SBUS_NUMBER_OF_CHANNELS; i++) {
+		channel_data[i] = 0;
+	}
+}
+
+/**
+ * unroll_channels() function computes channel_data[] from received_data[]
+ * For efficiency it unrolls first 8 channels without loops. If other
+ * 8 channels are needed they can be unrolled using the same code
+ * starting from s[11] instead of s[0]. Two extra digital channels are
+ * accessible using (s[22] & SBUS_FLAG_DGx) logical expressions.
+ */
+static void unroll_channels(void)
+{
+	uint8_t *s = received_data;
+	uint16_t *d = channel_data;
+
+#if (SBUS_NUMBER_OF_CHANNELS != 8)
+#error Current S.Bus code unrolls only first 8 channels
+#endif
+
+#define F(v,s) ((v) >> s) & 0x7ff
+	*d++ = F(s[0] | s[1] << 8, 0);
+	*d++ = F(s[1] | s[2] << 8, 3);
+	*d++ = F(s[2] | s[3] << 8 | s[4] << 16, 6);
+	*d++ = F(s[4] | s[5] << 8, 1);
+	*d++ = F(s[5] | s[6] << 8, 4);
+	*d++ = F(s[6] | s[7] << 8 | s[8] << 16, 7);
+	*d++ = F(s[8] | s[9] << 8, 2);
+	*d++ = F(s[9] | s[10] << 8, 5);
+}
+
+/**
+ * process_byte() function processes incoming byte from S.Bus stream
+ */
+static void process_byte(uint8_t b)
+{
+	static uint8_t byte_count;
+
+	if (frame_found == 0) {
+		/* no frame found yet, waiting for start byte */
+		if (b == SBUS_SOF_BYTE) {
+			byte_count = 0;
+			frame_found = 1;
+		}
+	} else {
+		/* do not store start and end of frame bytes */
+		if (byte_count < SBUS_FRAME_LENGTH - 2) {
+			/* store next byte */
+			received_data[byte_count++] = b;
+		} else {
+			if (b == SBUS_EOF_BYTE) {
+				/* full frame received */
+				uint8_t flags = received_data[SBUS_FRAME_LENGTH - 3];
+				if (flags & SBUS_FLAG_FL) {
+					/* frame lost, do not update */
+				} else if (flags & SBUS_FLAG_FS) {
+					/* failsafe flag active */
+					reset_channels();
+				} else {
+					/* data looking good */
+					unroll_channels();
+					failsafe_timer = 0;
+				}
+			} else {
+				/* discard whole frame */
+			}
+
+			/* prepare for the next frame */
+			frame_found = 0;
+		}
+	}
+}
+
+static uint16_t PIOS_SBUS_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	/* process byte(s) and clear receive timer */
+	for (uint8_t i = 0; i < buf_len; i++) {
+		process_byte(buf[i]);
+		receive_timer = 0;
+	}
+
+	/* Always signal that we can accept another byte */
+	if (headroom) {
+		*headroom = SBUS_FRAME_LENGTH;
+	}
+
+	/* We never need a yield */
+	*need_yield = false;
+
+	/* Always indicate that all bytes were consumed */
+	return (buf_len);
+}
+
+/**
+ * Initialise S.Bus receiver interface
+ */
+int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id)
+{
+	/* Enable inverter clock and enable the inverter */
+	(*cfg->gpio_clk_func)(cfg->gpio_clk_periph, ENABLE);
+	GPIO_Init(cfg->inv.gpio, &cfg->inv.init);
+	GPIO_WriteBit(cfg->inv.gpio,
+		      cfg->inv.init.GPIO_Pin,
+		      cfg->gpio_inv_enable);
+
+	(driver->bind_rx_cb)(lower_id, PIOS_SBUS_RxInCallback, 0);
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_SBUS_Supervisor, 0)) {
+		PIOS_Assert(0);
+	}
+
+	return (0);
+}
+
+/**
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output -1 channel not available
+ * \output >0 channel value
+ */
+static int32_t PIOS_SBUS_Get(uint32_t rcvr_id, uint8_t channel)
+{
+	/* return error if channel is not available */
+	if (channel >= SBUS_NUMBER_OF_CHANNELS) {
+		return -1;
+	}
+	return channel_data[channel];
+}
+
+/**
+ * Input data supervisor is called periodically and provides
+ * two functions: frame syncing and failsafe triggering.
+ *
+ * S.Bus frames come at 7ms (HS) or 14ms (FS) rate at 100000bps. RTC
+ * timer is running at 625Hz (1.6ms). So with divider 2 it gives
+ * 3.2ms pause between frames which is good for both S.Bus data rates.
+ *
+ * Data receive function must clear the receive_timer to confirm new
+ * data reception. If no new data received in 100ms, we must call the
+ * failsafe function which clears all channels.
+ */
+static void PIOS_SBUS_Supervisor(uint32_t sbus_id)
+{
+	/* waiting for new frame if no bytes were received in 3.2ms */
+	if (++receive_timer > 2) {
+		receive_timer = 0;
+		frame_found = 0;
+	}
+
+	/* activate failsafe if no frames have arrived in 102.4ms */
+	if (++failsafe_timer > 64) {
+		reset_channels();
+		failsafe_timer = 0;
+	}
+}
+
+#endif
+
+/** 
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS/STM32F10x/pios_servo.c b/flight/PiOS/STM32F10x/pios_servo.c
index 28aa6dc13..229f371ce 100644
--- a/flight/PiOS/STM32F10x/pios_servo.c
+++ b/flight/PiOS/STM32F10x/pios_servo.c
@@ -6,25 +6,25 @@
  * @brief Code to do set RC servo output
  * @{
  *
- * @file       pios_servo.c  
+ * @file       pios_servo.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      RC Servo routines (STM32 dependent)
  * @see        The GNU Public License (GPL) Version 3
- * 
+ *
  *****************************************************************************/
-/* 
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
  * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
@@ -41,15 +41,15 @@ void PIOS_Servo_Init(void)
 {
 #ifndef PIOS_ENABLE_DEBUG_PINS
 #if defined(PIOS_INCLUDE_SERVO)
-	
-	
+
+
 	for (uint8_t i = 0; i < pios_servo_cfg.num_channels; i++) {
 		GPIO_InitTypeDef GPIO_InitStructure = pios_servo_cfg.gpio_init;
 		TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_servo_cfg.tim_base_init;
 		TIM_OCInitTypeDef TIM_OCInitStructure = pios_servo_cfg.tim_oc_init;
 
 		struct pios_servo_channel channel = pios_servo_cfg.channels[i];
-		
+
 		/* Enable appropriate clock to timer module */
 		switch((int32_t) channel.timer) {
 			case (int32_t)TIM1:
@@ -81,12 +81,12 @@ void PIOS_Servo_Init(void)
 		/* Enable GPIO */
 		GPIO_InitStructure.GPIO_Pin = channel.pin;
 		GPIO_Init(channel.port, &GPIO_InitStructure);
-		
+
 		/* Enable time base */
 		TIM_TimeBaseInit(channel.timer,  &TIM_TimeBaseStructure);
-		
+
 		channel.timer->PSC = (PIOS_MASTER_CLOCK / 1000000) - 1;
-				
+
 		/* Set up for output compare function */
 		switch(channel.channel) {
 			case TIM_Channel_1:
@@ -106,19 +106,19 @@ void PIOS_Servo_Init(void)
 				TIM_OC4PreloadConfig(channel.timer, TIM_OCPreload_Enable);
 				break;
 		}
-		
+
 		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
 		TIM_ARRPreloadConfig(channel.timer, ENABLE);
 		TIM_CtrlPWMOutputs(channel.timer, ENABLE);
-		TIM_Cmd(channel.timer, ENABLE);		
-		
-	}	
-	
+		TIM_Cmd(channel.timer, ENABLE);
+
+	}
+
 	if(pios_servo_cfg.remap) {
 		/* Warning, I don't think this will work for multiple remaps at once */
 		GPIO_PinRemapConfig(pios_servo_cfg.remap, ENABLE);
 	}
-	
+
 
 #endif // PIOS_INCLUDE_SERVO
 #endif // PIOS_ENABLE_DEBUG_PINS
@@ -137,19 +137,19 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
 	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
 	TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
-	
+
 	uint8_t set = 0;
-	
-	for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) {		
+
+	for(uint8_t i = 0; (i < pios_servo_cfg.num_channels) && (set < banks); i++) {
 		bool new = true;
 		struct pios_servo_channel channel = pios_servo_cfg.channels[i];
-		
+
 		/* See if any previous channels use that same timer */
-		for(uint8_t j = 0; (j < i) && new; j++) 
+		for(uint8_t j = 0; (j < i) && new; j++)
 			new &= channel.timer != pios_servo_cfg.channels[j].timer;
-		
+
 		if(new) {
-			TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);		
+			TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
 			TIM_TimeBaseInit(channel.timer,  &TIM_TimeBaseStructure);
 			set++;
 		}
@@ -161,7 +161,7 @@ void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
 /**
 * Set servo position
 * \param[in] Servo Servo number (0-7)
-* \param[in] Position Servo position in milliseconds
+* \param[in] Position Servo position in microseconds
 */
 void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
 {
@@ -184,7 +184,7 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
 			case TIM_Channel_4:
 				TIM_SetCompare4(pios_servo_cfg.channels[Servo].timer, Position);
 				break;
-		}	 	
+		}
 	}
 #endif // PIOS_INCLUDE_SERVO
 #endif // PIOS_ENABLE_DEBUG_PINS
diff --git a/flight/PiOS/STM32F10x/pios_spektrum.c b/flight/PiOS/STM32F10x/pios_spektrum.c
index 0eabe36a2..8b0f38c6b 100644
--- a/flight/PiOS/STM32F10x/pios_spektrum.c
+++ b/flight/PiOS/STM32F10x/pios_spektrum.c
@@ -34,12 +34,6 @@
 #include "pios_spektrum_priv.h"
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
-#if defined(PIOS_INCLUDE_PWM)
-#error "Both PWM and SPEKTRUM input defined, choose only one"
-#endif
-#if defined(PIOS_COM_AUX)
-#error "AUX com cannot be used with SPEKTRUM"
-#endif
 
 /**
  * @Note Framesyncing:
@@ -51,31 +45,60 @@
 
 /* Global Variables */
 
+/* Provide a RCVR driver */
+static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel);
+
+const struct pios_rcvr_driver pios_spektrum_rcvr_driver = {
+	.read = PIOS_SPEKTRUM_Get,
+};
+
 /* Local Variables */
-static uint16_t CaptureValue[12],CaptureValueTemp[12];
+static uint16_t CaptureValue[PIOS_SPEKTRUM_NUM_INPUTS],CaptureValueTemp[PIOS_SPEKTRUM_NUM_INPUTS];
 static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
 uint8_t sync_of = 0;
 uint16_t supv_timer=0;
 
+static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
+static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
+static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
+
+static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	/* process byte(s) and clear receive timer */
+	for (uint8_t i = 0; i < buf_len; i++) {
+		PIOS_SPEKTRUM_Decode(buf[i]);
+		supv_timer = 0;
+	}
+
+	/* Always signal that we can accept another byte */
+	if (headroom) {
+		*headroom = 1;
+	}
+
+	/* We never need a yield */
+	*need_yield = false;
+
+	/* Always indicate that all bytes were consumed */
+	return (buf_len);
+}
+
 /**
 * Bind and Initialise Spektrum satellite receiver
 */
-void PIOS_SPEKTRUM_Init(void)
+int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
 {
 	// TODO: need setting flag for bind on next powerup
-	if (0) {
-		PIOS_SPEKTRUM_Bind();
+	if (bind) {
+		PIOS_SPEKTRUM_Bind(cfg);
 	}
 
-	/* Init RTC supervisor timer interrupt */
-	NVIC_InitTypeDef NVIC_InitStructure;
-	NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
-	/* Init RTC clock */
-	PIOS_RTC_Init();
+	(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
+
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_SPEKTRUM_Supervisor, 0)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
+	return (0);
 }
 
 /**
@@ -84,59 +107,42 @@ void PIOS_SPEKTRUM_Init(void)
 * \output -1 Channel not available
 * \output >0 Channel value
 */
-int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
+static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	/* Return error if channel not available */
-	if (Channel >= 12) {
+	if (channel >= PIOS_SPEKTRUM_NUM_INPUTS) {
 		return -1;
 	}
-	return CaptureValue[Channel];
+	return CaptureValue[channel];
 }
 
 /**
 * Spektrum bind function
-* \output 1 Successful bind
-* \output 0 Bind failed
-* \note Applications shouldn't call these functions directly
+* \output true Successful bind
+* \output false Bind failed
 */
-uint8_t PIOS_SPEKTRUM_Bind(void)
+static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
 {
-	GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
-	GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
-	GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
+#define BIND_PULSES 5
 
-	pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
-	//PIOS_DELAY_WaitmS(75);
-	/* RX line, drive high for 10us */
-	pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(10);
-	/* RX line, drive low for 120us */
-	pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive high for 120us */
-	pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive low for 120us */
-	pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive high for 120us */
-	pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive low for 120us */
-	pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive high for 120us */
-	pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive low for 120us */
-	pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
-	/* RX line, drive high for 120us */
-	pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
-	PIOS_DELAY_WaituS(120);
+	GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
+	/* RX line, set high */
+	GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+
+	/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
+	PIOS_DELAY_WaitmS(60);
+
+	for (int i = 0; i < BIND_PULSES ; i++) {
+		/* RX line, drive low for 120us */
+		GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+		PIOS_DELAY_WaituS(120);
+		/* RX line, drive high for 120us */
+		GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
+		PIOS_DELAY_WaituS(120);
+	}
 	/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
 
-	return 1;
+	return true;
 }
 
 /**
@@ -147,7 +153,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
 * \return -2 if buffer full (retry)
 * \note Applications shouldn't call these functions directly
 */
-int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
+static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 {
 	static uint16_t channel = 0; /*, sync_word = 0;*/
 	uint8_t channeln = 0, frame = 0;
@@ -201,7 +207,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 			{
 				frame_error=1;
 			}
-			if (channeln < 12 && !frame_error)
+			if (channeln < PIOS_SPEKTRUM_NUM_INPUTS && !frame_error)
 				CaptureValueTemp[channeln] = data;
 		}
 	}
@@ -212,7 +218,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 		sync_of = 0;
 		if (!frame_error)
 		{
-			for(int i=0;i<12;i++)
+			for(int i=0;i<PIOS_SPEKTRUM_NUM_INPUTS;i++)
 			{
 				CaptureValue[i] = CaptureValueTemp[i];
 			}
@@ -223,32 +229,11 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 	return 0;
 }
 
-/* Interrupt handler for USART */
-void SPEKTRUM_IRQHandler(uint32_t usart_id) {
-	/* by always reading DR after SR make sure to clear any error interrupts */
-	volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
-	volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
-	
-	/* check if RXNE flag is set */
-	if (sr & USART_SR_RXNE) {
-		if (PIOS_SPEKTRUM_Decode(b) < 0) {
-			/* Here we could add some error handling */
-		}
-	} 
-
-	if (sr & USART_SR_TXE) {	// check if TXE flag is set
-		/* Disable TXE interrupt (TXEIE=0) */
-		USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
-	}
-	/* byte arrived so clear "watchdog" timer */
-	supv_timer=0;
-}
-
 /**
  *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
  *@brief clears the channel values
  */
-void PIOS_SPEKTRUM_irq_handler() {
+static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
 	/* 125hz */
 	supv_timer++;
 	if(supv_timer > 5) {
@@ -262,7 +247,7 @@ void PIOS_SPEKTRUM_irq_handler() {
 		if (sync_of > 12) {
 			/* signal lost */
 			sync_of = 0;
-			for (int i = 0; i < 12; i++) {
+			for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
 				CaptureValue[i] = 0;
 				CaptureValueTemp[i] = 0;
 			}
diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c
index 36b1b0c7a..8582344b5 100644
--- a/flight/PiOS/STM32F10x/pios_usart.c
+++ b/flight/PiOS/STM32F10x/pios_usart.c
@@ -38,17 +38,31 @@
 
 /* Provide a COM driver */
 static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud);
-static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
-static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len);
-static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id);
-static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id);
+static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context);
+static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context);
+static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail);
+static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail);
 
 const struct pios_com_driver pios_usart_com_driver = {
-	.set_baud = PIOS_USART_ChangeBaud,
-	.tx_nb    = PIOS_USART_TxBufferPutMoreNonBlocking,
-	.tx       = PIOS_USART_TxBufferPutMore,
-	.rx       = PIOS_USART_RxBufferGet,
-	.rx_avail = PIOS_USART_RxBufferUsed,
+	.set_baud   = PIOS_USART_ChangeBaud,
+	.tx_start   = PIOS_USART_TxStart,
+	.rx_start   = PIOS_USART_RxStart,
+	.bind_tx_cb = PIOS_USART_RegisterTxCallback,
+	.bind_rx_cb = PIOS_USART_RegisterRxCallback,
+};
+
+enum pios_usart_dev_magic {
+	PIOS_USART_DEV_MAGIC = 0x11223344,
+};
+
+struct pios_usart_dev {
+	enum pios_usart_dev_magic     magic;
+	const struct pios_usart_cfg * cfg;
+
+	pios_com_callback rx_in_cb;
+	uint32_t rx_in_context;
+	pios_com_callback tx_out_cb;
+	uint32_t tx_out_context;
 };
 
 static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev)
@@ -85,6 +99,34 @@ static struct pios_usart_dev * PIOS_USART_alloc(void)
 }
 #endif
 
+/* Bind Interrupt Handlers
+ *
+ * Map all valid USART IRQs to the common interrupt handler
+ * and provide storage for a 32-bit device id IRQ to map
+ * each physical IRQ to a specific registered device instance.
+ */
+static void PIOS_USART_generic_irq_handler(uint32_t usart_id);
+
+static uint32_t PIOS_USART_1_id;
+void USART1_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_1_irq_handler")));
+static void PIOS_USART_1_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_1_id);
+}
+
+static uint32_t PIOS_USART_2_id;
+void USART2_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_2_irq_handler")));
+static void PIOS_USART_2_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_2_id);
+}
+
+static uint32_t PIOS_USART_3_id;
+void USART3_IRQHandler(void) __attribute__ ((alias ("PIOS_USART_3_irq_handler")));
+static void PIOS_USART_3_irq_handler (void)
+{
+	PIOS_USART_generic_irq_handler (PIOS_USART_3_id);
+}
 
 /**
 * Initialise a single USART device
@@ -102,10 +144,6 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
 	/* Bind the configuration to the device instance */
 	usart_dev->cfg = cfg;
 
-	/* Clear buffer counters */
-	fifoBuf_init(&usart_dev->rx, usart_dev->rx_buffer, sizeof(usart_dev->rx_buffer));
-	fifoBuf_init(&usart_dev->tx, usart_dev->tx_buffer, sizeof(usart_dev->tx_buffer));
-
 	/* Enable the USART Pins Software Remapping */
 	if (usart_dev->cfg->remap) {
 		GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);
@@ -134,6 +172,17 @@ int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg)
 	*usart_id = (uint32_t)usart_dev;
 
 	/* Configure USART Interrupts */
+	switch ((uint32_t)usart_dev->cfg->regs) {
+	case (uint32_t)USART1:
+		PIOS_USART_1_id = (uint32_t)usart_dev;
+		break;
+	case (uint32_t)USART2:
+		PIOS_USART_2_id = (uint32_t)usart_dev;
+		break;
+	case (uint32_t)USART3:
+		PIOS_USART_3_id = (uint32_t)usart_dev;
+		break;
+	}
 	NVIC_Init(&usart_dev->cfg->irq.init);
 	USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
 	USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE,  ENABLE);
@@ -147,6 +196,25 @@ out_fail:
 	return(-1);
 }
 
+static void PIOS_USART_RxStart(uint32_t usart_id, uint16_t rx_bytes_avail)
+{
+	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
+
+	bool valid = PIOS_USART_validate(usart_dev);
+	PIOS_Assert(valid);
+
+	USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);
+}
+static void PIOS_USART_TxStart(uint32_t usart_id, uint16_t tx_bytes_avail)
+{
+	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
+
+	bool valid = PIOS_USART_validate(usart_dev);
+	PIOS_Assert(valid);
+
+	USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
+}
+
 /**
 * Changes the baud rate of the USART peripheral without re-initialising.
 * \param[in] usart_id USART name (GPS, TELEM, AUX)
@@ -157,7 +225,7 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
 	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
 
 	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
+	PIOS_Assert(valid);
 
 	USART_InitTypeDef USART_InitStructure;
 
@@ -171,206 +239,83 @@ static void PIOS_USART_ChangeBaud(uint32_t usart_id, uint32_t baud)
 	USART_Init(usart_dev->cfg->regs, &USART_InitStructure);
 }
 
-/**
-* Returns number of used bytes in receive buffer
-* \param[in] USART USART name
-* \return > 0: number of used bytes
-* \return 0 if USART not available
-*/
-static int32_t PIOS_USART_RxBufferUsed(uint32_t usart_id)
+static void PIOS_USART_RegisterRxCallback(uint32_t usart_id, pios_com_callback rx_in_cb, uint32_t context)
 {
 	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
 
 	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
+	PIOS_Assert(valid);
 
-	return (fifoBuf_getUsed(&usart_dev->rx));
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	usart_dev->rx_in_context = context;
+	usart_dev->rx_in_cb = rx_in_cb;
 }
 
-/**
-* Gets a byte from the receive buffer
-* \param[in] USART USART name
-* \return -1 if no new byte available
-* \return >= 0: actual byte received
-*/
-static int32_t PIOS_USART_RxBufferGet(uint32_t usart_id)
+static void PIOS_USART_RegisterTxCallback(uint32_t usart_id, pios_com_callback tx_out_cb, uint32_t context)
 {
 	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
 
 	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
+	PIOS_Assert(valid);
 
-	if (fifoBuf_getUsed(&usart_dev->rx) == 0) {
-		/* Nothing new in the buffer */
-		return -1;
-	}
-
-	/* get byte - this operation should be atomic! */
-	uint8_t b = fifoBuf_getByte(&usart_dev->rx);
-
-	/* Return received byte */
-	return b;
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	usart_dev->tx_out_context = context;
+	usart_dev->tx_out_cb = tx_out_cb;
 }
 
-/**
-* puts a byte onto the receive buffer
-* \param[in] USART USART name
-* \param[in] b byte which should be put into Rx buffer
-* \return 0 if no error
-* \return -1 if buffer full (retry)
-*/
-static int32_t PIOS_USART_RxBufferPut(uint32_t usart_id, uint8_t b)
+static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
 {
 	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
 
 	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
-
-	if (fifoBuf_getFree(&usart_dev->rx) < 1) {
-		/* Buffer full (retry) */
-		return -1;
-	}
-
-	/* Copy received byte into receive buffer */
-	/* This operation should be atomic! */
-	fifoBuf_putByte(&usart_dev->rx, b);
-
-	/* No error */
-	return 0;
-}
-
-/**
-* returns number of used bytes in transmit buffer
-* \param[in] USART USART name
-* \return number of used bytes
-* \return 0 if USART not available
-*/
-static int32_t PIOS_USART_TxBufferUsed(uint32_t usart_id)
-{
-	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
-
-	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
-
-	return (fifoBuf_getUsed(&usart_dev->tx));
-}
-
-/**
-* gets a byte from the transmit buffer
-* \param[in] USART USART name
-* \return -1 if no new byte available
-* \return >= 0: transmitted byte
-*/
-static int32_t PIOS_USART_TxBufferGet(uint32_t usart_id)
-{
-	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
-
-	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
-
-	if (fifoBuf_getUsed(&usart_dev->tx) == 0) {
-		/* Nothing new in the buffer */
-		return -1;
-	}
-
-	/* get byte - this operation should be atomic! */
-	PIOS_IRQ_Disable();
-	uint8_t b = fifoBuf_getByte(&usart_dev->tx);
-	PIOS_IRQ_Enable();
-  
-	/* Return received byte */
-	return b;
-}
-
-/**
-* puts more than one byte onto the transmit buffer (used for atomic sends)
-* \param[in] USART USART name
-* \param[in] *buffer pointer to buffer to be sent
-* \param[in] len number of bytes to be sent
-* \return 0 if no error
-* \return -1 if buffer full or cannot get all requested bytes (retry)
-*/
-static int32_t PIOS_USART_TxBufferPutMoreNonBlocking(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
-{
-	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
-
-	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
-
-	if (len >= fifoBuf_getFree(&usart_dev->tx)) {
-		/* Buffer cannot accept all requested bytes (retry) */
-		return -1;
-	}
-
-	/* Copy bytes to be transmitted into transmit buffer */
-	/* This operation should be atomic! */
-	PIOS_IRQ_Disable();
-
-	uint16_t used = fifoBuf_getUsed(&usart_dev->tx);
-	fifoBuf_putData(&usart_dev->tx,buffer,len);
-	
-	if (used == 0) {
-		/* enable sending when buffer was previously empty */
-		USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, ENABLE);
-	}
-
-	PIOS_IRQ_Enable();
-
-	/* No error */
-	return 0;
-}
-
-/**
-* puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
-* (blocking function)
-* \param[in] USART USART name
-* \param[in] *buffer pointer to buffer to be sent
-* \param[in] len number of bytes to be sent
-* \return 0 if no error
-*/
-static int32_t PIOS_USART_TxBufferPutMore(uint32_t usart_id, const uint8_t *buffer, uint16_t len)
-{
-	int32_t rc;
-
-	while ((rc = PIOS_USART_TxBufferPutMoreNonBlocking(usart_id, buffer, len)) == -1);
-
-	return rc;
-}
-
-void PIOS_USART_IRQ_Handler(uint32_t usart_id)
-{
-	struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
-
-	bool valid = PIOS_USART_validate(usart_dev);
-	PIOS_Assert(valid)
+	PIOS_Assert(valid);
 
 	/* Force read of dr after sr to make sure to clear error flags */
 	volatile uint16_t sr = usart_dev->cfg->regs->SR;
 	volatile uint8_t dr = usart_dev->cfg->regs->DR;
 
 	/* Check if RXNE flag is set */
+	bool rx_need_yield = false;
 	if (sr & USART_SR_RXNE) {
-		if (PIOS_USART_RxBufferPut(usart_id, dr) < 0) {
-			/* Here we could add some error handling */
+		uint8_t byte = dr;
+		if (usart_dev->rx_in_cb) {
+		  (void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
 		}
 	}
 
 	/* Check if TXE flag is set */
+	bool tx_need_yield = false;
 	if (sr & USART_SR_TXE) {
-		if (PIOS_USART_TxBufferUsed(usart_id) > 0) {
-			int32_t b = PIOS_USART_TxBufferGet(usart_id);
+		if (usart_dev->tx_out_cb) {
+			uint8_t b;
+			uint16_t bytes_to_send;
 
-			if (b < 0) {
-				/* Here we could add some error handling */
-				usart_dev->cfg->regs->DR = 0xff;
+			bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
+
+			if (bytes_to_send > 0) {
+				/* Send the byte we've been given */
+				usart_dev->cfg->regs->DR = b;
 			} else {
-				usart_dev->cfg->regs->DR = b & 0xff;
+				/* No bytes to send, disable TXE interrupt */
+				USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
 			}
 		} else {
-			/* Disable TXE interrupt (TXEIE=0) */
+			/* No bytes to send, disable TXE interrupt */
 			USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
 		}
 	}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (rx_need_yield || tx_need_yield) {
+		vPortYieldFromISR();
+	}
+#endif	/* PIOS_INCLUDE_FREERTOS */
 }
 
 #endif
diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c
index d66b92598..0ebca1320 100644
--- a/flight/PiOS/STM32F10x/pios_usb_hid.c
+++ b/flight/PiOS/STM32F10x/pios_usb_hid.c
@@ -36,76 +36,106 @@
 #include "usb_lib.h"
 #include "pios_usb_hid_desc.h"
 #include "stm32f10x.h"
-#include "fifo_buffer.h"
+
+#include "pios_usb_hid_priv.h"
 
 #if defined(PIOS_INCLUDE_USB_HID)
 
-#if defined(PIOS_INCLUDE_FREERTOS)
-#define USE_FREERTOS
-#endif
-
-static int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len);
-static int32_t PIOS_USB_HID_TxBufferPutMore(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len);
-static int32_t PIOS_USB_HID_RxBufferGet(uint32_t usbcom_id);
-static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id);
+static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail);
+static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail);
+static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context);
+static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context);
 
 const struct pios_com_driver pios_usb_com_driver = {
-	.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
-	.tx = PIOS_USB_HID_TxBufferPutMore,
-	.rx = PIOS_USB_HID_RxBufferGet,
-	.rx_avail = PIOS_USB_HID_RxBufferUsed,
+	.tx_start    = PIOS_USB_HID_TxStart,
+	.rx_start    = PIOS_USB_HID_RxStart,
+	.bind_tx_cb  = PIOS_USB_HID_RegisterTxCallback,
+	.bind_rx_cb  = PIOS_USB_HID_RegisterRxCallback,
 };
 
-// TODO: Eventually replace the transmit and receive buffers with bigger ring bufers
-// so there isn't hte 64 byte cap in place by the USB interrupt packet definition
+enum pios_usb_hid_dev_magic {
+	PIOS_USB_HID_DEV_MAGIC = 0xAABBCCDD,
+};
+
+struct pios_usb_hid_dev {
+	enum pios_usb_hid_dev_magic     magic;
+	const struct pios_usb_hid_cfg * cfg;
+
+	pios_com_callback rx_in_cb;
+	uint32_t rx_in_context;
+	pios_com_callback tx_out_cb;
+	uint32_t tx_out_context;
+
+	uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2];
+	uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2];
+};
+
+static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev)
+{
+	return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC);
+}
+
+#if defined(PIOS_INCLUDE_FREERTOS) && 0
+static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void)
+{
+	struct pios_usb_hid_dev * usb_hid_dev;
+
+	usb_hid_dev = (struct pios_usb_hid_dev *)malloc(sizeof(*usb_hid_dev));
+	if (!usb_hid_dev) return(NULL);
+
+	usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC;
+	return(usb_hid_dev);
+}
+#else
+static struct pios_usb_hid_dev pios_usb_hid_devs[PIOS_USB_HID_MAX_DEVS];
+static uint8_t pios_usb_hid_num_devs;
+static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void)
+{
+	struct pios_usb_hid_dev * usb_hid_dev;
+
+	if (pios_usb_hid_num_devs >= PIOS_USB_HID_MAX_DEVS) {
+		return (NULL);
+	}
+
+	usb_hid_dev = &pios_usb_hid_devs[pios_usb_hid_num_devs++];
+	usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC;
+
+	return (usb_hid_dev);
+}
+#endif
 
 /* Rx/Tx status */
 static uint8_t transfer_possible = 0;
-static uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
-static uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
-
-uint8_t rx_pios_fifo_buf[PIOS_USB_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));    // align to 32-bit to try and provide speed improvement
-t_fifo_buffer rx_pios_fifo_buffer;
-
-uint8_t tx_pios_fifo_buf[PIOS_USB_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));    // align to 32-bit to try and provide speed improvement
-t_fifo_buffer tx_pios_fifo_buffer;
-
-#if defined(USE_FREERTOS)
-xSemaphoreHandle pios_usb_tx_semaphore;
-#endif
 
 /**
  * Initialises USB COM layer
- * \param[in] mode currently only mode 0 supported
  * \return < 0 if initialisation failed
  * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
  */
-int32_t PIOS_USB_HID_Init(uint32_t mode)
+static uint32_t pios_usb_hid_id;
+int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg)
 {
-	/* Currently only mode 0 supported */
-	if (mode != 0) {
-		/* Unsupported mode */
-		return -1;
-	}
+	PIOS_Assert(usb_hid_id);
+	PIOS_Assert(cfg);
 
-	fifoBuf_init(&rx_pios_fifo_buffer, rx_pios_fifo_buf, sizeof(rx_pios_fifo_buf));
-	fifoBuf_init(&tx_pios_fifo_buffer, tx_pios_fifo_buf, sizeof(tx_pios_fifo_buf));
+	struct pios_usb_hid_dev * usb_hid_dev;
+
+	usb_hid_dev = (struct pios_usb_hid_dev *) PIOS_USB_HID_alloc();
+	if (!usb_hid_dev) goto out_fail;
+
+	/* Bind the configuration to the device instance */
+	usb_hid_dev->cfg = cfg;
 
 	PIOS_USB_HID_Reenumerate();
 
-	/* Create semaphore before enabling interrupts */
-#if defined(USE_FREERTOS)	
-	vSemaphoreCreateBinary(pios_usb_tx_semaphore);
-#endif
-	
+	/*
+	 * This is a horrible hack to make this available to
+	 * the interrupt callbacks.  This should go away ASAP.
+	 */
+	pios_usb_hid_id = (uint32_t) usb_hid_dev;
+
 	/* Enable the USB Interrupts */
-	/* 2 bit for pre-emption priority, 2 bits for subpriority */
-	NVIC_InitTypeDef NVIC_InitStructure;
-	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
-	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
-	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-	NVIC_Init(&NVIC_InitStructure);
+	NVIC_Init(&usb_hid_dev->cfg->irq.init);
 
 	/* Select USBCLK source */
 	RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
@@ -122,7 +152,12 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
 	USB_Init();
 	USB_SIL_Init();
 
+	*usb_hid_id = (uint32_t) usb_hid_dev;
+
 	return 0;		/* No error */
+
+out_fail:
+	return(-1);
 }
 
 /**
@@ -201,127 +236,118 @@ int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
 	return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
 }
 
-void sendChunk()
+static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev)
 {
+	uint16_t bytes_to_tx;
 
-	uint32_t size = fifoBuf_getUsed(&tx_pios_fifo_buffer);
-	if ((size > 0) && (GetEPTxStatus(ENDP1) != EP_TX_VALID)) {
-		if (size > PIOS_USB_HID_DATA_LENGTH)
-			size = PIOS_USB_HID_DATA_LENGTH;
+	if (!usb_hid_dev->tx_out_cb) {
+		return;
+	}
+
+	bool need_yield = false;
 #ifdef USB_HID
-		fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[1], size + 1);
-		tx_packet_buffer[0] = 1;	/* report ID */
+	bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
+					       &usb_hid_dev->tx_packet_buffer[1],
+					       sizeof(usb_hid_dev->tx_packet_buffer)-1,
+					       NULL,
+					       &need_yield);
 #else
-		fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[2], size);
-		tx_packet_buffer[0] = 1;	/* report ID */
-		tx_packet_buffer[1] = size;	/* valid data length */
-
+	bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
+					       &usb_hid_dev->tx_packet_buffer[2],
+					       sizeof(usb_hid_dev->tx_packet_buffer)-2,
+					       NULL,
+					       &need_yield);
 #endif
-
-		UserToPMABufferCopy((uint8_t *) tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2);
-		SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH + 2);
-
-		/* Send Buffer */
-		SetEPTxValid(ENDP1);
+	if (bytes_to_tx == 0) {
+		return;
 	}
 
-}
+	/* Always set type as report ID */
+	usb_hid_dev->tx_packet_buffer[0] = 1;
 
-/**
- * Puts more than one byte onto the transmit buffer (used for atomic sends)
- * \param[in] *buffer pointer to buffer which should be transmitted
- * \param[in] len number of bytes which should be transmitted
- * \return 0 if no error
- * \return -1 if port unavailable (disconnected)
- * \return -2 if too many bytes to be send
- * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
- */
-static int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint32_t usbcom_id, const uint8_t * buffer, uint16_t len)
-{
-	uint16_t ret;
-
-	if(!transfer_possible)
-		return -1;
-
-	if (len > fifoBuf_getFree(&tx_pios_fifo_buffer)) {
-		sendChunk();    /* Try and send what's in the buffer though */
-		return -2;	/* Cannot send all requested bytes */
-	}
-
-	/* don't check returned bytes because it should always succeed  */
-	/* after previous thread and no meaningful way to deal with the */
-	/* case it only buffers half the bytes                          */
-#if defined(USE_FREERTOS)
-	if(!xSemaphoreTake(pios_usb_tx_semaphore,10 / portTICK_RATE_MS))
-		return -3;
+#ifdef USB_HID
+	UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 1);
+#else
+	usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx;
+	UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 2);
 #endif
+	/* Is this correct?  Why do we always send the whole buffer? */
+	SetEPTxCount((EP1_IN & 0x7F), sizeof(usb_hid_dev->tx_packet_buffer));
+	SetEPTxValid(ENDP1);
 
-	ret = fifoBuf_putData(&tx_pios_fifo_buffer, buffer, len);
-
-#if defined(USE_FREERTOS)
-	xSemaphoreGive(pios_usb_tx_semaphore);
-#endif
-
-	sendChunk();
-
-	return 0;
-}
-
-/**
- * Puts more than one byte onto the transmit buffer (used for atomic sends)<br>
- * (Blocking Function)
- * \param[in] *buffer pointer to buffer which should be transmitted
- * \param[in] len number of bytes which should be transmitted
- * \return 0 if no error
- * \return -1 if too many bytes to be send
- * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
- */
-static int32_t PIOS_USB_HID_TxBufferPutMore(uint32_t usbcom_id, const uint8_t *buffer, uint16_t len)
-{
-	if(len > (fifoBuf_getUsed(&tx_pios_fifo_buffer) + fifoBuf_getFree(&tx_pios_fifo_buffer)))
-		return -1;
-
-	uint32_t error;
-	while ((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(usbcom_id, buffer, len)) == -2) {
 #if defined(PIOS_INCLUDE_FREERTOS)
-		taskYIELD();
-#endif
+	if (need_yield) {
+		vPortYieldFromISR();
 	}
-
-	return error;
+#endif	/* PIOS_INCLUDE_FREERTOS */
 }
 
-/**
- * Gets a byte from the receive buffer
- * \return -1 if no new byte available
- * \return >= 0: received byte
- * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
- */
-static int32_t PIOS_USB_HID_RxBufferGet(uint32_t usbcom_id)
-{
-	uint8_t read;
+static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) {
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
 
-	if(fifoBuf_getUsed(&rx_pios_fifo_buffer) == 0)
-		return -1;
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
 
-	read = fifoBuf_getByte(&rx_pios_fifo_buffer);
+	if (!transfer_possible) {
+		return;
+	}
 
 	// If endpoint was stalled and there is now space make it valid
-	if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62)) {
+	PIOS_IRQ_Disable();
+	if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && 
+	    (rx_bytes_avail > PIOS_USB_HID_DATA_LENGTH)) {
 		SetEPRxStatus(ENDP1, EP_RX_VALID);
 	}
-	return read;
+	PIOS_IRQ_Enable();
 }
 
-/**
- * Returns number of used bytes in receive buffer
- * \return > 0: number of used bytes
- * \return 0 nothing available
- * \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
- */
-static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id)
+static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail)
 {
-	return fifoBuf_getUsed(&rx_pios_fifo_buffer);
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
+
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
+
+	if (!transfer_possible) {
+		return;
+	}
+
+	if (GetEPTxStatus(ENDP1) == EP_TX_VALID) {
+		/* Endpoint is already transmitting */
+		return;
+	}
+
+	PIOS_USB_HID_SendReport(usb_hid_dev);
+}
+
+static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context)
+{
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
+
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	usb_hid_dev->rx_in_context = context;
+	usb_hid_dev->rx_in_cb = rx_in_cb;
+}
+
+static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context)
+{
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
+
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
+
+	/* 
+	 * Order is important in these assignments since ISR uses _cb
+	 * field to determine if it's ok to dereference _cb and _context
+	 */
+	usb_hid_dev->tx_out_context = context;
+	usb_hid_dev->tx_out_cb = tx_out_cb;
 }
 
 /**
@@ -330,7 +356,16 @@ static int32_t PIOS_USB_HID_RxBufferUsed(uint32_t usbcom_id)
  */
 void PIOS_USB_HID_EP1_IN_Callback(void)
 {
-	sendChunk();
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id;
+
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
+
+	if (!transfer_possible) {
+		return;
+	}
+
+	PIOS_USB_HID_SendReport(usb_hid_dev);
 }
 
 /**
@@ -338,28 +373,58 @@ void PIOS_USB_HID_EP1_IN_Callback(void)
  */
 void PIOS_USB_HID_EP1_OUT_Callback(void)
 {
+	struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id;
+
+	bool valid = PIOS_USB_HID_validate(usb_hid_dev);
+	PIOS_Assert(valid);
+
 	uint32_t DataLength = 0;
 
 	/* Read received data (63 bytes) */
 	/* Get the number of received data on the selected Endpoint */
 	DataLength = GetEPRxCount(ENDP1 & 0x7F);
+	if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) {
+		DataLength = sizeof(usb_hid_dev->rx_packet_buffer);
+	}
 
 	/* Use the memory interface function to write to the selected endpoint */
-	PMAToUserBufferCopy((uint8_t *) &rx_packet_buffer[0], GetEPRxAddr(ENDP1 & 0x7F), DataLength);
+	PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
+
+	if (!usb_hid_dev->rx_in_cb) {
+		/* No Rx call back registered, disable the receiver */
+		SetEPRxStatus(ENDP1, EP_RX_NAK);
+		return;
+	}
 
 	/* The first byte is report ID (not checked), the second byte is the valid data length */
+	uint16_t headroom;
+	bool need_yield = false;
 #ifdef USB_HID
-	fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
+	(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
+				&usb_hid_dev->rx_packet_buffer[1],
+				sizeof(usb_hid_dev->rx_packet_buffer)-1,
+				&headroom,
+				&need_yield);
 #else
-	fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[2], rx_packet_buffer[1]);
+	(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
+				&usb_hid_dev->rx_packet_buffer[2],
+				usb_hid_dev->rx_packet_buffer[1],
+				&headroom,
+				&need_yield);
 #endif
-
-	// Only reactivate endpoint if available space in buffer
-	if (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62) {
+	if (headroom > PIOS_USB_HID_DATA_LENGTH) {
+		/* We have room for a maximum length message */
 		SetEPRxStatus(ENDP1, EP_RX_VALID);
 	} else {
+		/* Not enough room left for a message, apply backpressure */
 		SetEPRxStatus(ENDP1, EP_RX_NAK);
 	}
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+	if (need_yield) {
+		vPortYieldFromISR();
+	}
+#endif	/* PIOS_INCLUDE_FREERTOS */
 }
 
 #endif
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
index a252adf76..159a9dd66 100644
--- a/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
+++ b/flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
@@ -36,6 +36,8 @@
 .global  g_pfnVectors
 .global  SystemInit_ExtMemCtl_Dummy
 .global  Default_Handler
+.global  xPortIncreaseHeapSize
+.global  Stack_Change
 
 /* start address for the initialization values of the .data section. 
 defined in linker script */
@@ -71,6 +73,35 @@ Reset_Handler:
 /* restore original stack pointer */  
   LDR r0, =_irq_stack_top
   MSR msp, r0
+  LDR r2, =_init_stack_top
+  MSR psp, r2
+  /* check if irq and init stack are the same */
+  /* if they are, we don't do stack swap */
+  /* and lets bypass the monitoring as well for now */
+  cmp  r0, r2
+  beq SectionBssInit
+/* DO
+ * - stay in thread process mode
+ * - stay in privilege level
+ * - use process stack
+ */
+  movs r0, #2
+  MSR control, r0
+  ISB
+/* Fill IRQ stack for watermark monitoring */
+  ldr  r2, =_irq_stack_end
+  b  LoopFillIRQStack
+
+FillIRQStack:
+  movw  r3, #0xA5A5
+  str  r3, [r2], #4
+
+LoopFillIRQStack:
+  ldr  r3, = _irq_stack_top
+  cmp  r2, r3
+  bcc  FillIRQStack
+
+SectionBssInit:
 /* Copy the data segment initializers from flash to SRAM */  
   movs  r1, #0
   b  LoopCopyDataInit
@@ -100,9 +131,37 @@ LoopFillZerobss:
   bcc  FillZerobss
 /* Call the application's entry point.*/
   bl  main
-  bx  lr    
+/* will never return here */
+  bx  lr
 .size  Reset_Handler, .-Reset_Handler
 
+/**
+ * @brief  This is the code that swaps stack (from end of heap to irq_stack).
+ *         Also reclaim the heap that was used as a stack.
+ * @param  None
+ * @retval : None
+*/
+  .section  .text.Stack_Change
+  .weak  Stack_Change
+  .type  Stack_Change, %function
+Stack_Change:
+  mov r4, lr
+/* Switches stack back momentarily to MSP */
+  movs r0, #0
+  msr control, r0
+Heap_Reclaim:
+/* add heap_post_rtos to the heap (if the capability/function exist) */
+/* Also claim the unused memory (between end of heap to end of memory */
+/* CAREFULL: the heap section must be the last section in RAM in order this to work */
+  ldr r0, = _init_stack_size
+  ldr r1, = _eheap_post_rtos
+  ldr r2, = _eram
+  subs r2, r2, r1
+  adds r0, r0, r2
+  bl xPortIncreaseHeapSize
+  bx r4
+  .size  Stack_Change, .-Stack_Change
+
 /**
  * @brief  Dummy SystemInit_ExtMemCtl function 
  * @param  None     
@@ -114,12 +173,12 @@ SystemInit_ExtMemCtl_Dummy:
   .size  SystemInit_ExtMemCtl_Dummy, .-SystemInit_ExtMemCtl_Dummy
 
 /**
- * @brief  This is the code that gets called when the processor receives an 
+ * @brief  This is the code that gets called when the processor receives an
  *         unexpected interrupt.  This simply enters an infinite loop, preserving
  *         the system state for examination by a debugger.
  *
- * @param  None     
- * @retval : None       
+ * @param  None
+ * @retval : None
 */
     .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
@@ -272,13 +331,13 @@ g_pfnVectors:
     
   .weak  NMI_Handler
   .thumb_set NMI_Handler,Default_Handler
-  
+
   .weak  HardFault_Handler
   .thumb_set HardFault_Handler,Default_Handler
-  
+
   .weak  MemManage_Handler
   .thumb_set MemManage_Handler,Default_Handler
-  
+
   .weak  BusFault_Handler
   .thumb_set BusFault_Handler,Default_Handler
 
diff --git a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
index 21c7c7b29..828462ab6 100644
--- a/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
+++ b/flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
@@ -33,6 +33,8 @@
 
 .global  g_pfnVectors
 .global  Default_Handler
+.global  xPortIncreaseHeapSize
+.global  Stack_Change
 
 /* start address for the initialization values of the .data section. 
 defined in linker script */
@@ -61,6 +63,47 @@ defined in linker script */
   .type  Reset_Handler, %function
 Reset_Handler:
 
+/*
+ * From COrtex-M3 reference manual:
+ * - Handler IRQ always use SP_main
+ * - Process use SP_main or SP_process
+ * Here, we will use beginning of SRAM for IRQ (SP_main)
+ * and end of heap for initialization (SP_process).
+ * Once the schedule starts, all threads will use their own stack
+ * from heap and NOBOBY should use SP_process again.
+ */
+ /* Do set/reset the stack pointers */
+  LDR r0, =_irq_stack_top
+  MSR msp, r0
+  LDR r2, =_init_stack_top
+  MSR psp, r2
+  /* check if irq and init stack are the same */
+  /* if they are, we don't do stack swap */
+  /* and lets bypass the monitoring as well for now */
+  cmp  r0, r2
+  beq SectionBssInit
+/* DO
+ * - stay in thread process mode
+ * - stay in privilege level
+ * - use process stack
+ */
+  movs r0, #2
+  MSR control, r0
+  ISB
+/* Fill IRQ stack for watermark monitoring */
+  ldr  r2, =_irq_stack_end
+  b  LoopFillIRQStack
+
+FillIRQStack:
+  movw  r3, #0xA5A5
+  str  r3, [r2], #4
+
+LoopFillIRQStack:
+  ldr  r3, = _irq_stack_top
+  cmp  r2, r3
+  bcc  FillIRQStack
+
+SectionBssInit:
 /* Copy the data segment initializers from flash to SRAM */  
   movs  r1, #0
   b  LoopCopyDataInit
@@ -90,16 +133,45 @@ LoopFillZerobss:
   bcc  FillZerobss
 /* Call the application's entry point.*/
   bl  main
+/* will never return here */
   bx  lr
 .size  Reset_Handler, .-Reset_Handler
 
 /**
- * @brief  This is the code that gets called when the processor receives an 
+ * @brief  This is the code that swaps stack (from end of heap to irq_stack).
+ *         Also reclaim the heap that was used as a stack.
+ * @param  None
+ * @retval : None
+*/
+  .section  .text.Stack_Change
+  .weak  Stack_Change
+  .type  Stack_Change, %function
+Stack_Change:
+  mov r4, lr
+/* Switches stack back momentarily to MSP */
+  movs r0, #0
+  msr control, r0
+Heap_Reclaim:
+/* add heap_post_rtos to the heap (if the capability/function exist) */
+/* Also claim the unused memory (between end of heap to end of memory */
+/* CAREFULL: the heap section must be the last section in RAM in order this to work */
+  ldr r0, = _init_stack_size
+  ldr r1, = _eheap_post_rtos
+  ldr r2, = _eram
+  subs r2, r2, r1
+  adds r0, r0, r2
+  bl xPortIncreaseHeapSize
+  bx r4
+  .size  Stack_Change, .-Stack_Change
+
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
  *         unexpected interrupt.  This simply enters an infinite loop, preserving
  *         the system state for examination by a debugger.
  *
- * @param  None     
- * @retval : None       
+ * @param  None
+ * @retval : None
 */
     .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
@@ -119,7 +191,7 @@ Infinite_Loop:
     
     
 g_pfnVectors:
-  .word  _estack
+  .word  _irq_stack_top
   .word  Reset_Handler
   .word  NMI_Handler
   .word  HardFault_Handler
diff --git a/flight/PiOS/inc/pios_adxl345.h b/flight/PiOS/inc/pios_adxl345.h
index 1e5c83274..1e0b89f6d 100644
--- a/flight/PiOS/inc/pios_adxl345.h
+++ b/flight/PiOS/inc/pios_adxl345.h
@@ -16,6 +16,7 @@
 #define ADXL_MULTI_BIT     0x40
 
 #define ADXL_X0_ADDR       0x32
+#define ADXL_FIFOSTATUS_ADDR 0x39
 
 #define ADXL_RATE_ADDR     0x2C
 #define ADXL_RATE_100      0x0A
@@ -52,5 +53,6 @@ void PIOS_ADXL345_FifoDepth(uint8_t depth);
 void PIOS_ADXL345_Attach(uint32_t spi_id);
 void PIOS_ADXL345_Init();
 uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data);
+uint8_t  PIOS_ADXL345_FifoElements();
 
 #endif
diff --git a/flight/PiOS/inc/pios_com.h b/flight/PiOS/inc/pios_com.h
index 0af333d7b..cbee33735 100644
--- a/flight/PiOS/inc/pios_com.h
+++ b/flight/PiOS/inc/pios_com.h
@@ -32,17 +32,19 @@
 #ifndef PIOS_COM_H
 #define PIOS_COM_H
 
+typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
+
 struct pios_com_driver {
-	void    (*init)(uint32_t id);
-	void    (*set_baud)(uint32_t id, uint32_t baud);
-	int32_t (*tx_nb)(uint32_t id, const uint8_t *buffer, uint16_t len);
-	int32_t (*tx)(uint32_t id, const uint8_t *buffer, uint16_t len);
-	int32_t (*rx)(uint32_t id);
-	int32_t (*rx_avail)(uint32_t id);
+	void (*init)(uint32_t id);
+	void (*set_baud)(uint32_t id, uint32_t baud);
+	void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
+	void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
+	void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
+	void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
 };
 
 /* Public Functions */
-extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, const uint32_t lower_id);
+extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
 extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
 extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
 extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
@@ -52,7 +54,7 @@ extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
 extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
 extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
 extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
-extern uint8_t PIOS_COM_ReceiveBuffer(uint32_t com_id);
+extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
 extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
 
 #endif /* PIOS_COM_H */
diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/PiOS/inc/pios_com_priv.h
index 2bf58a300..54af82bcb 100644
--- a/flight/PiOS/inc/pios_com_priv.h
+++ b/flight/PiOS/inc/pios_com_priv.h
@@ -34,16 +34,6 @@
 
 #include <pios.h>
 
-enum pios_com_dev_magic {
-  PIOS_COM_DEV_MAGIC = 0xaa55aa55,
-};
-
-struct pios_com_dev {
-	enum pios_com_dev_magic magic;
-	uint32_t id;
-	const struct pios_com_driver * driver;
-};
-
 extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id);
 
 #endif /* PIOS_COM_PRIV_H */
diff --git a/flight/PiOS/inc/pios_delay.h b/flight/PiOS/inc/pios_delay.h
index 647e9f553..17e6d0452 100644
--- a/flight/PiOS/inc/pios_delay.h
+++ b/flight/PiOS/inc/pios_delay.h
@@ -34,10 +34,10 @@
 
 /* Public Functions */
 extern int32_t PIOS_DELAY_Init(void);
-extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
-extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
-extern uint16_t PIOS_DELAY_GetuS();
-extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
+extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
+extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
+extern uint32_t PIOS_DELAY_GetuS();
+extern uint32_t PIOS_DELAY_GetuSSince(uint32_t t);
 
 #endif /* PIOS_DELAY_H */
 
diff --git a/flight/PiOS/inc/pios_initcall.h b/flight/PiOS/inc/pios_initcall.h
index 7edad6283..68b9ef077 100644
--- a/flight/PiOS/inc/pios_initcall.h
+++ b/flight/PiOS/inc/pios_initcall.h
@@ -41,7 +41,15 @@
 /*
  * Used for initialization calls..
  */
+
 typedef int32_t (*initcall_t)(void);
+typedef struct {
+	initcall_t fn_minit;
+	initcall_t fn_tinit;
+} initmodule_t;
+
+/* Init module section */
+extern initmodule_t __module_initcall_start[], __module_initcall_end[];
 
 /* initcalls are now grouped by functionality into separate 
  * subsections. Ordering inside the subsections is determined
@@ -55,7 +63,20 @@ typedef int32_t (*initcall_t)(void);
 	static initcall_t __initcall_##fn##id __attribute__((__used__)) \
 	__attribute__((__section__(".initcall" level ".init"))) = fn
 
-#define uavobj_initcall(fn)		__define_initcall("uavobj",fn,1)
+#define __define_module_initcall(level, ifn, sfn) \
+	static initmodule_t __initcall_##fn __attribute__((__used__)) \
+	__attribute__((__section__(".initcall" level ".init"))) = { .fn_minit = ifn, .fn_tinit = sfn };
+
+#define UAVOBJ_INITCALL(fn)		__define_initcall("uavobj",fn,1)
+#define MODULE_INITCALL(ifn, sfn)		__define_module_initcall("module", ifn, sfn)
+
+#define MODULE_INITIALISE_ALL  { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
+									if (fn->fn_minit) \
+										(fn->fn_minit)(); }
+
+#define MODULE_TASKCREATE_ALL  { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
+									if (fn->fn_tinit) \
+									   (fn->fn_tinit)(); }
 
 #endif	/* PIOS_INITCALL_H */
 
diff --git a/flight/PiOS/inc/pios_ppm.h b/flight/PiOS/inc/pios_ppm.h
index a7c809f70..d75868f4e 100644
--- a/flight/PiOS/inc/pios_ppm.h
+++ b/flight/PiOS/inc/pios_ppm.h
@@ -30,8 +30,4 @@
 #ifndef PIOS_PPM_H
 #define PIOS_PPM_H
 
-/* Public Functions */
-extern void PIOS_PPM_Init(void);
-extern int32_t PIOS_PPM_Get(int8_t Channel);
-
 #endif /* PIOS_PPM_H */
diff --git a/flight/PiOS/inc/pios_ppm_priv.h b/flight/PiOS/inc/pios_ppm_priv.h
index 5fdcd73e1..fd863fc50 100644
--- a/flight/PiOS/inc/pios_ppm_priv.h
+++ b/flight/PiOS/inc/pios_ppm_priv.h
@@ -34,13 +34,6 @@
 #include <pios.h>
 #include <pios_stm32.h>
 
-struct pios_ppmsv_cfg {
-	TIM_TimeBaseInitTypeDef tim_base_init;
-	struct stm32_irq irq;
-	TIM_TypeDef * timer;
-	uint16_t ccr;
-};
-
 struct pios_ppm_cfg {
 	TIM_TimeBaseInitTypeDef tim_base_init;
 	TIM_ICInitTypeDef tim_ic_init;
@@ -53,11 +46,13 @@ struct pios_ppm_cfg {
 };
 
 extern void PIOS_PPM_irq_handler();
-extern void PIOS_PPMSV_irq_handler();
 
 extern uint8_t pios_ppm_num_channels;
 extern const struct pios_ppm_cfg pios_ppm_cfg;
-extern const struct pios_ppmsv_cfg pios_ppmsv_cfg;
+
+extern const struct pios_rcvr_driver pios_ppm_rcvr_driver;
+
+extern void PIOS_PPM_Init(void);
 
 #endif /* PIOS_PPM_PRIV_H */
 
diff --git a/flight/PiOS/inc/pios_pwm.h b/flight/PiOS/inc/pios_pwm.h
index 32635c8b8..3552319c9 100644
--- a/flight/PiOS/inc/pios_pwm.h
+++ b/flight/PiOS/inc/pios_pwm.h
@@ -30,9 +30,4 @@
 #ifndef PIOS_PWM_H
 #define PIOS_PWM_H
 
-/* Public Functions */
-extern void PIOS_PWM_Init(void);
-extern int32_t PIOS_PWM_Get(int8_t Channel);
-//extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
-
 #endif /* PIOS_PWM_H */
diff --git a/flight/PiOS/inc/pios_pwm_priv.h b/flight/PiOS/inc/pios_pwm_priv.h
index f2119e63c..23d7d4818 100644
--- a/flight/PiOS/inc/pios_pwm_priv.h
+++ b/flight/PiOS/inc/pios_pwm_priv.h
@@ -57,6 +57,10 @@ extern void PIOS_PWM_irq_handler(TIM_TypeDef * timer);
 extern uint8_t pios_pwm_num_channels;
 extern const struct pios_pwm_cfg pios_pwm_cfg;
 
+extern const struct pios_rcvr_driver pios_pwm_rcvr_driver;
+
+extern void PIOS_PWM_Init(void);
+
 #endif /* PIOS_PWM_PRIV_H */
 
 /**
diff --git a/flight/PiOS/inc/pios_rcvr.h b/flight/PiOS/inc/pios_rcvr.h
new file mode 100644
index 000000000..dfec004f5
--- /dev/null
+++ b/flight/PiOS/inc/pios_rcvr.h
@@ -0,0 +1,54 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_RCVR RCVR layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_rcvr.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      RCVR layer functions header
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_H
+#define PIOS_RCVR_H
+
+struct pios_rcvr_channel_map {
+	uint32_t id;
+	uint8_t  channel;
+};
+
+extern struct pios_rcvr_channel_map pios_rcvr_channel_to_id_map[];
+
+struct pios_rcvr_driver {
+	void    (*init)(uint32_t id);
+	int32_t (*read)(uint32_t id, uint8_t channel);
+};
+
+/* Public Functions */
+extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
+
+#endif /* PIOS_RCVR_H */
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS/inc/pios_rcvr_priv.h b/flight/PiOS/inc/pios_rcvr_priv.h
new file mode 100644
index 000000000..968dc2116
--- /dev/null
+++ b/flight/PiOS/inc/pios_rcvr_priv.h
@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RCVR RCVR Functions
+ * @brief PIOS interface for RCVR drivers
+ * @{
+ *
+ * @file       pios_rcvr_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * 	       Parts by Thorsten Klose (tk@midibox.org)
+ * @brief      USART private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RCVR_PRIV_H
+#define PIOS_RCVR_PRIV_H
+
+#include <pios.h>
+
+extern uint32_t pios_rcvr_max_channel;
+
+extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
+
+extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
+
+#endif /* PIOS_RCVR_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS/inc/pios_rtc.h b/flight/PiOS/inc/pios_rtc.h
index f68b54af8..2e01912b9 100644
--- a/flight/PiOS/inc/pios_rtc.h
+++ b/flight/PiOS/inc/pios_rtc.h
@@ -30,13 +30,15 @@
 #ifndef PIOS_RTC_H
 #define PIOS_RTC_H
 
+#include <stdbool.h>
+
 /* Public Functions */
-extern void PIOS_RTC_Init();
 extern uint32_t PIOS_RTC_Counter();
 extern float PIOS_RTC_Rate();
 extern float PIOS_RTC_MsPerTick();
+extern bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data);
 
-#endif /* PIOS_SERVO_H */
+#endif /* PIOS_RTC_H */
 
 /**
  * @}
diff --git a/flight/PiOS/inc/pios_rtc_priv.h b/flight/PiOS/inc/pios_rtc_priv.h
new file mode 100644
index 000000000..0a8c1c9b1
--- /dev/null
+++ b/flight/PiOS/inc/pios_rtc_priv.h
@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_RTC RTC Functions
+ * @brief PIOS interface for RTC tick
+ * @{
+ *
+ * @file       pios_rtc_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      ADC private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_RTC_PRIV_H
+#define PIOS_RTC_PRIV_H
+
+#include <pios.h>
+#include <pios_stm32.h>
+
+struct pios_rtc_cfg {
+  uint32_t         clksrc;
+  uint32_t         prescaler;
+  struct stm32_irq irq;
+};
+
+extern void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg);
+
+extern void PIOS_RTC_irq_handler(void);
+#endif /* PIOS_RTC_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */
+
diff --git a/flight/PiOS/inc/pios_sbus.h b/flight/PiOS/inc/pios_sbus.h
new file mode 100644
index 000000000..868fedd70
--- /dev/null
+++ b/flight/PiOS/inc/pios_sbus.h
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_SBUS Futaba S.Bus receiver functions
+ * @{
+ *
+ * @file       pios_sbus.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Futaba S.Bus functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_SBUS_H
+#define PIOS_SBUS_H
+
+/* Global Types */
+
+/* Public Functions */
+
+#endif /* PIOS_SBUS_H */
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS/inc/pios_sbus_priv.h b/flight/PiOS/inc/pios_sbus_priv.h
new file mode 100644
index 000000000..4e46b2089
--- /dev/null
+++ b/flight/PiOS/inc/pios_sbus_priv.h
@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_SBUS S.Bus Functions
+ * @brief PIOS interface to read and write from Futaba S.Bus port
+ * @{
+ *
+ * @file       pios_sbus_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Futaba S.Bus Private structures.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_SBUS_PRIV_H
+#define PIOS_SBUS_PRIV_H
+
+#include <pios.h>
+#include <pios_stm32.h>
+#include <pios_usart_priv.h>
+
+/*
+ * S.Bus serial port settings:
+ *  100000bps inverted serial stream, 8 bits, even parity, 2 stop bits
+ *  frame period is 7ms (HS) or 14ms (FS)
+ *
+ * Frame structure:
+ *  1 byte  - 0x0f (start of frame byte)
+ * 22 bytes - channel data (11 bit/channel, 16 channels, LSB first)
+ *  1 byte  - bit flags:
+ *                   0x01 - digital channel 1,
+ *                   0x02 - digital channel 2,
+ *                   0x04 - lost frame flag,
+ *                   0x08 - failsafe flag,
+ *                   0xf0 - reserved
+ *  1 byte  - 0x00 (end of frame byte)
+ */
+#define SBUS_FRAME_LENGTH		(1+22+1+1)
+#define SBUS_SOF_BYTE			0x0f
+#define SBUS_EOF_BYTE			0x00
+#define SBUS_FLAG_DG1			0x01
+#define SBUS_FLAG_DG2			0x02
+#define SBUS_FLAG_FL			0x04
+#define SBUS_FLAG_FS			0x08
+
+/*
+ * S.Bus protocol provides up to 16 analog and 2 digital channels.
+ * Only 8 channels are currently supported by the OpenPilot.
+ */
+#define	SBUS_NUMBER_OF_CHANNELS		8
+
+/*
+ * S.Bus configuration programmable invertor
+ */
+struct pios_sbus_cfg {
+	struct stm32_gpio inv;
+	void (*gpio_clk_func)(uint32_t periph, FunctionalState state);
+	uint32_t gpio_clk_periph;
+	BitAction gpio_inv_enable;
+};
+
+extern const struct pios_rcvr_driver pios_sbus_rcvr_driver;
+
+extern int32_t PIOS_SBUS_Init(uint32_t * sbus_id, const struct pios_sbus_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id);
+
+#endif /* PIOS_SBUS_PRIV_H */
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS/inc/pios_spektrum.h b/flight/PiOS/inc/pios_spektrum.h
index 241782e9d..765d2c8a5 100644
--- a/flight/PiOS/inc/pios_spektrum.h
+++ b/flight/PiOS/inc/pios_spektrum.h
@@ -34,11 +34,6 @@
 /* Global Types */
 
 /* Public Functions */
-extern void PIOS_SPEKTRUM_Init(void);
-extern uint8_t PIOS_SPEKTRUM_Bind(void);
-extern int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
-extern int16_t PIOS_SPEKTRUM_Get(int8_t Channel);
-extern void SPEKTRUM_IRQHandler(uint32_t usart_id);
 
 #endif /* PIOS_SPEKTRUM_H */
 
diff --git a/flight/PiOS/inc/pios_spektrum_priv.h b/flight/PiOS/inc/pios_spektrum_priv.h
index b5dd384d1..2d31a8027 100644
--- a/flight/PiOS/inc/pios_spektrum_priv.h
+++ b/flight/PiOS/inc/pios_spektrum_priv.h
@@ -36,18 +36,13 @@
 #include <pios_usart_priv.h>
 
 struct pios_spektrum_cfg {
-	const struct pios_usart_cfg * pios_usart_spektrum_cfg;
-	GPIO_InitTypeDef gpio_init;
+	struct stm32_gpio bind;
 	uint32_t remap;		/* GPIO_Remap_* */
-	struct stm32_irq irq;
-	GPIO_TypeDef * port;
-	uint16_t pin;
 };
 
-extern void PIOS_SPEKTRUM_irq_handler();
+extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
 
-extern uint8_t pios_spektrum_num_channels;
-extern const struct pios_spektrum_cfg pios_spektrum_cfg;
+extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
 
 #endif /* PIOS_PWM_PRIV_H */
 
diff --git a/flight/PiOS/inc/pios_stm32.h b/flight/PiOS/inc/pios_stm32.h
index 1433d460b..fb9163208 100644
--- a/flight/PiOS/inc/pios_stm32.h
+++ b/flight/PiOS/inc/pios_stm32.h
@@ -32,7 +32,6 @@
 #define PIOS_STM32_H
 
 struct stm32_irq {
-	void (*handler) (void);
 	uint32_t flags;
 	NVIC_InitTypeDef init;
 };
diff --git a/flight/PiOS/inc/pios_usart_priv.h b/flight/PiOS/inc/pios_usart_priv.h
index 772e6f4d2..edca829aa 100644
--- a/flight/PiOS/inc/pios_usart_priv.h
+++ b/flight/PiOS/inc/pios_usart_priv.h
@@ -48,26 +48,8 @@ struct pios_usart_cfg {
 	struct stm32_irq irq;
 };
 
-enum pios_usart_dev_magic {
-	PIOS_USART_DEV_MAGIC = 0x11223344,
-};
-
-struct pios_usart_dev {
-	enum pios_usart_dev_magic     magic;
-	const struct pios_usart_cfg * cfg;
-
-	// align to 32-bit to try and provide speed improvement;
-	uint8_t rx_buffer[PIOS_USART_RX_BUFFER_SIZE] __attribute__ ((aligned(4)));
-	t_fifo_buffer rx;
-
-	// align to 32-bit to try and provide speed improvement;
-        uint8_t tx_buffer[PIOS_USART_TX_BUFFER_SIZE] __attribute__ ((aligned(4)));
-	t_fifo_buffer tx;
-};
-
 extern int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg);
-
-extern void PIOS_USART_IRQ_Handler(uint32_t usart_id);
+extern const struct pios_usart_cfg * PIOS_USART_GetConfig(uint32_t usart_id);
 
 #endif /* PIOS_USART_PRIV_H */
 
diff --git a/flight/PiOS/inc/pios_usb_hid.h b/flight/PiOS/inc/pios_usb_hid.h
index 06f4deca1..67067ba72 100644
--- a/flight/PiOS/inc/pios_usb_hid.h
+++ b/flight/PiOS/inc/pios_usb_hid.h
@@ -41,7 +41,6 @@
 #define PIOS_USB_HID_DATA_LENGTH		62
 
 /* Global functions */
-extern int32_t PIOS_USB_HID_Init(uint32_t mode);
 extern int32_t PIOS_USB_HID_Reenumerate();
 extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected);
 extern int32_t PIOS_USB_HID_CheckAvailable(uint8_t id);
diff --git a/flight/PiOS/inc/pios_usb_hid_priv.h b/flight/PiOS/inc/pios_usb_hid_priv.h
new file mode 100644
index 000000000..5a8652762
--- /dev/null
+++ b/flight/PiOS/inc/pios_usb_hid_priv.h
@@ -0,0 +1,49 @@
+ /**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup   PIOS_USB_HID USB_HID Functions
+ * @brief PIOS interface for USB_HID port
+ * @{
+ *
+ * @file       pios_usb_hid_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      USB_HID private definitions.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_USB_HID_PRIV_H
+#define PIOS_USB_HID_PRIV_H
+
+#include <pios.h>
+#include <pios_stm32.h>
+
+struct pios_usb_hid_cfg {
+	struct stm32_irq irq;
+};
+
+extern int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg);
+
+#endif /* PIOS_USB_HID_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */
+
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index ff7cd1af5..a675f93b1 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -78,7 +78,9 @@
 #include <pios_spi.h>
 #include <pios_ppm.h>
 #include <pios_pwm.h>
+#include <pios_rcvr.h>
 #include <pios_spektrum.h>
+#include <pios_sbus.h>
 #include <pios_usb_hid.h>
 #include <pios_debug.h>
 #include <pios_gpio.h>
diff --git a/flight/PipXtreme/api_config.c b/flight/PipXtreme/api_config.c
index bf10a13b3..2cecfc65e 100644
--- a/flight/PipXtreme/api_config.c
+++ b/flight/PipXtreme/api_config.c
@@ -794,7 +794,8 @@ void apiconfig_process(void)
 		int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
 		while (bytes > 0)
 		{
-			PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
+			uint8_t c;
+			PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0);
 			bytes--;
 		}
 	}
@@ -812,9 +813,12 @@ void apiconfig_process(void)
 	if (com_num > sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr)
 		com_num = sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr;
 
+	
 	while (com_num > 0)
 	{	// fetch a byte from the comm-port RX buffer and save it into our RX buffer
-		apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = PIOS_COM_ReceiveBuffer(apiconfig_comm_port);
+		uint8_t c;
+		PIOS_COM_ReceiveBuffer(apiconfig_comm_port, &c, 1, 0);
+		apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = c;
 		com_num--;
 	}
 
diff --git a/flight/PipXtreme/main.c b/flight/PipXtreme/main.c
index f30a355a8..46b9073ea 100644
--- a/flight/PipXtreme/main.c
+++ b/flight/PipXtreme/main.c
@@ -163,8 +163,8 @@ void TIMER_INT_FUNC(void)
 		// Clear timer interrupt pending bit
 		TIM_ClearITPendingBit(TIMER_INT_TIMER, TIM_IT_Update);
 
-//		random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8);
-//		random32 = UpdateCRC32(random32, PIOS_DELAY_TIMER->CNT);
+//		random32 = UpdateCRC32(random32, PIOS_DELAY_GetuS() >> 8);
+//		random32 = UpdateCRC32(random32, PIOS_DELAY_GetuS());
 
 		uptime_ms++;
 
@@ -785,8 +785,8 @@ int main()
 
     for (;;)
     {
-        random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT >> 8);
-        random32 = updateCRC32(random32, PIOS_DELAY_TIMER->CNT);
+        random32 = updateCRC32(random32, PIOS_DELAY_GetuS() >> 8);
+        random32 = updateCRC32(random32, PIOS_DELAY_GetuS());
 
         if (second_tick)
         {
diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c
index a0b85915a..0a69808ad 100644
--- a/flight/PipXtreme/pios_board.c
+++ b/flight/PipXtreme/pios_board.c
@@ -90,7 +90,6 @@ static const struct pios_spi_cfg pios_spi_port_cfg =
 		.ahb_clk = RCC_AHBPeriph_DMA1,
 		.irq =
 		{
-			.handler = PIOS_SPI_port_irq_handler,
 		      .flags   = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
 		      .init    = {
 			.NVIC_IRQChannel                   = DMA1_Channel2_IRQn,
@@ -189,11 +188,10 @@ void PIOS_SPI_port_irq_handler(void)
 extern void PIOS_ADC_handler(void);
 void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
 // Remap the ADC DMA handler to this one
-const struct pios_adc_cfg pios_adc_cfg = {
+static const struct pios_adc_cfg pios_adc_cfg = {
 	.dma = {
 		.ahb_clk  = RCC_AHBPeriph_DMA1,
 		.irq = {
-			.handler = PIOS_ADC_DMA_Handler,
 			.flags   = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
 			.init    = {
 				.NVIC_IRQChannel                   = DMA1_Channel1_IRQn,
@@ -245,10 +243,7 @@ void PIOS_ADC_handler() {
 /*
  * SERIAL USART
  */
-void PIOS_USART_serial_irq_handler(void);
-void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_serial_irq_handler")));
-
-const struct pios_usart_cfg pios_usart_serial_cfg =
+static const struct pios_usart_cfg pios_usart_serial_cfg =
 {
 	.regs = USART1,
 	.init =
@@ -262,7 +257,6 @@ const struct pios_usart_cfg pios_usart_serial_cfg =
 	},
 	.irq =
 	{
-		.handler = PIOS_USART_serial_irq_handler,
 		.init =
 		{
 			.NVIC_IRQChannel = USART1_IRQn,
@@ -293,12 +287,6 @@ const struct pios_usart_cfg pios_usart_serial_cfg =
 	},
 };
 
-static uint32_t pios_usart_serial_id;
-void PIOS_USART_serial_irq_handler(void)
-{
-	PIOS_USART_IRQ_Handler(pios_usart_serial_id);
-}
-
 #endif /* PIOS_INCLUDE_USART */
 
 // ***********************************************************************************
@@ -307,10 +295,37 @@ void PIOS_USART_serial_irq_handler(void)
 
 #include <pios_com_priv.h>
 
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
+
+static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
+static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
+
+#define PIOS_COM_SERIAL_RX_BUF_LEN 192
+#define PIOS_COM_SERIAL_TX_BUF_LEN 192
+
+static uint8_t pios_com_serial_rx_buffer[PIOS_COM_SERIAL_RX_BUF_LEN];
+static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN];
+
 #endif /* PIOS_INCLUDE_COM */
 
 // ***********************************************************************************
 
+#if defined(PIOS_INCLUDE_USB_HID)
+#include "pios_usb_hid_priv.h"
+
+static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = {
+  .irq = {
+    .init    = {
+      .NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn,
+      .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+      .NVIC_IRQChannelSubPriority        = 0,
+      .NVIC_IRQChannelCmd                = ENABLE,
+    },
+  },
+};
+#endif	/* PIOS_INCLUDE_USB_HID */
+
 extern const struct pios_com_driver pios_usb_com_driver;
 
 uint32_t pios_com_serial_id;
@@ -334,21 +349,27 @@ void PIOS_Board_Init(void) {
 	// Delay system
 	PIOS_DELAY_Init();
 
+	uint32_t pios_usart_serial_id;
 	if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id)) {
+	if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
+			  pios_com_serial_rx_buffer, sizeof(pios_com_serial_rx_buffer),
+			  pios_com_serial_tx_buffer, sizeof(pios_com_serial_tx_buffer))) {
 		PIOS_DEBUG_Assert(0);
 	}
 
 #if defined(PIOS_INCLUDE_USB_HID)
-	PIOS_USB_HID_Init(0);
+	uint32_t pios_usb_hid_id;
+	PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg);
 #if defined(PIOS_INCLUDE_COM)
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) {
-		PIOS_DEBUG_Assert(0);
+	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id,
+			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
+			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
+		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_COM */
-#endif  /* PIOS_INCLUDE_USB_HID */
+#endif	/* PIOS_INCLUDE_USB_HID */
 
 	// ADC system
 	// PIOS_ADC_Init();
diff --git a/flight/PipXtreme/transparent_comms.c b/flight/PipXtreme/transparent_comms.c
index a04ca17ee..b30f5f581 100644
--- a/flight/PipXtreme/transparent_comms.c
+++ b/flight/PipXtreme/transparent_comms.c
@@ -91,7 +91,8 @@ void trans_process(void)
 		int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL);
 		while (bytes > 0)
 		{
-			PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL);
+			uint8_t c;
+			PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0);
 			bytes--;
 		}
 	}
@@ -134,8 +135,7 @@ void trans_process(void)
 
 		// copy data received down the comm-port into our temp buffer
 		register uint16_t bytes_saved = 0;
-		while (bytes_saved < com_num)
-			trans_temp_buffer1[bytes_saved++] = PIOS_COM_ReceiveBuffer(comm_port);
+		bytes_saved = PIOS_COM_ReceiveBuffer(comm_port, trans_temp_buffer1, com_num, 0);
 
 		// put the received comm-port data bytes into the RF packet handler TX buffer
 		if (bytes_saved > 0)
@@ -147,8 +147,11 @@ void trans_process(void)
 	else
 	{	// empty the comm-ports rx buffer
 		int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port);
-		while (com_num > 0)
-			PIOS_COM_ReceiveBuffer(comm_port);
+		while (com_num > 0) {
+			uint8_t c;
+			PIOS_COM_ReceiveBuffer(comm_port, &c, 1, 0);
+			com_num--;
+		}
 	}
 
 	// ********************
diff --git a/flight/Project/Eclipse/eclipseWindowsWsp.zip b/flight/Project/Eclipse/eclipseWindowsWsp.zip
new file mode 100644
index 000000000..e79d0fc76
Binary files /dev/null and b/flight/Project/Eclipse/eclipseWindowsWsp.zip differ
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 4f2252237..3a0fc1dfa 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -86,9 +86,12 @@
 		6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
 		655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
 		656268C612DC1923007B0A0F /* nedaccel.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = nedaccel.xml; sourceTree = "<group>"; };
+		6562BE1713CCAD0600C823E8 /* pios_rcvr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rcvr.c; sourceTree = "<group>"; };
 		65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
 		65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
 		65632DF71251650300469B77 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
+		6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_memory.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld; sourceTree = SOURCE_ROOT; };
+		6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = link_STM32103CB_CC_Rev1_sections.ld; path = ../../PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld; sourceTree = SOURCE_ROOT; };
 		657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
 		657CEEB7121DBC63007A1FBE /* CoordinateConversions.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = CoordinateConversions.c; sourceTree = "<group>"; };
 		657CEEB9121DBC63007A1FBE /* CoordinateConversions.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = CoordinateConversions.h; sourceTree = "<group>"; };
@@ -7664,6 +7667,7 @@
 				6528CCB412E406B800CF5144 /* pios_adxl345.c */,
 				6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
 				65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
+				6562BE1713CCAD0600C823E8 /* pios_rcvr.c */,
 				65E8C743139A6D0900E1F979 /* pios_crc.c */,
 			);
 			name = Common;
@@ -7759,6 +7763,8 @@
 		65E8F05911EFF25C00BBF654 /* Libraries */ = {
 			isa = PBXGroup;
 			children = (
+				6572CB1613D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_memory.ld */,
+				6572CB1713D0F2B200FC2972 /* link_STM32103CB_CC_Rev1_sections.ld */,
 				65E8F05A11EFF25C00BBF654 /* CMSIS */,
 				65E8F06B11EFF25C00BBF654 /* dosfs */,
 				65E8F07111EFF25C00BBF654 /* FreeRTOS */,
@@ -8463,6 +8469,7 @@
 			};
 			buildConfigurationList = 1DEB928908733DD80010E9CD /* Build configuration list for PBXProject "OpenPilotOSX" */;
 			compatibilityVersion = "Xcode 3.1";
+			developmentRegion = English;
 			hasScannedForEncodings = 1;
 			knownRegions = (
 				English,
diff --git a/flight/Project/gdb/bl_coptercontrol b/flight/Project/gdb/bl_coptercontrol
index 52411d9bd..45bb50412 100644
--- a/flight/Project/gdb/bl_coptercontrol
+++ b/flight/Project/gdb/bl_coptercontrol
@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./build/bl_coptercontrol/CopterControl_BL.elf
+	file ./build/bl_coptercontrol/bl_coptercontrol.elf
 end
 #monitor reset halt
 
diff --git a/flight/Project/gdb/openpilot b/flight/Project/gdb/openpilot
index 28ae59b1c..7c02a7a0b 100644
--- a/flight/Project/gdb/openpilot
+++ b/flight/Project/gdb/openpilot
@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./build/openpilot/OpenPilot.elf
+	file ./build/fw_openpilot/fw_openpilot.elf
 end
 #monitor reset halt
 
diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c
index 353739468..53a6e039d 100644
--- a/flight/UAVObjects/eventdispatcher.c
+++ b/flight/UAVObjects/eventdispatcher.c
@@ -1,377 +1,387 @@
-/**
- ******************************************************************************
- *
- * @file       eventdispatcher.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Event dispatcher, distributes object events as callbacks. Alternative
- * 	       to using tasks and queues. All callbacks are invoked from the event task.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-
-// Private constants
-#define MAX_QUEUE_SIZE 20
-#define STACK_SIZE configMINIMAL_STACK_SIZE
-#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
-#define MAX_UPDATE_PERIOD_MS 1000
-
-// Private types
-
-
-/**
- * Event callback information
- */
-typedef struct {
-	UAVObjEvent ev; /** The actual event */
-	UAVObjEventCallback cb; /** The callback function, or zero if none */
-	xQueueHandle queue; /** The queue or zero if none */
-} EventCallbackInfo;
-
-/**
- * List of object properties that are needed for the periodic updates.
- */
-struct PeriodicObjectListStruct {
-	EventCallbackInfo evInfo; /** Event callback information */
-    int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
-    int32_t timeToNextUpdateMs; /** Time delay to the next update */
-    struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
-};
-typedef struct PeriodicObjectListStruct PeriodicObjectList;
-
-// Private variables
-static PeriodicObjectList* objList;
-static xQueueHandle queue;
-static xTaskHandle eventTaskHandle;
-static xSemaphoreHandle mutex;
-static EventStats stats;
-
-// Private functions
-static int32_t processPeriodicUpdates();
-static void eventTask();
-static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
-static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
-static uint32_t randomizePeriod(uint32_t periodMs);
-
-
-/**
- * Initialize the dispatcher
- * \return Success (0), failure (-1)
- */
-int32_t EventDispatcherInitialize()
-{
-	// Initialize variables
-	objList = NULL;
-	memset(&stats, 0, sizeof(EventStats));
-
-	// Create mutex
-	mutex = xSemaphoreCreateRecursiveMutex();
-	if (mutex == NULL)
-		return -1;
-
-	// Create event queue
-	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
-
-	// Create task
-	xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle );
-
-	// Done
-	return 0;
-}
-
-/**
- * Get the statistics counters
- * @param[out] statsOut The statistics counters will be copied there
- */
-void EventGetStats(EventStats* statsOut)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memcpy(statsOut, &stats, sizeof(EventStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Clear the statistics counters
- */
-void EventClearStats()
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memset(&stats, 0, sizeof(EventStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Dispatch an event by invoking the supplied callback. The function
- * returns imidiatelly, the callback is invoked from the event task.
- * \param[in] ev The event to be dispatched
- * \param[in] cb The callback function
- * \return Success (0), failure (-1)
- */
-int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
-{
-	EventCallbackInfo evInfo;
-	// Initialize event callback information
-	memcpy(&evInfo.ev, ev, sizeof(UAVObjEvent));
-	evInfo.cb = cb;
-	evInfo.queue = 0;
-	// Push to queue
-	return xQueueSend(queue, &evInfo, 0); // will not block if queue is full
-}
-
-/**
- * Dispatch an event at periodic intervals.
- * \param[in] ev The event to be dispatched
- * \param[in] cb The callback to be invoked
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
-{
-	return eventPeriodicCreate(ev, cb, 0, periodMs);
-}
-
-/**
- * Update the period of a periodic event.
- * \param[in] ev The event to be dispatched
- * \param[in] cb The callback to be invoked
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
-{
-	return eventPeriodicUpdate(ev, cb, 0, periodMs);
-}
-
-/**
- * Dispatch an event at periodic intervals.
- * \param[in] ev The event to be dispatched
- * \param[in] queue The queue that the event will be pushed in
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
-{
-	return eventPeriodicCreate(ev, 0, queue, periodMs);
-}
-
-/**
- * Update the period of a periodic event.
- * \param[in] ev The event to be dispatched
- * \param[in] queue The queue
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
-{
-	return eventPeriodicUpdate(ev, 0, queue, periodMs);
-}
-
-/**
- * Dispatch an event through a callback at periodic intervals.
- * \param[in] ev The event to be dispatched
- * \param[in] cb The callback to be invoked or zero if none
- * \param[in] queue The queue or zero if none
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
-{
-	PeriodicObjectList* objEntry;
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	// Check that the object is not already connected
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->evInfo.cb == cb &&
-			objEntry->evInfo.queue == queue &&
-			objEntry->evInfo.ev.obj == ev->obj &&
-			objEntry->evInfo.ev.instId == ev->instId &&
-			objEntry->evInfo.ev.event == ev->event)
-		{
-			// Already registered, do nothing
-			xSemaphoreGiveRecursive(mutex);
-			return -1;
-		}
-	}
-    // Create handle
-	objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList));
-	if (objEntry == NULL) return -1;
-	objEntry->evInfo.ev.obj = ev->obj;
-	objEntry->evInfo.ev.instId = ev->instId;
-	objEntry->evInfo.ev.event = ev->event;
-	objEntry->evInfo.cb = cb;
-	objEntry->evInfo.queue = queue;
-    objEntry->updatePeriodMs = periodMs;
-    objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
-    // Add to list
-    LL_APPEND(objList, objEntry);
-	// Release lock
-	xSemaphoreGiveRecursive(mutex);
-    return 0;
-}
-
-/**
- * Update the period of a periodic event.
- * \param[in] ev The event to be dispatched
- * \param[in] cb The callback to be invoked or zero if none
- * \param[in] queue The queue or zero if none
- * \param[in] periodMs The period the event is generated
- * \return Success (0), failure (-1)
- */
-static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
-{
-	PeriodicObjectList* objEntry;
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	// Find object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->evInfo.cb == cb &&
-			objEntry->evInfo.queue == queue &&
-			objEntry->evInfo.ev.obj == ev->obj &&
-			objEntry->evInfo.ev.instId == ev->instId &&
-			objEntry->evInfo.ev.event == ev->event)
-		{
-			// Object found, update period
-			objEntry->updatePeriodMs = periodMs;
-			objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
-			// Release lock
-			xSemaphoreGiveRecursive(mutex);
-			return 0;
-		}
-	}
-    // If this point is reached the object was not found
-	xSemaphoreGiveRecursive(mutex);
-    return -1;
-}
-
-/**
- * Event task, responsible of invoking callbacks.
- */
-static void eventTask()
-{
-	int32_t timeToNextUpdateMs;
-	int32_t delayMs;
-	EventCallbackInfo evInfo;
-
-	// Initialize time
-	timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;
-
-	// Loop forever
-	while (1)
-	{
-		// Calculate delay time
-		delayMs = timeToNextUpdateMs-(xTaskGetTickCount()*portTICK_RATE_MS);
-		if (delayMs < 0)
-		{
-			delayMs = 0;
-		}
-
-		// Wait for queue message
-		if ( xQueueReceive(queue, &evInfo, delayMs/portTICK_RATE_MS) == pdTRUE )
-		{
-			// Invoke callback, if one
-			if ( evInfo.cb != 0)
-			{
-				evInfo.cb(&evInfo.ev); // the function is expected to copy the event information
-			}
-		}
-
-		// Process periodic updates
-		if ((xTaskGetTickCount()*portTICK_RATE_MS) >= timeToNextUpdateMs )
-		{
-			timeToNextUpdateMs = processPeriodicUpdates();
-		}
-	}
-}
-
-/**
- * Handle periodic updates for all objects.
- * \return The system time until the next update (in ms) or -1 if failed
- */
-static int32_t processPeriodicUpdates()
-{
-	PeriodicObjectList* objEntry;
-	int32_t timeNow;
-    int32_t timeToNextUpdate;
-    int32_t offset;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-    // Iterate through each object and update its timer, if zero then transmit object.
-    // Also calculate smallest delay to next update.
-    timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS;
-    LL_FOREACH(objList, objEntry)
-    {
-        // If object is configured for periodic updates
-        if (objEntry->updatePeriodMs > 0)
-        {
-            // Check if time for the next update
-        	timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
-            if (objEntry->timeToNextUpdateMs <= timeNow)
-            {
-                // Reset timer
-            	offset = ( timeNow - objEntry->timeToNextUpdateMs ) % objEntry->updatePeriodMs;
-            	objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs - offset;
-    			// Invoke callback, if one
-    			if ( objEntry->evInfo.cb != 0)
-    			{
-    				objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information
-    			}
-    			// Push event to queue, if one
-    			if ( objEntry->evInfo.queue != 0)
-    			{
-    				if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full
-    				{
-    					++stats.eventErrors;
-    				}
-    			}
-            }
-            // Update minimum delay
-            if (objEntry->timeToNextUpdateMs < timeToNextUpdate)
-            {
-            	timeToNextUpdate = objEntry->timeToNextUpdateMs;
-            }
-        }
-    }
-
-    // Done
-    xSemaphoreGiveRecursive(mutex);
-    return timeToNextUpdate;
-}
-
-/**
- * Return a psedorandom integer from 0 to periodMs
- * Based on the Park-Miller-Carta Pseudo-Random Number Generator
- * http://www.firstpr.com.au/dsp/rand31/
- */
-static uint32_t randomizePeriod(uint32_t periodMs)
-{
-	static uint32_t seed = 1;
-	uint32_t hi, lo;
-	lo = 16807 * (seed & 0xFFFF);
-	hi = 16807 * (seed >> 16);
-	lo += (hi & 0x7FFF) << 16;
-	lo += hi >> 15;
-	if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
-	seed = lo;
-	return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
-}
-
+/**
+ ******************************************************************************
+ *
+ * @file       eventdispatcher.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Event dispatcher, distributes object events as callbacks. Alternative
+ * 	       to using tasks and queues. All callbacks are invoked from the event task.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+
+// Private constants
+#if defined(PIOS_EVENTDISAPTCHER_QUEUE)
+#define MAX_QUEUE_SIZE PIOS_EVENTDISAPTCHER_QUEUE
+#else
+#define MAX_QUEUE_SIZE 20
+#endif
+
+#if defined(PIOS_EVENTDISPATCHER_STACK_SIZE)
+#define STACK_SIZE PIOS_EVENTDISPATCHER_STACK_SIZE
+#else
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#endif /* PIOS_EVENTDISPATCHER_STACK_SIZE */
+
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
+#define MAX_UPDATE_PERIOD_MS 1000
+
+// Private types
+
+
+/**
+ * Event callback information
+ */
+typedef struct {
+	UAVObjEvent ev; /** The actual event */
+	UAVObjEventCallback cb; /** The callback function, or zero if none */
+	xQueueHandle queue; /** The queue or zero if none */
+} EventCallbackInfo;
+
+/**
+ * List of object properties that are needed for the periodic updates.
+ */
+struct PeriodicObjectListStruct {
+	EventCallbackInfo evInfo; /** Event callback information */
+    int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
+    int32_t timeToNextUpdateMs; /** Time delay to the next update */
+    struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
+};
+typedef struct PeriodicObjectListStruct PeriodicObjectList;
+
+// Private variables
+static PeriodicObjectList* objList;
+static xQueueHandle queue;
+static xTaskHandle eventTaskHandle;
+static xSemaphoreHandle mutex;
+static EventStats stats;
+
+// Private functions
+static int32_t processPeriodicUpdates();
+static void eventTask();
+static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
+static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
+static uint32_t randomizePeriod(uint32_t periodMs);
+
+
+/**
+ * Initialize the dispatcher
+ * \return Success (0), failure (-1)
+ */
+int32_t EventDispatcherInitialize()
+{
+	// Initialize variables
+	objList = NULL;
+	memset(&stats, 0, sizeof(EventStats));
+
+	// Create mutex
+	mutex = xSemaphoreCreateRecursiveMutex();
+	if (mutex == NULL)
+		return -1;
+
+	// Create event queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
+
+	// Create task
+	xTaskCreate( eventTask, (signed char*)"Event", STACK_SIZE, NULL, TASK_PRIORITY, &eventTaskHandle );
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void EventGetStats(EventStats* statsOut)
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memcpy(statsOut, &stats, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void EventClearStats()
+{
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	memset(&stats, 0, sizeof(EventStats));
+	xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Dispatch an event by invoking the supplied callback. The function
+ * returns imidiatelly, the callback is invoked from the event task.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback function
+ * \return Success (0), failure (-1)
+ */
+int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
+{
+	EventCallbackInfo evInfo;
+	// Initialize event callback information
+	memcpy(&evInfo.ev, ev, sizeof(UAVObjEvent));
+	evInfo.cb = cb;
+	evInfo.queue = 0;
+	// Push to queue
+	return xQueueSend(queue, &evInfo, 0); // will not block if queue is full
+}
+
+/**
+ * Dispatch an event at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
+{
+	return eventPeriodicCreate(ev, cb, 0, periodMs);
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
+{
+	return eventPeriodicUpdate(ev, cb, 0, periodMs);
+}
+
+/**
+ * Dispatch an event at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] queue The queue that the event will be pushed in
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
+{
+	return eventPeriodicCreate(ev, 0, queue, periodMs);
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] queue The queue
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
+{
+	return eventPeriodicUpdate(ev, 0, queue, periodMs);
+}
+
+/**
+ * Dispatch an event through a callback at periodic intervals.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked or zero if none
+ * \param[in] queue The queue or zero if none
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
+{
+	PeriodicObjectList* objEntry;
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	// Check that the object is not already connected
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->evInfo.cb == cb &&
+			objEntry->evInfo.queue == queue &&
+			objEntry->evInfo.ev.obj == ev->obj &&
+			objEntry->evInfo.ev.instId == ev->instId &&
+			objEntry->evInfo.ev.event == ev->event)
+		{
+			// Already registered, do nothing
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+    // Create handle
+	objEntry = (PeriodicObjectList*)pvPortMalloc(sizeof(PeriodicObjectList));
+	if (objEntry == NULL) return -1;
+	objEntry->evInfo.ev.obj = ev->obj;
+	objEntry->evInfo.ev.instId = ev->instId;
+	objEntry->evInfo.ev.event = ev->event;
+	objEntry->evInfo.cb = cb;
+	objEntry->evInfo.queue = queue;
+    objEntry->updatePeriodMs = periodMs;
+    objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
+    // Add to list
+    LL_APPEND(objList, objEntry);
+	// Release lock
+	xSemaphoreGiveRecursive(mutex);
+    return 0;
+}
+
+/**
+ * Update the period of a periodic event.
+ * \param[in] ev The event to be dispatched
+ * \param[in] cb The callback to be invoked or zero if none
+ * \param[in] queue The queue or zero if none
+ * \param[in] periodMs The period the event is generated
+ * \return Success (0), failure (-1)
+ */
+static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
+{
+	PeriodicObjectList* objEntry;
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	// Find object
+	LL_FOREACH(objList, objEntry)
+	{
+		if (objEntry->evInfo.cb == cb &&
+			objEntry->evInfo.queue == queue &&
+			objEntry->evInfo.ev.obj == ev->obj &&
+			objEntry->evInfo.ev.instId == ev->instId &&
+			objEntry->evInfo.ev.event == ev->event)
+		{
+			// Object found, update period
+			objEntry->updatePeriodMs = periodMs;
+			objEntry->timeToNextUpdateMs = randomizePeriod(periodMs); // avoid bunching of updates
+			// Release lock
+			xSemaphoreGiveRecursive(mutex);
+			return 0;
+		}
+	}
+    // If this point is reached the object was not found
+	xSemaphoreGiveRecursive(mutex);
+    return -1;
+}
+
+/**
+ * Event task, responsible of invoking callbacks.
+ */
+static void eventTask()
+{
+	int32_t timeToNextUpdateMs;
+	int32_t delayMs;
+	EventCallbackInfo evInfo;
+
+	// Initialize time
+	timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;
+
+	// Loop forever
+	while (1)
+	{
+		// Calculate delay time
+		delayMs = timeToNextUpdateMs-(xTaskGetTickCount()*portTICK_RATE_MS);
+		if (delayMs < 0)
+		{
+			delayMs = 0;
+		}
+
+		// Wait for queue message
+		if ( xQueueReceive(queue, &evInfo, delayMs/portTICK_RATE_MS) == pdTRUE )
+		{
+			// Invoke callback, if one
+			if ( evInfo.cb != 0)
+			{
+				evInfo.cb(&evInfo.ev); // the function is expected to copy the event information
+			}
+		}
+
+		// Process periodic updates
+		if ((xTaskGetTickCount()*portTICK_RATE_MS) >= timeToNextUpdateMs )
+		{
+			timeToNextUpdateMs = processPeriodicUpdates();
+		}
+	}
+}
+
+/**
+ * Handle periodic updates for all objects.
+ * \return The system time until the next update (in ms) or -1 if failed
+ */
+static int32_t processPeriodicUpdates()
+{
+	PeriodicObjectList* objEntry;
+	int32_t timeNow;
+    int32_t timeToNextUpdate;
+    int32_t offset;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+    // Iterate through each object and update its timer, if zero then transmit object.
+    // Also calculate smallest delay to next update.
+    timeToNextUpdate = xTaskGetTickCount()*portTICK_RATE_MS + MAX_UPDATE_PERIOD_MS;
+    LL_FOREACH(objList, objEntry)
+    {
+        // If object is configured for periodic updates
+        if (objEntry->updatePeriodMs > 0)
+        {
+            // Check if time for the next update
+        	timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
+            if (objEntry->timeToNextUpdateMs <= timeNow)
+            {
+                // Reset timer
+            	offset = ( timeNow - objEntry->timeToNextUpdateMs ) % objEntry->updatePeriodMs;
+            	objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs - offset;
+    			// Invoke callback, if one
+    			if ( objEntry->evInfo.cb != 0)
+    			{
+    				objEntry->evInfo.cb(&objEntry->evInfo.ev); // the function is expected to copy the event information
+    			}
+    			// Push event to queue, if one
+    			if ( objEntry->evInfo.queue != 0)
+    			{
+    				if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full
+    				{
+    					++stats.eventErrors;
+    				}
+    			}
+            }
+            // Update minimum delay
+            if (objEntry->timeToNextUpdateMs < timeToNextUpdate)
+            {
+            	timeToNextUpdate = objEntry->timeToNextUpdateMs;
+            }
+        }
+    }
+
+    // Done
+    xSemaphoreGiveRecursive(mutex);
+    return timeToNextUpdate;
+}
+
+/**
+ * Return a psedorandom integer from 0 to periodMs
+ * Based on the Park-Miller-Carta Pseudo-Random Number Generator
+ * http://www.firstpr.com.au/dsp/rand31/
+ */
+static uint32_t randomizePeriod(uint32_t periodMs)
+{
+	static uint32_t seed = 1;
+	uint32_t hi, lo;
+	lo = 16807 * (seed & 0xFFFF);
+	hi = 16807 * (seed >> 16);
+	lo += (hi & 0x7FFF) << 16;
+	lo += hi >> 15;
+	if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
+	seed = lo;
+	return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
+}
+
diff --git a/flight/UAVObjects/uavobjecttemplate.c b/flight/UAVObjects/uavobjecttemplate.c
index 3fd1517eb..9dd45b09f 100644
--- a/flight/UAVObjects/uavobjecttemplate.c
+++ b/flight/UAVObjects/uavobjecttemplate.c
@@ -64,7 +64,7 @@ int32_t $(NAME)Initialize(void)
 	}
 }
 
-uavobj_initcall($(NAME)Initialize);
+UAVOBJ_INITCALL($(NAME)Initialize);
 
 /**
  * Initialize object fields and metadata with the default values.
diff --git a/ground/openpilotgcs/openpilotgcs.pri b/ground/openpilotgcs/openpilotgcs.pri
index 7dfc71545..b9da7f671 100644
--- a/ground/openpilotgcs/openpilotgcs.pri
+++ b/ground/openpilotgcs/openpilotgcs.pri
@@ -19,6 +19,19 @@ defineReplace(addNewline) {
     return($$escape_expand(\\n\\t))
 }
 
+defineReplace(qtLibraryName) {
+   unset(LIBRARY_NAME)
+   LIBRARY_NAME = $$1
+   CONFIG(debug, debug|release) {
+      !debug_and_release|build_pass {
+          mac:RET = $$member(LIBRARY_NAME, 0)_debug
+              else:win32:RET = $$member(LIBRARY_NAME, 0)d
+      }
+   }
+   isEmpty(RET):RET = $$LIBRARY_NAME
+   return($$RET)
+}
+
 # For use in custom compilers which just copy files
 win32:i_flag = i
 defineReplace(stripSrcDir) {
diff --git a/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-horizontal.svg b/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-horizontal.svg
new file mode 100644
index 000000000..2f6f71b17
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-horizontal.svg
@@ -0,0 +1,1329 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="280.76797"
+   height="70.597504"
+   id="svg10068"
+   version="1.1"
+   inkscape:version="0.48.1 "
+   sodipodi:docname="lineardial-horizontal.svg"
+   inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
+   inkscape:export-xdpi="103.61"
+   inkscape:export-ydpi="103.61"
+   style="display:inline">
+  <defs
+     id="defs10070">
+    <linearGradient
+       id="linearGradient4439">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4441" />
+      <stop
+         id="stop4443"
+         offset="0.19742694"
+         style="stop-color:#808080;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4445" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4413">
+      <stop
+         id="stop4415"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="0.19742694"
+         id="stop4417" />
+      <stop
+         id="stop4419"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4387">
+      <stop
+         id="stop4389"
+         offset="0"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4391" />
+      <stop
+         id="stop4393"
+         offset="1"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4361">
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="0"
+         id="stop4363" />
+      <stop
+         id="stop4365"
+         offset="0.60976541"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="1"
+         id="stop4367" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4317">
+      <stop
+         id="stop4319"
+         offset="0"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4321" />
+      <stop
+         id="stop4323"
+         offset="1"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4265">
+      <stop
+         style="stop-color:#333333;stop-opacity:1"
+         offset="0"
+         id="stop4267" />
+      <stop
+         id="stop4269"
+         offset="0.60976541"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#333333;stop-opacity:1"
+         offset="1"
+         id="stop4271" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4239">
+      <stop
+         id="stop4241"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#808080;stop-opacity:1"
+         offset="0.60976541"
+         id="stop4243" />
+      <stop
+         id="stop4245"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4215">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4217" />
+      <stop
+         id="stop4219"
+         offset="0.3051295"
+         style="stop-color:#808080;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4221" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4193">
+      <stop
+         id="stop4195"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#999999;stop-opacity:1"
+         offset="0.3051295"
+         id="stop4197" />
+      <stop
+         id="stop4199"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4171">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4173" />
+      <stop
+         id="stop4175"
+         offset="0.3051295"
+         style="stop-color:#666666;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop4177" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4121">
+      <stop
+         id="stop4123"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#666666;stop-opacity:1"
+         offset="0.2984421"
+         id="stop4125" />
+      <stop
+         id="stop4127"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4085">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop4087" />
+      <stop
+         id="stop4089"
+         offset="0.2984421"
+         style="stop-color:#999999;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop4091" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4063">
+      <stop
+         id="stop4065"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#b3b3b3;stop-opacity:1"
+         offset="0.39999998"
+         id="stop4067" />
+      <stop
+         id="stop4069"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient4027">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop4029" />
+      <stop
+         id="stop4031"
+         offset="0.31880337"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop4033" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3903">
+      <stop
+         id="stop3905"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0.3220683"
+         id="stop3907" />
+      <stop
+         id="stop3909"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5375">
+      <stop
+         style="stop-color:#00000c;stop-opacity:1"
+         offset="0"
+         id="stop5377" />
+      <stop
+         id="stop5383"
+         offset="0.34210527"
+         style="stop-color:#0044d8;stop-opacity:1" />
+      <stop
+         style="stop-color:#00000c;stop-opacity:1"
+         offset="1"
+         id="stop5379" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5367">
+      <stop
+         style="stop-color:#000020;stop-opacity:1"
+         offset="0"
+         id="stop5369" />
+      <stop
+         id="stop5371"
+         offset="1"
+         style="stop-color:#000018;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5359">
+      <stop
+         style="stop-color:#00002c;stop-opacity:1"
+         offset="0"
+         id="stop5361" />
+      <stop
+         id="stop5363"
+         offset="0.32456139"
+         style="stop-color:#00ffff;stop-opacity:1" />
+      <stop
+         style="stop-color:#00c8fc;stop-opacity:1"
+         offset="1"
+         id="stop5365" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5346">
+      <stop
+         id="stop5348"
+         offset="0"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+      <stop
+         style="stop-color:#666666;stop-opacity:1"
+         offset="0.37595931"
+         id="stop5350" />
+      <stop
+         id="stop5352"
+         offset="1"
+         style="stop-color:#1a1a1a;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5326">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5328" />
+      <stop
+         id="stop5330"
+         offset="0.35277387"
+         style="stop-color:#4d4d4d;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5332" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5306">
+      <stop
+         id="stop5308"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#808080;stop-opacity:1"
+         offset="0.35277387"
+         id="stop5310" />
+      <stop
+         id="stop5312"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5271">
+      <stop
+         id="stop5273"
+         offset="0"
+         style="stop-color:#000080;stop-opacity:1" />
+      <stop
+         style="stop-color:#00ffff;stop-opacity:1"
+         offset="0.32456139"
+         id="stop5275" />
+      <stop
+         id="stop5277"
+         offset="1"
+         style="stop-color:#000080;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5248">
+      <stop
+         style="stop-color:#000080;stop-opacity:1"
+         offset="0"
+         id="stop5250" />
+      <stop
+         id="stop5256"
+         offset="0.32456139"
+         style="stop-color:#00ffff;stop-opacity:1" />
+      <stop
+         style="stop-color:#000080;stop-opacity:1"
+         offset="1"
+         id="stop5252" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5236">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop5238" />
+      <stop
+         id="stop5244"
+         offset="0.5"
+         style="stop-color:#000000;stop-opacity:0.49803922;" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop5240" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5219">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5221" />
+      <stop
+         id="stop5223"
+         offset="0.35277387"
+         style="stop-color:#b3b3b3;stop-opacity:1" />
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="1"
+         id="stop5225" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5151">
+      <stop
+         id="stop5153"
+         offset="0"
+         style="stop-color:#000000;stop-opacity:1" />
+      <stop
+         style="stop-color:#b3b3b3;stop-opacity:1"
+         offset="0.38512576"
+         id="stop5155" />
+      <stop
+         id="stop5157"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5129">
+      <stop
+         style="stop-color:#1a1a1a;stop-opacity:1"
+         offset="0"
+         id="stop5131" />
+      <stop
+         id="stop5137"
+         offset="0.38512576"
+         style="stop-color:#cccccc;stop-opacity:1" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1"
+         offset="1"
+         id="stop5133" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5116">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5118" />
+      <stop
+         id="stop5124"
+         offset="0.35911319"
+         style="stop-color:#dcaf28;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5120" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5106">
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="0"
+         id="stop5108" />
+      <stop
+         id="stop5114"
+         offset="0.36023793"
+         style="stop-color:#00a000;stop-opacity:1" />
+      <stop
+         style="stop-color:#000000;stop-opacity:1"
+         offset="1"
+         id="stop5110" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5096">
+      <stop
+         style="stop-color:#100000;stop-opacity:1"
+         offset="0"
+         id="stop5098" />
+      <stop
+         id="stop5104"
+         offset="0.36453304"
+         style="stop-color:#aa0000;stop-opacity:1" />
+      <stop
+         style="stop-color:#0c0000;stop-opacity:1"
+         offset="1"
+         id="stop5100" />
+    </linearGradient>
+    <marker
+       inkscape:stockid="Arrow2Sstart"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow2Sstart"
+       style="overflow:visible">
+      <path
+         id="path4640"
+         style="font-size:12px;fill-rule:evenodd;stroke-width:0.625;stroke-linejoin:round"
+         d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
+         transform="matrix(0.3,0,0,0.3,-0.69,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 526.18109 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="744.09448 : 526.18109 : 1"
+       inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
+       id="perspective10076" />
+    <inkscape:perspective
+       id="perspective9987"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10250"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10279"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective10517"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective11202"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3720"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3735"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3757"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3828"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3889"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3925"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3968"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3982"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4682"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3347"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5659"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5719"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective5810"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective3546"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4328"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient8928"
+       id="linearGradient5318"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(2.2532936,0,0,2.206809,446.89077,-285.33499)"
+       x1="-29.837337"
+       y1="285.0596"
+       x2="-29.837337"
+       y2="342.60553" />
+    <linearGradient
+       id="linearGradient8928">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.89156628;"
+         offset="0"
+         id="stop8930" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0;"
+         offset="1"
+         id="stop8932" />
+    </linearGradient>
+    <inkscape:perspective
+       id="perspective4367"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective4402"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective2940"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <inkscape:perspective
+       id="perspective2864"
+       inkscape:persp3d-origin="0.5 : 0.33333333 : 1"
+       inkscape:vp_z="1 : 0.5 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_x="0 : 0.5 : 1"
+       sodipodi:type="inkscape:persp3d" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5096"
+       id="linearGradient5102"
+       x1="117.41457"
+       y1="168.83261"
+       x2="87.074203"
+       y2="168.83261"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999995,-0.99999975,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5106"
+       id="linearGradient5112"
+       x1="117.57944"
+       y1="173.46591"
+       x2="86.644958"
+       y2="173.46591"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999997,-1,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5116"
+       id="linearGradient5122"
+       x1="117.77806"
+       y1="168.82289"
+       x2="86.547356"
+       y2="168.82289"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,1,-1,0,-11.23354,-270.8763)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5129"
+       id="linearGradient5135"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5129"
+       id="linearGradient5144"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5149"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5164"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5169"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5176"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5181"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5188"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5193"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5200"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5205"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5151"
+       id="linearGradient5212"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-246.82069"
+       y2="408.26157" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5217"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5236"
+       id="linearGradient5242"
+       x1="3.7395172"
+       y1="59.899364"
+       x2="42.432911"
+       y2="59.899364"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(129.62194,-129.52019)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5248"
+       id="linearGradient5254"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5271"
+       id="linearGradient5285"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,0.58333333,-2.7039997e-8,32.705471)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5287"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5292"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5219"
+       id="linearGradient5299"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5306"
+       id="linearGradient5304"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5306"
+       id="linearGradient5319"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5326"
+       id="linearGradient5324"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5326"
+       id="linearGradient5339"
+       gradientUnits="userSpaceOnUse"
+       x1="-246.82069"
+       y1="353.9455"
+       x2="-247.44464"
+       y2="412.00528" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5375"
+       id="linearGradient5381"
+       x1="-172.83463"
+       y1="74.562233"
+       x2="-137.26938"
+       y2="74.562233"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(128.37404,-129.52019)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3903"
+       id="linearGradient3899"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,-0.99999988,1.7142859,0,35.373449,-317.43383)"
+       x1="-150.75359"
+       y1="68.860146"
+       x2="-150.75359"
+       y2="87.776077" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4317"
+       id="linearGradient4337"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-384.0242"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4340"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4349"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4317"
+       id="linearGradient4351"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-384.0242"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4361"
+       id="linearGradient4355"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4358"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4375"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4361"
+       id="linearGradient4377"
+       gradientUnits="userSpaceOnUse"
+       x1="-384.0242"
+       y1="-558.1579"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4381"
+       gradientUnits="userSpaceOnUse"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4384"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233538,-270.87634)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4215"
+       id="linearGradient4401"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4403"
+       gradientUnits="userSpaceOnUse"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4407"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4413"
+       id="linearGradient4410"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4413"
+       id="linearGradient4427"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4429"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4387"
+       id="linearGradient4433"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(2.3925782e-6,-1.3232422e-5)"
+       x1="-383.39609"
+       y1="-561.92657"
+       x2="-383.71014"
+       y2="-510.8558" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient4439"
+       id="linearGradient4436"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0,0.99999998,-0.99999991,0,-11.233536,-270.87635)"
+       x1="-235.30438"
+       y1="369.2117"
+       x2="-299.45587"
+       y2="369.2117" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="3.1841238"
+     inkscape:cx="140.38399"
+     inkscape:cy="35.455778"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer5"
+     showgrid="false"
+     inkscape:window-width="1366"
+     inkscape:window-height="706"
+     inkscape:window-x="-8"
+     inkscape:window-y="-8"
+     inkscape:window-maximized="1"
+     inkscape:object-paths="true"
+     showguides="true"
+     inkscape:guide-bbox="true"
+     inkscape:snap-to-guides="false"
+     inkscape:snap-grids="false"
+     inkscape:snap-global="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata10073">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+        <dc:creator>
+          <cc:Agent>
+            <dc:title>Edouard Lafargue</dc:title>
+          </cc:Agent>
+        </dc:creator>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     style="display:inline"
+     inkscape:label="Dark background"
+     id="g2932"
+     inkscape:groupmode="layer"
+     transform="translate(-368.2988,-507.08981)"
+     sodipodi:insensitive="true">
+    <g
+       id="background"
+       inkscape:label="#g4447">
+      <rect
+         inkscape:export-ydpi="88.809998"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         ry="4.5346842"
+         y="-577.68732"
+         x="-616.67365"
+         height="61.448738"
+         width="226.5451"
+         id="rect3145"
+         style="fill:none;stroke:none"
+         transform="scale(-1,-1)" />
+      <rect
+         transform="scale(-1,-1)"
+         style="fill:url(#linearGradient4436);fill-opacity:1;stroke:none"
+         id="rect2936"
+         width="280.76797"
+         height="53.465179"
+         x="-649.06677"
+         y="-560.55499"
+         ry="3.9455285"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-ydpi="88.809998" />
+      <rect
+         transform="scale(-1,-1)"
+         inkscape:label="#rect4388"
+         inkscape:export-ydpi="88.809998"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         ry="2.9134333"
+         y="-554.10626"
+         x="-642.96082"
+         height="39.479435"
+         width="267.02957"
+         id="bargraph-outer"
+         style="fill:url(#linearGradient4433);fill-opacity:1;stroke:none" />
+      <rect
+         transform="scale(-1,-1)"
+         style="fill:#000000;fill-opacity:1;stroke:none"
+         id="bargraph"
+         width="262.18338"
+         height="32.956219"
+         x="-640.57104"
+         y="-550.64001"
+         ry="2.432044"
+         inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+         inkscape:export-xdpi="88.809998"
+         inkscape:export-ydpi="88.809998"
+         inkscape:label="#rect4388" />
+    </g>
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer5"
+     inkscape:label="Green Zone"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:label="#rect5741"
+       style="fill:url(#linearGradient5112);fill-opacity:1;stroke:none;display:inline"
+       id="green"
+       width="260.53882"
+       height="32.20755"
+       x="-411.77084"
+       y="-184.00433"
+       ry="2.3767958"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-ydpi="88.809998"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer4"
+     inkscape:label="Yellow Zone"
+     style="display:none"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:export-ydpi="88.809998"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       ry="2.4231479"
+       y="-184.63248"
+       x="-411.45679"
+       height="32.835663"
+       width="260.53882"
+       id="yellow"
+       style="fill:url(#linearGradient5122);fill-opacity:1;stroke:none;display:inline"
+       inkscape:label="#rect5741"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer3"
+     inkscape:label="Red zone"
+     style="display:none"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       inkscape:label="#rect5741"
+       style="fill:url(#linearGradient5102);fill-opacity:1;stroke:none;display:inline"
+       id="red"
+       width="260.23901"
+       height="32.519711"
+       x="-411.38739"
+       y="-184.35484"
+       ry="2.399832"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
+       inkscape:export-xdpi="88.809998"
+       inkscape:export-ydpi="88.809998"
+       transform="scale(-1,-1)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer6"
+     inkscape:label="Indicator"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.2964696;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       id="needle"
+       width="32.035065"
+       height="6.0045304"
+       x="152.63882"
+       y="-157.12926"
+       inkscape:label="#rect5246"
+       transform="matrix(0,1,-1,0,0,0)" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer1"
+     inkscape:label="Text"
+     style="display:inline"
+     transform="translate(-140.85549,-141.35611)"
+     sodipodi:insensitive="true">
+    <rect
+       style="fill:#ffffff;fill-opacity:1;stroke:none"
+       id="field"
+       width="50.321022"
+       height="13.236827"
+       x="-201.80493"
+       y="-209.93616"
+       inkscape:label="#rect2878"
+       transform="scale(-1,-1)" />
+    <rect
+       inkscape:label="#rect2878"
+       y="-209.5061"
+       x="-405.05276"
+       height="13.236827"
+       width="51.71294"
+       id="value"
+       style="fill:#ffffff;fill-opacity:1;stroke:none"
+       transform="scale(-1,-1)" />
+  </g>
+</svg>
diff --git a/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-vertical.svg b/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-vertical.svg
index 11a4e1c93..010283c2c 100644
--- a/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-vertical.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/dials/deluxe/lineardial-vertical.svg
@@ -30,7 +30,7 @@
          style="stop-color:#000000;stop-opacity:1" />
       <stop
          style="stop-color:#ffffff;stop-opacity:1"
-         offset="0.32793573"
+         offset="0.39386007"
          id="stop3907" />
       <stop
          id="stop3909"
@@ -222,7 +222,7 @@
       <stop
          id="stop5124"
          offset="0.37640449"
-         style="stop-color:#ffff00;stop-opacity:1" />
+         style="stop-color:#dcaf28;stop-opacity:1" />
       <stop
          style="stop-color:#000000;stop-opacity:1"
          offset="1"
@@ -236,8 +236,8 @@
          id="stop5108" />
       <stop
          id="stop5114"
-         offset="0.33917606"
-         style="stop-color:#00ff00;stop-opacity:1" />
+         offset="0.38184431"
+         style="stop-color:#00a000;stop-opacity:1" />
       <stop
          style="stop-color:#000000;stop-opacity:1"
          offset="1"
@@ -252,7 +252,7 @@
       <stop
          id="stop5104"
          offset="0.39717463"
-         style="stop-color:#ff2a2a;stop-opacity:1" />
+         style="stop-color:#aa0000;stop-opacity:1" />
       <stop
          style="stop-color:#0c0000;stop-opacity:1"
          offset="1"
@@ -740,9 +740,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="7.9373969"
-     inkscape:cx="10.296503"
-     inkscape:cy="298.23206"
+     inkscape:zoom="1.9843492"
+     inkscape:cx="13.888309"
+     inkscape:cy="302.67927"
      inkscape:document-units="px"
      inkscape:current-layer="layer6"
      showgrid="false"
@@ -849,7 +849,7 @@
      inkscape:groupmode="layer"
      id="layer4"
      inkscape:label="Yellow Zone"
-     style="display:inline"
+     style="display:none"
      transform="translate(-129.62194,129.52019)"
      sodipodi:insensitive="true">
     <rect
@@ -891,11 +891,10 @@
      inkscape:groupmode="layer"
      id="layer6"
      inkscape:label="Indicator"
-     style="display:none"
-     transform="translate(-129.62194,129.52019)"
-     sodipodi:insensitive="true">
+     style="display:inline"
+     transform="translate(-129.62194,129.52019)">
     <rect
-       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000001;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+       style="fill:url(#linearGradient3899);fill-opacity:1;stroke:#000000;stroke-width:0.30000000999999998;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
        id="needle"
        width="33.162418"
        height="5.9393759"
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/CC.PNG b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/CC.PNG
new file mode 100644
index 000000000..467f34a97
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/CC.PNG differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.3DS b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.3DS
new file mode 100644
index 000000000..1879b07c6
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.3DS differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.jpg b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.jpg
new file mode 100644
index 000000000..bb5d7a8de
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_+.jpg differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS
new file mode 100644
index 000000000..f26dacb45
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.3DS differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.jpg b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.jpg
new file mode 100644
index 000000000..24bd15569
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-QT_X.jpg differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.3DS b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.3DS
new file mode 100644
index 000000000..21fbccf01
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.3DS differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.jpg b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.jpg
new file mode 100644
index 000000000..bdc45dd07
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_+.jpg differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.3DS b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.3DS
new file mode 100644
index 000000000..529e60fac
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.3DS differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.jpg b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.jpg
new file mode 100644
index 000000000..8e1de3196
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/J14-Q_X.jpg differ
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.PNG b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.PNG
new file mode 100644
index 000000000..5d26bb120
Binary files /dev/null and b/ground/openpilotgcs/share/openpilotgcs/models/multi/joes_cnc/TEXTURE.PNG differ
diff --git a/ground/openpilotgcs/src/app/app.pro b/ground/openpilotgcs/src/app/app.pro
index 4b1534ad9..c644f7c97 100644
--- a/ground/openpilotgcs/src/app/app.pro
+++ b/ground/openpilotgcs/src/app/app.pro
@@ -11,16 +11,15 @@ SOURCES += main.cpp
 include(../rpath.pri)
 include(../libs/utils/utils.pri)
 
-win32 {
-    CONFIG(debug, debug|release):LIBS *= -lExtensionSystemd -lAggregationd  -lQExtSerialPortd
-    else:LIBS *= -lExtensionSystem -lAggregation -lQExtSerialPort
+LIBS *= -l$$qtLibraryName(ExtensionSystem) -l$$qtLibraryName(Aggregation)
 
+win32 {
+#    CONFIG(debug, debug|release):LIBS *= -lExtensionSystemd -lAggregationd  -lQExtSerialPortd
+#    else:LIBS *= -lExtensionSystem -lAggregation -lQExtSerialPort
     RC_FILE = openpilotgcs.rc
     target.path = /bin
     INSTALLS += target
 } else:macx {
-    CONFIG(debug, debug|release):LIBS *= -lExtensionSystem_debug -lAggregation_debug
-    else:LIBS *= -lExtensionSystem -lAggregation
     LIBS += -framework CoreFoundation
     ICON = openpilotgcs.icns
     QMAKE_INFO_PLIST = Info.plist
@@ -28,8 +27,6 @@ win32 {
     FILETYPES.path = Contents/Resources
     QMAKE_BUNDLE_DATA += FILETYPES
 } else {
-    LIBS *= -lExtensionSystem -lAggregation
-
     target.path  = /bin
     INSTALLS    += target
 }
diff --git a/ground/openpilotgcs/src/libs/aggregation/aggregation.pri b/ground/openpilotgcs/src/libs/aggregation/aggregation.pri
index a6c48c59c..fc6ddc81f 100644
--- a/ground/openpilotgcs/src/libs/aggregation/aggregation.pri
+++ b/ground/openpilotgcs/src/libs/aggregation/aggregation.pri
@@ -1 +1 @@
-LIBS *= -l$$qtLibraryTarget(Aggregation)
+LIBS *= -l$$qtLibraryName(Aggregation)
diff --git a/ground/openpilotgcs/src/libs/extensionsystem/extensionsystem.pri b/ground/openpilotgcs/src/libs/extensionsystem/extensionsystem.pri
index 43855eb16..4c7641b9c 100644
--- a/ground/openpilotgcs/src/libs/extensionsystem/extensionsystem.pri
+++ b/ground/openpilotgcs/src/libs/extensionsystem/extensionsystem.pri
@@ -1,3 +1,3 @@
 include(extensionsystem_dependencies.pri)
 
-LIBS *= -l$$qtLibraryTarget(ExtensionSystem)
+LIBS *= -l$$qtLibraryName(ExtensionSystem)
diff --git a/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c b/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c
index 311f1d623..2eee44859 100644
--- a/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c
+++ b/ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c
@@ -30,8 +30,6 @@
 /*!
  * \defgroup light Lights
  */
-/*!
-
 
 /*!
  * \ingroup light
diff --git a/ground/openpilotgcs/src/libs/glc_lib/glc_ext.h b/ground/openpilotgcs/src/libs/glc_lib/glc_ext.h
index a9a36f227..6bdd6532d 100644
--- a/ground/openpilotgcs/src/libs/glc_lib/glc_ext.h
+++ b/ground/openpilotgcs/src/libs/glc_lib/glc_ext.h
@@ -30,6 +30,11 @@
 // Buffer offset used by VBO
 #define BUFFER_OFFSET(i) ((char*)NULL + (i))
 
+#if defined(Q_OS_MAC)
+#include "gl.h"
+#include "glu.h"
+#endif
+
 #if !defined(Q_OS_MAC)
 // ARB_vertex_buffer_object
 extern PFNGLBINDBUFFERARBPROC			glBindBuffer;
diff --git a/ground/openpilotgcs/src/libs/glc_lib/glc_lib.pri b/ground/openpilotgcs/src/libs/glc_lib/glc_lib.pri
index 58610bcaa..d3199ba3a 100644
--- a/ground/openpilotgcs/src/libs/glc_lib/glc_lib.pri
+++ b/ground/openpilotgcs/src/libs/glc_lib/glc_lib.pri
@@ -1,2 +1,2 @@
 QT += opengl
-LIBS += -l$$qtLibraryTarget(GLC_lib)
+LIBS *= -l$$qtLibraryName(GLC_lib)
diff --git a/ground/openpilotgcs/src/libs/glc_lib/viewport/glc_camera.cpp b/ground/openpilotgcs/src/libs/glc_lib/viewport/glc_camera.cpp
index 05eba540f..7229178bc 100644
--- a/ground/openpilotgcs/src/libs/glc_lib/viewport/glc_camera.cpp
+++ b/ground/openpilotgcs/src/libs/glc_lib/viewport/glc_camera.cpp
@@ -25,6 +25,11 @@
 
 #include "glc_camera.h"
 
+#if defined(Q_OS_MAC)
+#include "gl.h"
+#include "glu.h"
+#endif
+
 #include <QtDebug>
 
 using namespace glc;
diff --git a/ground/openpilotgcs/src/libs/libqxt/libqxt.pri b/ground/openpilotgcs/src/libs/libqxt/libqxt.pri
index d2001f6fe..1886943d5 100644
--- a/ground/openpilotgcs/src/libs/libqxt/libqxt.pri
+++ b/ground/openpilotgcs/src/libs/libqxt/libqxt.pri
@@ -1,4 +1,4 @@
-LIBS += -l$$qtLibraryTarget(QxtCore)
+LIBS *= -l$$qtLibraryName(QxtCore)
 
 INCLUDEPATH += \
     $$GCS_SOURCE_TREE/src/libs/libqxt/src/core
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.pri b/ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.pri
index 9c0188c30..f6ea6004b 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.pri
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/opmapcontrol.pri
@@ -1 +1 @@
-LIBS *= -l$$qtLibraryTarget(opmapwidget)
+LIBS *= -l$$qtLibraryName(opmapwidget)
diff --git a/ground/openpilotgcs/src/libs/qextserialport/qextserialport.pri b/ground/openpilotgcs/src/libs/qextserialport/qextserialport.pri
index 1f89982c5..286b70b87 100644
--- a/ground/openpilotgcs/src/libs/qextserialport/qextserialport.pri
+++ b/ground/openpilotgcs/src/libs/qextserialport/qextserialport.pri
@@ -1,2 +1,2 @@
-LIBS += -l$$qtLibraryTarget(QExtSerialPort)
+LIBS *= -l$$qtLibraryName(QExtSerialPort)
 
diff --git a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialport.h b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialport.h
index 60d973f41..8d3ac29a6 100644
--- a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialport.h
+++ b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialport.h
@@ -135,6 +135,7 @@ struct PortSettings
 #include <sys/select.h>
 #include <QSocketNotifier>
 #elif (defined Q_OS_WIN)
+#include <QTimer>
 #include <windows.h>
 #include <QThread>
 #include <QReadWriteLock>
@@ -308,6 +309,9 @@ class QEXTSERIALPORT_EXPORT QextSerialPort: public QIODevice
 #ifdef Q_OS_WIN
     private slots:
         void onWinEvent(HANDLE h);
+        void triggerTxEmpty();
+private:
+        QTimer fakeTxEmpty;
 #endif
 
     private:
diff --git a/ground/openpilotgcs/src/libs/qextserialport/src/win_qextserialport.cpp b/ground/openpilotgcs/src/libs/qextserialport/src/win_qextserialport.cpp
index 350dc7533..1fe0ff3ba 100644
--- a/ground/openpilotgcs/src/libs/qextserialport/src/win_qextserialport.cpp
+++ b/ground/openpilotgcs/src/libs/qextserialport/src/win_qextserialport.cpp
@@ -53,7 +53,6 @@ bool QextSerialPort::open(OpenMode mode) {
     DWORD dwFlagsAndAttributes = 0;
     if (queryMode() == QextSerialPort::EventDriven)
         dwFlagsAndAttributes += FILE_FLAG_OVERLAPPED;
-
     QMutexLocker lock(mutex);
     if (mode == QIODevice::NotOpen)
         return isOpen();
@@ -95,7 +94,10 @@ bool QextSerialPort::open(OpenMode mode) {
                 }
                 winEventNotifier = new QWinEventNotifier(overlap.hEvent, this);
                 connect(winEventNotifier, SIGNAL(activated(HANDLE)), this, SLOT(onWinEvent(HANDLE)));
+                connect(&fakeTxEmpty,SIGNAL(timeout()),this,SLOT(triggerTxEmpty()));
+                fakeTxEmpty.start(10000);
                 WaitCommEvent(Win_Handle, &eventMask, &overlap);
+
             }
         }
     } else {
@@ -111,8 +113,10 @@ is not currently open.
 void QextSerialPort::close()
 {
     QMutexLocker lock(mutex);
+    fakeTxEmpty.stop();
+    disconnect(&fakeTxEmpty,SIGNAL(timeout()),this,SLOT(triggerTxEmpty()));
     if (isOpen()) {
-        flush();
+         flush();
         QIODevice::close(); // mark ourselves as closed
         CancelIo(Win_Handle);
         if (CloseHandle(Win_Handle))
@@ -886,4 +890,38 @@ void QextSerialPort::setTimeout(long millisec) {
     if (queryMode() != QextSerialPort::EventDriven)
         SetCommTimeouts(Win_Handle, &Win_CommTimeouts);
 }
+/*!
+emulates the EV_TXEMPTY system event not present on some BT interfaces
+*/
+void QextSerialPort::triggerTxEmpty()
+{
+    if (bytesToWrite()>500)
+    {
+        QMutexLocker lock(mutex);
+        qint64 totalBytesWritten = 0;
+        QList<OVERLAPPED*> overlapsToDelete;
+        foreach(OVERLAPPED* o, pendingWrites) {
+            DWORD numBytes = 0;
+            if (GetOverlappedResult(Win_Handle, o, & numBytes, false)) {
+                overlapsToDelete.append(o);
+                totalBytesWritten += numBytes;
+            } else if( GetLastError() != ERROR_IO_INCOMPLETE ) {
+                overlapsToDelete.append(o);
+                qWarning() << "CommEvent overlapped write error:" << GetLastError();
+            }
+        }
 
+        if (totalBytesWritten > 0) {
+            QWriteLocker writelocker(bytesToWriteLock);
+            _bytesToWrite = 0;
+            //qDebug()<<"zeroed bytesToWrite";
+        }
+        //qDebug()<<"overlapsToDelete"<<overlapsToDelete.count();
+        foreach(OVERLAPPED* o, overlapsToDelete) {
+            OVERLAPPED *toDelete = pendingWrites.takeAt(pendingWrites.indexOf(o));
+            CloseHandle(toDelete->hEvent);
+            delete toDelete;
+        }
+    }
+
+}
diff --git a/ground/openpilotgcs/src/libs/qscispinbox/qscispinbox.pri b/ground/openpilotgcs/src/libs/qscispinbox/qscispinbox.pri
index 3d63b6605..85cd57253 100644
--- a/ground/openpilotgcs/src/libs/qscispinbox/qscispinbox.pri
+++ b/ground/openpilotgcs/src/libs/qscispinbox/qscispinbox.pri
@@ -1 +1 @@
-LIBS *= -l$$qtLibraryTarget(QScienceSpinBox)
+LIBS *= -l$$qtLibraryName(QScienceSpinBox)
diff --git a/ground/openpilotgcs/src/libs/qtconcurrent/qtconcurrent.pri b/ground/openpilotgcs/src/libs/qtconcurrent/qtconcurrent.pri
index 57929a4cf..141de8ee8 100644
--- a/ground/openpilotgcs/src/libs/qtconcurrent/qtconcurrent.pri
+++ b/ground/openpilotgcs/src/libs/qtconcurrent/qtconcurrent.pri
@@ -1 +1 @@
-LIBS *= -l$$qtLibraryTarget(QtConcurrent)
+LIBS *= -l$$qtLibraryName(QtConcurrent)
diff --git a/ground/openpilotgcs/src/libs/qwt/qwt.pri b/ground/openpilotgcs/src/libs/qwt/qwt.pri
index 4241b6278..7d57a8ce7 100644
--- a/ground/openpilotgcs/src/libs/qwt/qwt.pri
+++ b/ground/openpilotgcs/src/libs/qwt/qwt.pri
@@ -1,2 +1,2 @@
-LIBS += -l$$qtLibraryTarget(Qwt)
+LIBS *= -l$$qtLibraryName(Qwt)
 
diff --git a/ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.pri b/ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.pri
index 01fd85523..a5d13203c 100644
--- a/ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.pri
+++ b/ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.pri
@@ -1 +1 @@
-LIBS += -l$$qtLibraryTarget(sdlgamepad)
+LIBS *= -l$$qtLibraryName(sdlgamepad)
diff --git a/ground/openpilotgcs/src/libs/utils/mylistwidget.cpp b/ground/openpilotgcs/src/libs/utils/mylistwidget.cpp
new file mode 100644
index 000000000..f5fbfb639
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mylistwidget.cpp
@@ -0,0 +1,38 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mylistwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "mylistwidget.h"
+
+QStyleOptionViewItem MyListWidget::viewOptions() const
+{
+    QStyleOptionViewItem option = QListWidget::viewOptions();
+    if (m_iconAbove) {
+        option.decorationPosition = QStyleOptionViewItem::Top;
+        option.displayAlignment = Qt::AlignCenter;
+    }
+    return option;
+}
diff --git a/ground/openpilotgcs/src/libs/utils/mylistwidget.h b/ground/openpilotgcs/src/libs/utils/mylistwidget.h
new file mode 100644
index 000000000..40059927e
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mylistwidget.h
@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mylistwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MYLISTWIDGET_H
+#define MYLISTWIDGET_H
+
+#include "utils_global.h"
+
+#include <QtGui/QListWidget>
+
+/*
+ * MyListWidget is a plain QListWidget but with the added option
+ * to place the icon above the label in ListMode. This is achieved
+ * the easiest by subclassing QListWidget and overriding viewOptions().
+ */
+class QTCREATOR_UTILS_EXPORT MyListWidget : public QListWidget
+{
+    Q_OBJECT
+public:
+    MyListWidget(QWidget *parent) : QListWidget(parent), m_iconAbove(false) { }
+    void setIconAbove(bool iconAbove) { m_iconAbove = iconAbove; }
+protected:
+    QStyleOptionViewItem viewOptions() const;
+private:
+    bool m_iconAbove;
+};
+
+#endif // MYLISTWIDGET_H
diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
new file mode 100644
index 000000000..faf2c911e
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -0,0 +1,109 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mytabbedstackwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "mytabbedstackwidget.h"
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QHBoxLayout>
+#include <QtGui/QLabel>
+#include <QtCore/QDebug>
+
+MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool iconAbove)
+    : QWidget(parent),
+      m_vertical(isVertical),
+      m_iconAbove(iconAbove)
+{
+    m_listWidget = new MyListWidget(this);
+    m_listWidget->setIconAbove(m_iconAbove);
+    m_stackWidget = new QStackedWidget();
+    m_stackWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
+    QBoxLayout *toplevelLayout;
+    if (m_vertical) {
+        toplevelLayout = new QHBoxLayout;
+        toplevelLayout->addWidget(m_listWidget);
+        toplevelLayout->addWidget(m_stackWidget);
+        m_listWidget->setFlow(QListView::TopToBottom);
+        m_listWidget->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
+    } else {
+        toplevelLayout = new QVBoxLayout;
+        toplevelLayout->addWidget(m_stackWidget);
+        toplevelLayout->addWidget(m_listWidget);
+        m_listWidget->setFlow(QListView::LeftToRight);
+        m_listWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+    }
+    if (m_iconAbove && m_vertical)
+        m_listWidget->setFixedWidth(90); // this should be computed instead
+
+    toplevelLayout->setSpacing(0);
+    toplevelLayout->setContentsMargins(0, 0, 0, 0);
+    m_listWidget->setSpacing(0);
+    m_listWidget->setContentsMargins(0, 0, 0, 0);
+    m_stackWidget->setContentsMargins(0, 0, 0, 0);
+    setLayout(toplevelLayout);
+
+    connect(m_listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(showWidget(int)));
+}
+
+void MyTabbedStackWidget::insertTab(const int index, QWidget *tab, const QIcon &icon, const QString &label)
+{
+    tab->setContentsMargins(0, 0, 0, 0);
+    m_stackWidget->insertWidget(index, tab);
+    QListWidgetItem *item = new QListWidgetItem(icon, label);
+    item->setToolTip(label);
+    m_listWidget->insertItem(index, item);
+}
+
+void MyTabbedStackWidget::removeTab(int index)
+{
+    m_stackWidget->removeWidget(m_stackWidget->widget(index));
+    QListWidgetItem *item = m_listWidget->item(index);
+    m_listWidget->removeItemWidget(item);
+    delete item;
+}
+
+int MyTabbedStackWidget::currentIndex() const
+{
+    return m_listWidget->currentRow();
+}
+
+void MyTabbedStackWidget::setCurrentIndex(int index)
+{
+    m_listWidget->setCurrentRow(index);
+}
+
+void MyTabbedStackWidget::showWidget(int index)
+{
+    emit currentAboutToShow(index);
+    m_stackWidget->setCurrentIndex(index);
+    emit currentChanged(index);
+}
+
+void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget)
+{
+    widget->hide();
+}
+
diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h
new file mode 100644
index 000000000..428ed8646
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.h
@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mytabbedstackwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MYTABBEDSTACKWIDGET_H
+#define MYTABBEDSTACKWIDGET_H
+
+#include "utils/mylistwidget.h"
+#include <QtGui/QStackedWidget>
+
+/*
+ * MyTabbedStackWidget is a MyListWidget combined with a QStackedWidget,
+ * similar in function to QTabWidget.
+ */
+class QTCREATOR_UTILS_EXPORT MyTabbedStackWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    MyTabbedStackWidget(QWidget *parent = 0, bool isVertical = false, bool iconAbove = true);
+
+    void insertTab(int index, QWidget *tab, const QIcon &icon, const QString &label);
+    void removeTab(int index);
+    void setIconSize(int size) { m_listWidget->setIconSize(QSize(size, size)); }
+
+    int currentIndex() const;
+
+    void insertCornerWidget(int index, QWidget *widget);
+    int cornerWidgetCount() { return m_cornerWidgetCount; }
+
+signals:
+    void currentAboutToShow(int index);
+    void currentChanged(int index);
+
+public slots:
+    void setCurrentIndex(int index);
+
+private slots:
+    void showWidget(int index);
+
+private:
+    MyListWidget *m_listWidget;
+    QStackedWidget *m_stackWidget;
+    QWidget *m_selectionWidget;
+    bool m_vertical;
+    bool m_iconAbove;
+    int m_cornerWidgetCount;
+};
+
+#endif // MYTABBEDSTACKWIDGET_H
diff --git a/ground/openpilotgcs/src/libs/utils/mytabwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabwidget.cpp
new file mode 100644
index 000000000..2a1a7bee4
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mytabwidget.cpp
@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mytabwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "mytabwidget.h"
+#include <QtGui/QTabBar>
+
+MyTabWidget::MyTabWidget(QWidget *parent)
+    : QTabWidget(parent)
+{
+    QTabBar *tabBar = QTabWidget::tabBar();
+    connect(tabBar, SIGNAL(tabMoved(int, int)), this, SLOT(myTabMoved(int,int)));
+}
+
+void MyTabWidget::moveTab(int from, int to)
+{
+    QTabBar *tabBar = QTabWidget::tabBar();
+    tabBar->moveTab(from, to);
+}
+
+
+void MyTabWidget::myTabMoved(int from, int to)
+{
+    emit tabMoved(from, to);
+}
diff --git a/ground/openpilotgcs/src/libs/utils/mytabwidget.h b/ground/openpilotgcs/src/libs/utils/mytabwidget.h
new file mode 100644
index 000000000..8f941110b
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mytabwidget.h
@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mytabwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup
+ * @{
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef MYTABWIDGET_H
+#define MYTABWIDGET_H
+
+#include "utils_global.h"
+
+#include <QtGui/QTabWidget>
+
+/*
+ * MyTabWidget is a plain QTabWidget with the addition of the signal
+ * tabMoved(int, int) which QTabBar has but for some reason is
+ * not made available from QTabWidget.
+ */
+class QTCREATOR_UTILS_EXPORT MyTabWidget : public QTabWidget
+{
+    Q_OBJECT
+
+public:
+    MyTabWidget(QWidget *parent = 0);
+    void moveTab(int from, int to);
+
+private slots:
+    void myTabMoved(int from, int to);
+
+signals:
+    void tabMoved(int from, int to);
+};
+
+#endif // MYTABWIDGET_H
diff --git a/ground/openpilotgcs/src/libs/utils/utils.pri b/ground/openpilotgcs/src/libs/utils/utils.pri
index 5f35399b9..f6e523b74 100644
--- a/ground/openpilotgcs/src/libs/utils/utils.pri
+++ b/ground/openpilotgcs/src/libs/utils/utils.pri
@@ -1,9 +1 @@
-macx {
-    CONFIG(debug, debug|release):LIBS *= -lUtils_debug
-    else:LIBS *= -lUtils
-} else:win32 {
-    CONFIG(debug, debug|release):LIBS *= -lUtilsd
-    else:LIBS *= -lUtils
-} else {
-    LIBS += -l$$qtLibraryTarget(Utils)
-}
+LIBS *= -l$$qtLibraryName(Utils)
diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro
index 7b923a567..804f7c813 100644
--- a/ground/openpilotgcs/src/libs/utils/utils.pro
+++ b/ground/openpilotgcs/src/libs/utils/utils.pro
@@ -45,7 +45,10 @@ SOURCES += reloadpromptutils.cpp \
     coordinateconversions.cpp \
     pathutils.cpp \
 	worldmagmodel.cpp \
-	homelocationutil.cpp
+	homelocationutil.cpp \
+    mytabbedstackwidget.cpp \
+    mytabwidget.cpp \
+    mylistwidget.cpp
 SOURCES += xmlconfig.cpp
 
 win32 {
@@ -96,7 +99,10 @@ HEADERS += utils_global.h \
     coordinateconversions.h \
     pathutils.h \
 	worldmagmodel.h \
-	homelocationutil.h
+	homelocationutil.h \
+    mytabbedstackwidget.h \
+    mytabwidget.h \
+    mylistwidget.h
 HEADERS += xmlconfig.h
 
 FORMS += filewizardpage.ui \
diff --git a/ground/openpilotgcs/src/openpilotgcslibrary.pri b/ground/openpilotgcs/src/openpilotgcslibrary.pri
index 9aa6f00d2..55fe13114 100644
--- a/ground/openpilotgcs/src/openpilotgcslibrary.pri
+++ b/ground/openpilotgcs/src/openpilotgcslibrary.pri
@@ -8,7 +8,7 @@ DESTDIR = $$GCS_LIBRARY_PATH
 
 include(rpath.pri)
 
-TARGET = $$qtLibraryTarget($$TARGET)
+TARGET = $$qtLibraryName($$TARGET)
 
 contains(QT_CONFIG, reduce_exports):CONFIG += hGCS_symbols
 
diff --git a/ground/openpilotgcs/src/openpilotgcsplugin.pri b/ground/openpilotgcs/src/openpilotgcsplugin.pri
index 9668a2e66..d274b71e8 100644
--- a/ground/openpilotgcs/src/openpilotgcsplugin.pri
+++ b/ground/openpilotgcs/src/openpilotgcsplugin.pri
@@ -23,7 +23,7 @@ copy2build.name = COPY ${QMAKE_FILE_IN}
 copy2build.CONFIG += no_link
 QMAKE_EXTRA_COMPILERS += copy2build
 
-TARGET = $$qtLibraryTarget($$TARGET)
+TARGET = $$qtLibraryName($$TARGET)
 
 macx {
         QMAKE_LFLAGS_SONAME = -Wl,-install_name,@executable_path/../Plugins/$${PROVIDER}/
diff --git a/ground/openpilotgcs/src/plugins/config/ahrs.ui b/ground/openpilotgcs/src/plugins/config/ahrs.ui
index e41c73afd..a9ad4ca32 100644
--- a/ground/openpilotgcs/src/plugins/config/ahrs.ui
+++ b/ground/openpilotgcs/src/plugins/config/ahrs.ui
@@ -110,7 +110,6 @@
              </layout>
             </item>
            </layout>
-           <zorder></zorder>
           </widget>
          </item>
          <item>
diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 66a99e902..fd039a906 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -23,7 +23,7 @@
       <attribute name="title">
        <string>Mixer Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0,0">
+      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0">
        <property name="margin">
         <number>5</number>
        </property>
@@ -44,11 +44,6 @@
          </item>
          <item>
           <widget class="QComboBox" name="aircraftType">
-           <property name="font">
-            <font>
-             <pointsize>10</pointsize>
-            </font>
-           </property>
            <property name="toolTip">
             <string>Select aircraft type here</string>
            </property>
@@ -163,122 +158,168 @@
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_4">
                <item>
-                <layout class="QFormLayout" name="formLayout">
-                 <property name="fieldGrowthPolicy">
-                  <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                <widget class="QGroupBox" name="groupBox_2">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
                  </property>
-                 <item row="0" column="0">
-                  <widget class="QLabel" name="fwEngineLabel">
-                   <property name="text">
-                    <string>Engine</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="1">
-                  <widget class="QComboBox" name="fwEngineChannel"/>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="fwAileron1Label">
-                   <property name="minimumSize">
-                    <size>
-                     <width>60</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string>Aileron 1</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="1">
-                  <widget class="QComboBox" name="fwAileron1Channel"/>
-                 </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="fwAileron2Label">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>60</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string>Aileron 2</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
-                  <widget class="QComboBox" name="fwAileron2Channel">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="fwElevator1Label">
-                   <property name="minimumSize">
-                    <size>
-                     <width>67</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string>Elevator 1</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="1">
-                  <widget class="QComboBox" name="fwElevator1Channel"/>
-                 </item>
-                 <item row="4" column="0">
-                  <widget class="QLabel" name="fwElevator2Label">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>67</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string>Elevator 2</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="1">
-                  <widget class="QComboBox" name="fwElevator2Channel">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="5" column="0">
-                  <widget class="QLabel" name="fwRudder1Label">
-                   <property name="text">
-                    <string>Rudder 1</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="5" column="1">
-                  <widget class="QComboBox" name="fwRudder1Channel"/>
-                 </item>
-                 <item row="6" column="0">
-                  <widget class="QLabel" name="fwRudder2Label">
-                   <property name="text">
-                    <string>Rudder 2</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="6" column="1">
-                  <widget class="QComboBox" name="fwRudder2Channel"/>
-                 </item>
-                </layout>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>100</height>
+                  </size>
+                 </property>
+                 <property name="title">
+                  <string>Output channel asignmets</string>
+                 </property>
+                 <layout class="QFormLayout" name="formLayout_3">
+                  <item row="0" column="0">
+                   <widget class="QLabel" name="fwEngineLabel">
+                    <property name="text">
+                     <string>Engine</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="0" column="1">
+                   <widget class="QComboBox" name="fwEngineChannel">
+                    <property name="toolTip">
+                     <string>Select output channel for the engine</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="1" column="0">
+                   <widget class="QLabel" name="fwAileron1Label">
+                    <property name="minimumSize">
+                     <size>
+                      <width>60</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>Aileron 1</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="1" column="1">
+                   <widget class="QComboBox" name="fwAileron1Channel">
+                    <property name="toolTip">
+                     <string>Select output channel for the first aileron (or elevon)</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="2" column="0">
+                   <widget class="QLabel" name="fwAileron2Label">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>60</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>Aileron 2</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="2" column="1">
+                   <widget class="QComboBox" name="fwAileron2Channel">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="toolTip">
+                     <string>Select output channel for the second aileron (or elevon)</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="3" column="0">
+                   <widget class="QLabel" name="fwElevator1Label">
+                    <property name="minimumSize">
+                     <size>
+                      <width>67</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>Elevator 1</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="3" column="1">
+                   <widget class="QComboBox" name="fwElevator1Channel">
+                    <property name="toolTip">
+                     <string>Select output channel for the first elevator</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="4" column="0">
+                   <widget class="QLabel" name="fwElevator2Label">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>67</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>Elevator 2</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="4" column="1">
+                   <widget class="QComboBox" name="fwElevator2Channel">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="toolTip">
+                     <string>Select output channel for a secondry elevator</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="5" column="0">
+                   <widget class="QLabel" name="fwRudder1Label">
+                    <property name="text">
+                     <string>Rudder 1</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="5" column="1">
+                   <widget class="QComboBox" name="fwRudder1Channel">
+                    <property name="toolTip">
+                     <string>Select output channel for the first rudder</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="6" column="0">
+                   <widget class="QLabel" name="fwRudder2Label">
+                    <property name="text">
+                     <string>Rudder 2</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="6" column="1">
+                   <widget class="QComboBox" name="fwRudder2Channel">
+                    <property name="toolTip">
+                     <string>Select output channel for a secondary rudder</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
                <item>
                 <widget class="QGroupBox" name="elevonMixBox">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
                  <property name="title">
                   <string>Elevon Mix</string>
                  </property>
@@ -361,19 +402,6 @@
                     </item>
                    </layout>
                   </item>
-                  <item>
-                   <spacer name="verticalSpacer_2">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>40</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -391,67 +419,61 @@
                 </spacer>
                </item>
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_7">
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_15">
-                   <item>
-                    <widget class="QLabel" name="label_13">
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Throttle Curve</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QPushButton" name="fwThrottleReset">
-                     <property name="text">
-                      <string>Reset</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>100</width>
-                     <height>100</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>200</width>
-                     <height>200</height>
-                    </size>
-                   </property>
-                   <property name="sizeIncrement">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="fwThrottleCurveItemValue">
-                   <property name="text">
-                    <string>Val: 0.00</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
+                <widget class="QGroupBox" name="groupBox_3">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                   <horstretch>0</horstretch>
+                   <verstretch>100</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="title">
+                  <string>Throttle Curve</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_16">
+                  <item>
+                   <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>100</width>
+                      <height>100</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>200</width>
+                      <height>200</height>
+                     </size>
+                    </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="fwThrottleReset">
+                    <property name="text">
+                     <string>Reset</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="fwThrottleCurveItemValue">
+                    <property name="text">
+                     <string>Val: 0.00</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
               </layout>
              </item>
@@ -507,7 +529,7 @@
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
+              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0">
                <item>
                 <layout class="QVBoxLayout" name="verticalLayout_24">
                  <item>
@@ -746,98 +768,65 @@ Typical value is 50% for + or X configuration on quads.</string>
                 </layout>
                </item>
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_12">
-                 <property name="sizeConstraint">
-                  <enum>QLayout::SetDefaultConstraint</enum>
+                <spacer name="horizontalSpacer_6">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
                  </property>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_11">
-                   <item>
-                    <spacer name="horizontalSpacer_13">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="label_24">
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Throttle Curve</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <spacer name="horizontalSpacer_6">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QPushButton" name="mrThrottleCurveReset">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="font">
-                      <font>
-                       <pointsize>10</pointsize>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Reset</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>120</width>
-                     <height>120</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">background:transparent</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="mrThrottleCurveItemValue">
-                   <property name="text">
-                    <string>Val: 0.00</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <widget class="QGroupBox" name="groupBox_6">
+                 <property name="title">
+                  <string>Throtte Curve</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_9">
+                  <item>
+                   <widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>120</width>
+                      <height>120</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">background:transparent</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="mrThrottleCurveReset">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="text">
+                     <string>Reset</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="mrThrottleCurveItemValue">
+                    <property name="text">
+                     <string>Val: 0.00</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
               </layout>
              </item>
@@ -922,7 +911,7 @@ Typical value is 50% for + or X configuration on quads.</string>
                <item>
                 <widget class="QGroupBox" name="groupBox">
                  <property name="title">
-                  <string>Motor output channels:</string>
+                  <string>Motor output channels</string>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_10">
                   <property name="spacing">
@@ -948,18 +937,8 @@ Typical value is 50% for + or X configuration on quads.</string>
                     </item>
                     <item row="0" column="1">
                      <widget class="QComboBox" name="multiMotor1">
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
-                      </property>
                       <property name="toolTip">
-                       <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Assign your motor channels using the drawing&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;on the right as a reference. Respect propeller rotation!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -972,10 +951,8 @@ p, li { white-space: pre-wrap; }
                     </item>
                     <item row="1" column="1">
                      <widget class="QComboBox" name="multiMotor2">
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -988,10 +965,8 @@ p, li { white-space: pre-wrap; }
                     </item>
                     <item row="2" column="1">
                      <widget class="QComboBox" name="multiMotor3">
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1004,10 +979,8 @@ p, li { white-space: pre-wrap; }
                     </item>
                     <item row="3" column="1">
                      <widget class="QComboBox" name="multiMotor4">
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1039,10 +1012,8 @@ p, li { white-space: pre-wrap; }
                         <verstretch>0</verstretch>
                        </sizepolicy>
                       </property>
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1058,10 +1029,8 @@ p, li { white-space: pre-wrap; }
                       <property name="enabled">
                        <bool>false</bool>
                       </property>
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1077,10 +1046,8 @@ p, li { white-space: pre-wrap; }
                       <property name="enabled">
                        <bool>false</bool>
                       </property>
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1096,10 +1063,8 @@ p, li { white-space: pre-wrap; }
                       <property name="enabled">
                        <bool>false</bool>
                       </property>
-                      <property name="font">
-                       <font>
-                        <pointsize>8</pointsize>
-                       </font>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
@@ -1165,273 +1130,129 @@ p, li { white-space: pre-wrap; }
           </layout>
          </widget>
          <widget class="QWidget" name="custom">
-          <layout class="QVBoxLayout" name="verticalLayout_9">
+          <layout class="QHBoxLayout" name="horizontalLayout_15">
            <item>
-            <layout class="QVBoxLayout" name="verticalLayout_16" stretch="1,2">
-             <property name="spacing">
-              <number>2</number>
-             </property>
-             <item>
+            <layout class="QGridLayout" name="gridLayout">
+             <item row="0" column="0">
               <layout class="QHBoxLayout" name="horizontalLayout_14">
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_17">
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_17">
-                   <item>
-                    <widget class="QLabel" name="label_39">
-                     <property name="font">
-                      <font>
-                       <pointsize>9</pointsize>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Throttle Curve 1</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <spacer name="horizontalSpacer_9">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QPushButton" name="customReset1">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>0</height>
-                      </size>
-                     </property>
-                     <property name="font">
-                      <font>
-                       <pointsize>9</pointsize>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Reset</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>100</width>
-                     <height>100</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>200</width>
-                     <height>200</height>
-                    </size>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="customThrottleCurve1Value">
-                   <property name="text">
-                    <string>Val: 0.00</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
+                <widget class="QGroupBox" name="groupBox_4">
+                 <property name="title">
+                  <string>Curve 1</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_7">
+                  <item>
+                   <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>100</width>
+                      <height>100</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>200</width>
+                      <height>200</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="customReset1">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>Reset</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="customThrottleCurve1Value">
+                    <property name="text">
+                     <string>Val: 0.00</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_18">
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_18">
-                   <item>
-                    <widget class="QLabel" name="label_41">
-                     <property name="font">
-                      <font>
-                       <pointsize>9</pointsize>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Throttle Curve 2</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <spacer name="horizontalSpacer_10">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QPushButton" name="customReset2">
-                     <property name="font">
-                      <font>
-                       <pointsize>9</pointsize>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Reset</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>100</width>
-                     <height>100</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>200</width>
-                     <height>200</height>
-                    </size>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="customThrottleCurve2Value">
-                   <property name="text">
-                    <string>Val: 0.00</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
+                <spacer name="horizontalSpacer_9">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
                </item>
                <item>
-                <layout class="QFormLayout" name="formLayout_12">
-                 <item row="0" column="0">
-                  <layout class="QHBoxLayout" name="horizontalLayout_AA">
-                   <item>
-                    <widget class="QLabel" name="label_CC">
-                     <property name="text">
-                      <string>FeedForward </string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="customFeedForwardValue">
-                     <property name="minimumSize">
-                      <size>
-                       <width>30</width>
-                       <height>0</height>
-                      </size>
-                     </property>
-                     <property name="text">
-                      <string>000</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item row="0" column="1">
-                  <widget class="QSlider" name="customFFSlider">
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_35">
-                   <property name="text">
-                    <string>AccelTime</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="1">
-                  <widget class="QDoubleSpinBox" name="customFFaccel"/>
-                 </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_36">
-                   <property name="text">
-                    <string>DecelTime</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
-                  <widget class="QDoubleSpinBox" name="customFFdecel"/>
-                 </item>
-                 <item row="3" column="0">
-                  <layout class="QHBoxLayout" name="horizontalLayout_SD">
-                   <item>
-                    <widget class="QLabel" name="label_37SDF">
-                     <property name="text">
-                      <string>MaxAccel</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="label_OSD">
-                     <property name="text">
-                      <string>1000</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item row="3" column="1">
-                  <widget class="QSlider" name="customFFMaxAccel">
-                   <property name="minimum">
-                    <number>500</number>
-                   </property>
-                   <property name="maximum">
-                    <number>2000</number>
-                   </property>
-                   <property name="value">
-                    <number>1000</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
+                <widget class="QGroupBox" name="groupBox_5">
+                 <property name="title">
+                  <string>Curve 2</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_17">
+                  <item>
+                   <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>100</width>
+                      <height>100</height>
+                     </size>
+                    </property>
+                    <property name="maximumSize">
+                     <size>
+                      <width>200</width>
+                      <height>200</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QPushButton" name="customReset2">
+                    <property name="text">
+                     <string>Reset</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="customThrottleCurve2Value">
+                    <property name="text">
+                     <string>Val: 0.00</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
               </layout>
              </item>
-             <item>
+             <item row="1" column="0">
               <widget class="QTableWidget" name="customMixerTable">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -1439,11 +1260,6 @@ p, li { white-space: pre-wrap; }
                  <verstretch>0</verstretch>
                 </sizepolicy>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>8</pointsize>
-                </font>
-               </property>
                <property name="alternatingRowColors">
                 <bool>true</bool>
                </property>
@@ -1915,75 +1731,6 @@ p, li { white-space: pre-wrap; }
          </widget>
         </widget>
        </item>
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_2">
-         <item>
-          <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>
-         <item>
-          <widget class="QPushButton" name="airframeHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>32</width>
-             <height>32</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="../coreplugin/core.qrc">
-             <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-           </property>
-           <property name="iconSize">
-            <size>
-             <width>32</width>
-             <height>32</height>
-            </size>
-           </property>
-           <property name="flat">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="saveAircraftToRAM">
-           <property name="toolTip">
-            <string>Send to board, but don't save permanently (flash or SD).</string>
-           </property>
-           <property name="text">
-            <string>Apply</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="saveAircraftToSD">
-           <property name="toolTip">
-            <string>Applies and Saves all settings to flash or SD depending on board.</string>
-           </property>
-           <property name="text">
-            <string>Save</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab">
@@ -1992,7 +1739,7 @@ p, li { white-space: pre-wrap; }
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_25">
        <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0,0">
+        <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0">
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_24">
            <item>
@@ -2266,15 +2013,14 @@ p, li { white-space: pre-wrap; }
             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
-&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Beware&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt; font-weight:600;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
            </property>
           </widget>
          </item>
@@ -2291,49 +2037,81 @@ p, li { white-space: pre-wrap; }
            </property>
           </spacer>
          </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_21">
-           <item>
-            <spacer name="horizontalSpacer_14">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QPushButton" name="ffApply">
-             <property name="toolTip">
-              <string>Send to board, but don't save permanently (flash or SD).</string>
-             </property>
-             <property name="text">
-              <string>Apply</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="ffSave">
-             <property name="toolTip">
-              <string>Applies and Saves all settings to flash or SD depending on board.</string>
-             </property>
-             <property name="text">
-              <string>Save</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
         </layout>
        </item>
       </layout>
      </widget>
     </widget>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <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>
+     <item>
+      <widget class="QPushButton" name="airframeHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveAircraftToRAM">
+       <property name="toolTip">
+        <string>Send to board, but don't save permanently (flash or SD).</string>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveAircraftToSD">
+       <property name="toolTip">
+        <string>Applies and Saves all settings to flash or SD depending on board.</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -2386,54 +2164,6 @@ p, li { white-space: pre-wrap; }
     </hint>
    </hints>
   </connection>
-  <connection>
-   <sender>mrRollMixLevel</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>label_43</receiver>
-   <slot>setNum(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>42</x>
-     <y>220</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>43</x>
-     <y>171</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>mrPitchMixLevel</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>label_44</receiver>
-   <slot>setNum(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>83</x>
-     <y>228</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>82</x>
-     <y>168</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>mrYawMixLevel</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>label_45</receiver>
-   <slot>setNum(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>120</x>
-     <y>254</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>121</x>
-     <y>172</y>
-    </hint>
-   </hints>
-  </connection>
   <connection>
    <sender>elevonSlider1</sender>
    <signal>valueChanged(int)</signal>
@@ -2467,34 +2197,50 @@ p, li { white-space: pre-wrap; }
    </hints>
   </connection>
   <connection>
-   <sender>customFFSlider</sender>
+   <sender>mrPitchMixLevel</sender>
    <signal>valueChanged(int)</signal>
-   <receiver>customFeedForwardValue</receiver>
+   <receiver>label_44</receiver>
    <slot>setNum(int)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>115</x>
-     <y>117</y>
+     <x>83</x>
+     <y>228</y>
     </hint>
     <hint type="destinationlabel">
-     <x>115</x>
-     <y>117</y>
+     <x>82</x>
+     <y>168</y>
     </hint>
    </hints>
   </connection>
   <connection>
-   <sender>customFFMaxAccel</sender>
+   <sender>mrRollMixLevel</sender>
    <signal>valueChanged(int)</signal>
-   <receiver>label_OSD</receiver>
+   <receiver>label_43</receiver>
    <slot>setNum(int)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>115</x>
-     <y>117</y>
+     <x>42</x>
+     <y>220</y>
     </hint>
     <hint type="destinationlabel">
-     <x>115</x>
-     <y>117</y>
+     <x>43</x>
+     <y>171</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>mrYawMixLevel</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>label_45</receiver>
+   <slot>setNum(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>120</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>121</x>
+     <y>172</y>
     </hint>
    </hints>
   </connection>
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
new file mode 100644
index 000000000..a4a8586e5
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -0,0 +1,283 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CC_HW_Widget</class>
+ <widget class="QWidget" name="CC_HW_Widget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>517</width>
+    <height>487</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QFrame" name="frame">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <layout class="QGridLayout" name="gridLayout">
+        <item row="1" column="1" rowspan="5" colspan="3">
+         <widget class="QLabel" name="label_2">
+          <property name="text">
+           <string/>
+          </property>
+          <property name="pixmap">
+           <pixmap resource="configgadget.qrc">:/configgadget/images/coptercontrol.svg</pixmap>
+          </property>
+          <property name="scaledContents">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QComboBox" name="cbFlexi"/>
+        </item>
+        <item row="4" column="0">
+         <widget class="QComboBox" name="cbTele"/>
+        </item>
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_3">
+          <property name="text">
+           <string>MainPort</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+          </property>
+         </widget>
+        </item>
+        <item row="5" column="0">
+         <widget class="QLabel" name="label_4">
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>FlexiPort</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="4">
+         <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>
+        <item row="0" column="1">
+         <widget class="QLabel" name="label_7">
+          <property name="text">
+           <string>Receiver type</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QComboBox" name="receiverType"/>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string>Telemetry speed:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QComboBox" name="telemetrySpeed">
+          <property name="toolTip">
+           <string>Select the speed here.</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_3">
+          <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>
+      </item>
+      <item>
+       <widget class="QLabel" name="problems">
+        <property name="font">
+         <font>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="textFormat">
+         <enum>Qt::AutoText</enum>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_6">
+        <property name="font">
+         <font>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Changes on this page only take effect after board reset or power cycle</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <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>
+        <item>
+         <widget class="QPushButton" name="cchwHelp">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../coreplugin/core.qrc">
+            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveTelemetryToRAM">
+          <property name="toolTip">
+           <string>Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!</string>
+          </property>
+          <property name="autoFillBackground">
+           <bool>true</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+          <property name="checkable">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveTelemetryToSD">
+          <property name="toolTip">
+           <string>Applies and Saves all settings to SD.
+Beware of not locking yourself out!</string>
+          </property>
+          <property name="autoFillBackground">
+           <bool>false</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
index f4ee69629..49a7ab649 100644
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -13,259 +13,141 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <layout class="QVBoxLayout" name="verticalLayout_8">
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_7">
-       <item>
-        <widget class="QLabel" name="label_6">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string>Attitude Rotation</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer_5">
-         <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>
-     </item>
-     <item>
-      <widget class="QLabel" name="label_5">
-       <property name="text">
-        <string>    Select the amount to rotate the attitude</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_8">
-       <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11">
-         <item>
-          <widget class="QLabel" name="label_2">
-           <property name="text">
-            <string>Roll</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QSpinBox" name="rollBias">
-           <property name="minimum">
-            <number>-180</number>
-           </property>
-           <property name="maximum">
-            <number>180</number>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
-       <item>
-        <layout class="QVBoxLayout" name="verticalLayout_10">
-         <item>
-          <widget class="QLabel" name="label_3">
-           <property name="text">
-            <string>Pitch</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QSpinBox" name="pitchBias">
-           <property name="minimum">
-            <number>-90</number>
-           </property>
-           <property name="maximum">
-            <number>90</number>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
-       <item>
-        <layout class="QVBoxLayout" name="verticalLayout_9">
-         <item>
-          <widget class="QLabel" name="label_4">
-           <property name="text">
-            <string>Yaw</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QSpinBox" name="yawBias">
-           <property name="minimum">
-            <number>-180</number>
-           </property>
-           <property name="maximum">
-            <number>180</number>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
-      </layout>
-     </item>
-    </layout>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Rotate virtual attitude relative to board</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QSpinBox" name="rollBias">
+        <property name="minimum">
+         <number>-180</number>
+        </property>
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="pitchBias">
+        <property name="minimum">
+         <number>-90</number>
+        </property>
+        <property name="maximum">
+         <number>90</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="yawBias">
+        <property name="minimum">
+         <number>-180</number>
+        </property>
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
-   <item>
-    <layout class="QVBoxLayout" name="verticalLayout_7">
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_6">
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string>Attitude Calibration</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer_6">
-         <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>
-     </item>
-     <item>
-      <widget class="QLabel" name="label">
-       <property name="text">
-        <string>Place aircraft flat before computing</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_3">
-       <item>
-        <spacer name="horizontalSpacer_3">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QLabel" name="status">
-         <property name="text">
-          <string>Click &quot;Zero Accel Bias&quot; to start</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <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>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <property name="spacing">
-        <number>6</number>
-       </property>
-       <property name="margin">
-        <number>4</number>
-       </property>
-       <item>
-        <widget class="QPushButton" name="zeroBias">
-         <property name="toolTip">
-          <string>Launch horizontal calibration.</string>
-         </property>
-         <property name="text">
-          <string>Zero Accel Bias</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QProgressBar" name="zeroBiasProgress">
-         <property name="value">
-          <number>0</number>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_4">
-     <item>
-      <widget class="QCheckBox" name="zeroGyroBiasOnArming">
-       <property name="toolTip">
-        <string>If enabled, a fast recalibration of gyro zero point will be done
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Calibration</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="zeroBias">
+        <property name="toolTip">
+         <string>Launch horizontal calibration.</string>
+        </property>
+        <property name="text">
+         <string>Level</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QProgressBar" name="zeroBiasProgress">
+        <property name="value">
+         <number>0</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Fixed</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>0</width>
+          <height>10</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="zeroGyroBiasOnArming">
+        <property name="toolTip">
+         <string>If enabled, a fast recalibration of gyro zero point will be done
 whenever the frame is armed. Do not move the airframe while
 arming it in that case!</string>
-       </property>
-       <property name="text">
-        <string>Zero gyro bias upon airframe arming</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_4">
-       <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>
+        </property>
+        <property name="text">
+         <string>Zero gyros while arming aircraft</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
-   <item>
+   <item row="2" column="0">
     <spacer name="verticalSpacer_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -278,7 +160,7 @@ arming it in that case!</string>
      </property>
     </spacer>
    </item>
-   <item>
+   <item row="3" column="0">
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
       <spacer name="horizontalSpacer">
diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui
index 2522ab540..12d501f60 100644
--- a/ground/openpilotgcs/src/plugins/config/ccpm.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui
@@ -1,3140 +1,3875 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ccpmWidget</class>
- <widget class="QWidget" name="ccpmWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>660</width>
-    <height>572</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>300</width>
-    <height>300</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <property name="autoFillBackground">
-   <bool>false</bool>
-  </property>
-  <layout class="QGridLayout" name="gridLayout_17">
-   <item row="0" column="0">
-    <layout class="QGridLayout" name="gridLayout_13">
-     <item row="0" column="0">
-      <layout class="QFormLayout" name="formLayout_6">
-       <property name="fieldGrowthPolicy">
-        <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-       </property>
-       <property name="topMargin">
-        <number>0</number>
-       </property>
-       <item row="0" column="0">
-        <widget class="QLabel" name="label">
-         <property name="text">
-          <string>Swashplate config:</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="1">
-        <widget class="QComboBox" name="ccpmType">
-         <property name="font">
-          <font>
-           <pointsize>10</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>Select aircraft type here</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="1" column="0">
-      <widget class="QTabWidget" name="TabObject">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>400</width>
-         <height>300</height>
-        </size>
-       </property>
-       <property name="currentIndex">
-        <number>0</number>
-       </property>
-       <widget class="QWidget" name="BasicTab">
-        <attribute name="title">
-         <string>Basic settings</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_6">
-         <property name="margin">
-          <number>3</number>
-         </property>
-         <property name="spacing">
-          <number>3</number>
-         </property>
-         <item row="0" column="0">
-          <layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,1,1,0">
-           <item>
-            <widget class="QGroupBox" name="SwashplateBox_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="title">
-              <string>Outputs</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_18">
-              <property name="horizontalSpacing">
-               <number>3</number>
-              </property>
-              <property name="verticalSpacing">
-               <number>2</number>
-              </property>
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item row="2" column="1">
-               <widget class="QComboBox" name="ccpmTailChannel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="ccpmEngineChannel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="ccpmTailLabel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Tail Rotor</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="ccpmEngineLabel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Engine</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="SwashplateBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="title">
-              <string>Swashplate Outputs</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_19">
-              <property name="horizontalSpacing">
-               <number>3</number>
-              </property>
-              <property name="verticalSpacing">
-               <number>2</number>
-              </property>
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item row="0" column="0">
-               <widget class="QLabel" name="ccpmServoWLabel">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Servo W</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QComboBox" name="ccpmServoWChannel">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="ccpmServoXChannel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QComboBox" name="ccpmServoYChannel">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="ccpmServoXLabel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Servo X</string>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="1">
-               <widget class="QComboBox" name="ccpmSingleServo">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>Front</string>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Right</string>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Rear</string>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Left</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <widget class="QLabel" name="ccpmServoZLabel_3">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Single Servo</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="1">
-               <widget class="QComboBox" name="ccpmServoZChannel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="0">
-               <widget class="QLabel" name="ccpmServoZLabel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Servo Z</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="ccpmServoYLabel">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Servo Y</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="SwashplateBox_3">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>70</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Swashplate Servo Angles</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_20">
-              <property name="horizontalSpacing">
-               <number>3</number>
-              </property>
-              <property name="verticalSpacing">
-               <number>2</number>
-              </property>
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item row="0" column="1">
-               <widget class="QDoubleSpinBox" name="ccpmAngleW">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="decimals">
-                 <number>0</number>
-                </property>
-                <property name="maximum">
-                 <double>360.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>15.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="0">
-               <widget class="QLabel" name="ccpmServoWLabel_2">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Angle W</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="ccpmServoXLabel_2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Angle X</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="ccpmServoYLabel_2">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Angle Y</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="0">
-               <widget class="QLabel" name="ccpmServoZLabel_2">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>Angle Z</string>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <widget class="QLabel" name="label_10">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>80</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>80</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>CorrectionAngle</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QDoubleSpinBox" name="ccpmAngleX">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="decimals">
-                 <number>0</number>
-                </property>
-                <property name="maximum">
-                 <double>360.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>15.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="1">
-               <widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="decimals">
-                 <number>0</number>
-                </property>
-                <property name="maximum">
-                 <double>360.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>15.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="1">
-               <widget class="QDoubleSpinBox" name="ccpmAngleZ">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="decimals">
-                 <number>0</number>
-                </property>
-                <property name="maximum">
-                 <double>360.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>15.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QDoubleSpinBox" name="ccpmAngleY">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>85</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>85</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="decimals">
-                 <number>0</number>
-                </property>
-                <property name="maximum">
-                 <double>360.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>15.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_5">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::MinimumExpanding</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>0</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item row="0" column="1">
-          <widget class="QGroupBox" name="ccpmRevoMixingBox">
-           <property name="enabled">
-            <bool>false</bool>
-           </property>
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>50</width>
-             <height>100</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>50</width>
-             <height>600</height>
-            </size>
-           </property>
-           <property name="title">
-            <string>REVO</string>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_3">
-            <property name="spacing">
-             <number>0</number>
-            </property>
-            <property name="margin">
-             <number>3</number>
-            </property>
-            <item>
-             <widget class="QLabel" name="label_14">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>100%</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_2">
-              <item>
-               <spacer name="horizontalSpacer_5">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QSlider" name="ccpmRevoSlider">
-                <property name="enabled">
-                 <bool>false</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>100</height>
-                 </size>
-                </property>
-                <property name="maximum">
-                 <number>100</number>
-                </property>
-                <property name="singleStep">
-                 <number>5</number>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_4">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <widget class="QLabel" name="label_13">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>0%</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QSpinBox" name="ccpmREVOspinBox"/>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item row="0" column="2">
-          <widget class="QGroupBox" name="ccpmPitchMixingBox">
-           <property name="enabled">
-            <bool>true</bool>
-           </property>
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>50</width>
-             <height>100</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>50</width>
-             <height>600</height>
-            </size>
-           </property>
-           <property name="font">
-            <font>
-             <pointsize>8</pointsize>
-            </font>
-           </property>
-           <property name="title">
-            <string>CCPM</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_4">
-            <property name="spacing">
-             <number>0</number>
-            </property>
-            <property name="margin">
-             <number>3</number>
-            </property>
-            <item>
-             <widget class="QLabel" name="label_15">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>Collective</string>
-              </property>
-              <property name="scaledContents">
-               <bool>true</bool>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout">
-              <item>
-               <spacer name="horizontalSpacer_3">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QSlider" name="ccpmCollectiveSlider">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>100</height>
-                 </size>
-                </property>
-                <property name="maximum">
-                 <number>100</number>
-                </property>
-                <property name="singleStep">
-                 <number>5</number>
-                </property>
-                <property name="value">
-                 <number>50</number>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_2">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <widget class="QLabel" name="label_16">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>Cyclic</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QSpinBox" name="ccpmCollectivespinBox">
-              <property name="maximum">
-               <number>100</number>
-              </property>
-              <property name="singleStep">
-               <number>5</number>
-              </property>
-              <property name="value">
-               <number>50</number>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item row="0" column="3">
-          <layout class="QVBoxLayout" name="verticalLayout_9">
-           <item>
-            <widget class="QGroupBox" name="ccpmSwashImageBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-               <horstretch>1</horstretch>
-               <verstretch>1</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>200</width>
-               <height>200</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>600</width>
-               <height>600</height>
-              </size>
-             </property>
-             <property name="sizeIncrement">
-              <size>
-               <width>10</width>
-               <height>10</height>
-              </size>
-             </property>
-             <property name="baseSize">
-              <size>
-               <width>200</width>
-               <height>200</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Swashplate Layout</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignHCenter|Qt::AlignTop</set>
-             </property>
-             <property name="flat">
-              <bool>false</bool>
-             </property>
-             <property name="checkable">
-              <bool>false</bool>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_10">
-              <property name="horizontalSpacing">
-               <number>3</number>
-              </property>
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item row="0" column="0">
-               <widget class="QSplitter" name="splitter_3">
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-                <widget class="QGraphicsView" name="SwashplateImage">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>1</horstretch>
-                   <verstretch>1</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>200</width>
-                   <height>200</height>
-                  </size>
-                 </property>
-                 <property name="maximumSize">
-                  <size>
-                   <width>500</width>
-                   <height>500</height>
-                  </size>
-                 </property>
-                 <property name="sizeIncrement">
-                  <size>
-                   <width>10</width>
-                   <height>10</height>
-                  </size>
-                 </property>
-                 <property name="baseSize">
-                  <size>
-                   <width>200</width>
-                   <height>200</height>
-                  </size>
-                 </property>
-                 <property name="frameShape">
-                  <enum>QFrame::Box</enum>
-                 </property>
-                 <property name="frameShadow">
-                  <enum>QFrame::Plain</enum>
-                 </property>
-                 <property name="lineWidth">
-                  <number>1</number>
-                 </property>
-                 <property name="verticalScrollBarPolicy">
-                  <enum>Qt::ScrollBarAlwaysOff</enum>
-                 </property>
-                 <property name="horizontalScrollBarPolicy">
-                  <enum>Qt::ScrollBarAlwaysOff</enum>
-                 </property>
-                 <property name="backgroundBrush">
-                  <brush brushstyle="DiagCrossPattern">
-                   <color alpha="50">
-                    <red>112</red>
-                    <green>184</green>
-                    <blue>138</blue>
-                   </color>
-                  </brush>
-                 </property>
-                 <property name="foregroundBrush">
-                  <brush brushstyle="SolidPattern">
-                   <color alpha="0">
-                    <red>127</red>
-                    <green>127</green>
-                    <blue>127</blue>
-                   </color>
-                  </brush>
-                 </property>
-                 <property name="sceneRect">
-                  <rectf>
-                   <x>0.000000000000000</x>
-                   <y>0.000000000000000</y>
-                   <width>400.000000000000000</width>
-                   <height>400.000000000000000</height>
-                  </rectf>
-                 </property>
-                 <property name="alignment">
-                  <set>Qt::AlignCenter</set>
-                 </property>
-                 <property name="resizeAnchor">
-                  <enum>QGraphicsView::AnchorViewCenter</enum>
-                 </property>
-                </widget>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-          </layout>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="SwashPlateLevel">
-        <attribute name="title">
-         <string>Swashplate Levelling</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_8">
-         <property name="margin">
-          <number>3</number>
-         </property>
-         <property name="spacing">
-          <number>3</number>
-         </property>
-         <item row="0" column="0">
-          <layout class="QVBoxLayout" name="verticalLayout_8">
-           <property name="leftMargin">
-            <number>3</number>
-           </property>
-           <item>
-            <widget class="QGroupBox" name="SwashLvlInstructionsBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>228</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Commands</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout">
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_9">
-                <property name="spacing">
-                 <number>0</number>
-                </property>
-                <item>
-                 <widget class="QPushButton" name="SwashLvlStartButton">
-                  <property name="minimumSize">
-                   <size>
-                    <width>85</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>85</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string>Start</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="SwashLvlNextButton">
-                  <property name="enabled">
-                   <bool>false</bool>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>85</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>85</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string>Next</string>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
-              </item>
-              <item>
-               <widget class="QTextEdit" name="SwashLvlStepInstruction">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>150</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>220</width>
-                  <height>450</height>
-                 </size>
-                </property>
-                <property name="horizontalScrollBarPolicy">
-                 <enum>Qt::ScrollBarAlwaysOff</enum>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <layout class="QGridLayout" name="gridLayout_3">
-                <item row="0" column="0">
-                 <widget class="QPushButton" name="SwashLvlCancelButton">
-                  <property name="enabled">
-                   <bool>false</bool>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>170</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>170</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string>Cancel</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QPushButton" name="SwashLvlFinishButton">
-                  <property name="enabled">
-                   <bool>false</bool>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>170</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>170</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string>Finish</string>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="SwashLvlStatusBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>200</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Status</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_22">
-              <property name="horizontalSpacing">
-               <number>3</number>
-              </property>
-              <property name="verticalSpacing">
-               <number>2</number>
-              </property>
-              <property name="margin">
-               <number>3</number>
-              </property>
-              <item row="1" column="0">
-               <widget class="QListWidget" name="SwashLvlStepList">
-                <property name="minimumSize">
-                 <size>
-                  <width>220</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>190</width>
-                  <height>125</height>
-                 </size>
-                </property>
-                <property name="editTriggers">
-                 <set>QAbstractItemView::NoEditTriggers</set>
-                </property>
-                <property name="alternatingRowColors">
-                 <bool>true</bool>
-                </property>
-                <property name="selectionMode">
-                 <enum>QAbstractItemView::NoSelection</enum>
-                </property>
-                <property name="selectionBehavior">
-                 <enum>QAbstractItemView::SelectRows</enum>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>Neutral</string>
-                 </property>
-                 <property name="icon">
-                  <iconset>
-                   <normaloff>:/configgadget/images/none.png</normaloff>
-                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Max</string>
-                 </property>
-                 <property name="icon">
-                  <iconset>
-                   <normaloff>:/configgadget/images/none.png</normaloff>
-                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Min</string>
-                 </property>
-                 <property name="icon">
-                  <iconset>
-                   <normaloff>:/configgadget/images/none.png</normaloff>
-                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
-                 </property>
-                 <property name="flags">
-                  <set>ItemIsSelectable|ItemIsEnabled</set>
-                 </property>
-                </item>
-                <item>
-                 <property name="text">
-                  <string>Verify</string>
-                 </property>
-                 <property name="icon">
-                  <iconset>
-                   <normaloff>:/configgadget/images/none.png</normaloff>
-                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
-                 </property>
-                 <property name="flags">
-                  <set>ItemIsEnabled</set>
-                 </property>
-                </item>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_4">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::MinimumExpanding</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>0</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item row="0" column="1">
-          <widget class="QGroupBox" name="SwashLvlccpmSliderBox">
-           <property name="enabled">
-            <bool>true</bool>
-           </property>
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>50</width>
-             <height>100</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>50</width>
-             <height>600</height>
-            </size>
-           </property>
-           <property name="font">
-            <font>
-             <pointsize>8</pointsize>
-            </font>
-           </property>
-           <property name="title">
-            <string>Position</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
-           <layout class="QVBoxLayout" name="verticalLayout_5">
-            <property name="spacing">
-             <number>0</number>
-            </property>
-            <property name="margin">
-             <number>3</number>
-            </property>
-            <item>
-             <widget class="QLabel" name="label_17">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>Max</string>
-              </property>
-              <property name="scaledContents">
-               <bool>true</bool>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <layout class="QHBoxLayout" name="horizontalLayout_4">
-              <item>
-               <spacer name="horizontalSpacer_7">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item>
-               <widget class="QSlider" name="SwashLvlPositionSlider">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>100</height>
-                 </size>
-                </property>
-                <property name="maximum">
-                 <number>100</number>
-                </property>
-                <property name="singleStep">
-                 <number>5</number>
-                </property>
-                <property name="value">
-                 <number>50</number>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer_8">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>5</width>
-                  <height>25</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </item>
-            <item>
-             <widget class="QLabel" name="label_18">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="font">
-               <font>
-                <pointsize>7</pointsize>
-               </font>
-              </property>
-              <property name="text">
-               <string>Min</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QSpinBox" name="SwashLvlPositionSpinBox">
-              <property name="maximum">
-               <number>100</number>
-              </property>
-              <property name="singleStep">
-               <number>5</number>
-              </property>
-              <property name="value">
-               <number>50</number>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item row="0" column="2">
-          <widget class="QGroupBox" name="SwashLvlccpmSwashImageBox">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-             <horstretch>1</horstretch>
-             <verstretch>1</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>200</width>
-             <height>200</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>600</width>
-             <height>600</height>
-            </size>
-           </property>
-           <property name="sizeIncrement">
-            <size>
-             <width>10</width>
-             <height>10</height>
-            </size>
-           </property>
-           <property name="baseSize">
-            <size>
-             <width>200</width>
-             <height>200</height>
-            </size>
-           </property>
-           <property name="title">
-            <string>Swashplate Adjustment</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignHCenter|Qt::AlignTop</set>
-           </property>
-           <property name="flat">
-            <bool>false</bool>
-           </property>
-           <property name="checkable">
-            <bool>false</bool>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_11">
-            <property name="horizontalSpacing">
-             <number>3</number>
-            </property>
-            <property name="margin">
-             <number>3</number>
-            </property>
-            <item row="0" column="0">
-             <widget class="QSplitter" name="splitter_4">
-              <property name="orientation">
-               <enum>Qt::Vertical</enum>
-              </property>
-              <widget class="QGraphicsView" name="SwashLvlSwashplateImage">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                 <horstretch>1</horstretch>
-                 <verstretch>1</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>200</width>
-                 <height>200</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>500</width>
-                 <height>500</height>
-                </size>
-               </property>
-               <property name="sizeIncrement">
-                <size>
-                 <width>10</width>
-                 <height>10</height>
-                </size>
-               </property>
-               <property name="baseSize">
-                <size>
-                 <width>200</width>
-                 <height>200</height>
-                </size>
-               </property>
-               <property name="frameShape">
-                <enum>QFrame::Box</enum>
-               </property>
-               <property name="frameShadow">
-                <enum>QFrame::Plain</enum>
-               </property>
-               <property name="lineWidth">
-                <number>1</number>
-               </property>
-               <property name="midLineWidth">
-                <number>0</number>
-               </property>
-               <property name="verticalScrollBarPolicy">
-                <enum>Qt::ScrollBarAlwaysOff</enum>
-               </property>
-               <property name="horizontalScrollBarPolicy">
-                <enum>Qt::ScrollBarAlwaysOff</enum>
-               </property>
-               <property name="backgroundBrush">
-                <brush brushstyle="DiagCrossPattern">
-                 <color alpha="25">
-                  <red>126</red>
-                  <green>176</green>
-                  <blue>220</blue>
-                 </color>
-                </brush>
-               </property>
-               <property name="foregroundBrush">
-                <brush brushstyle="NoBrush">
-                 <color alpha="255">
-                  <red>0</red>
-                  <green>0</green>
-                  <blue>0</blue>
-                 </color>
-                </brush>
-               </property>
-               <property name="sceneRect">
-                <rectf>
-                 <x>0.000000000000000</x>
-                 <y>0.000000000000000</y>
-                 <width>400.000000000000000</width>
-                 <height>400.000000000000000</height>
-                </rectf>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignCenter</set>
-               </property>
-               <property name="resizeAnchor">
-                <enum>QGraphicsView::AnchorViewCenter</enum>
-               </property>
-              </widget>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="CurveTab">
-        <attribute name="title">
-         <string>Curve settings</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_7">
-         <property name="margin">
-          <number>3</number>
-         </property>
-         <property name="spacing">
-          <number>3</number>
-         </property>
-         <item row="0" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_5">
-           <item>
-            <widget class="QComboBox" name="CurveType">
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-              </font>
-             </property>
-             <property name="toolTip">
-              <string>Select aircraft type here</string>
-             </property>
-             <item>
-              <property name="text">
-               <string>Linear</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Flat</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Step</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Exp</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Log</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Custom</string>
-              </property>
-             </item>
-            </widget>
-           </item>
-           <item>
-            <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>
-           <item>
-            <widget class="QLabel" name="label_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>Number of points</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="NumCurvePoints">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimum">
-              <number>2</number>
-             </property>
-             <property name="maximum">
-              <number>10</number>
-             </property>
-             <property name="value">
-              <number>5</number>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="1" column="0">
-          <layout class="QGridLayout" name="gridLayout_2">
-           <item row="0" column="0">
-            <widget class="QLabel" name="CurveLabel1">
-             <property name="text">
-              <string>Min</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <widget class="QLabel" name="CurveLabel2">
-             <property name="text">
-              <string>Max</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="2">
-            <widget class="QLabel" name="CurveLabel3">
-             <property name="text">
-              <string>Step point</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="0">
-            <widget class="QDoubleSpinBox" name="CurveValue1">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>10.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QDoubleSpinBox" name="CurveValue2">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>10.000000000000000</double>
-             </property>
-             <property name="value">
-              <double>1.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="2">
-            <widget class="QDoubleSpinBox" name="CurveValue3">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="value">
-              <double>50.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="2" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_6">
-           <item>
-            <widget class="QComboBox" name="CurveToGenerate">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-              </font>
-             </property>
-             <property name="toolTip">
-              <string>Select aircraft type here</string>
-             </property>
-             <item>
-              <property name="text">
-               <string>Throttle</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Pitch</string>
-              </property>
-             </item>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="ccpmGenerateCurve">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Generate curves based on settings</string>
-             </property>
-             <property name="text">
-              <string>&lt;-- Generate Curve</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_6">
-             <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>
-         </item>
-         <item row="3" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_3">
-           <property name="spacing">
-            <number>3</number>
-           </property>
-           <item>
-            <widget class="QTableWidget" name="CurveSettings">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>250</width>
-               <height>200</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>250</width>
-               <height>273</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>8</pointsize>
-              </font>
-             </property>
-             <property name="verticalScrollBarPolicy">
-              <enum>Qt::ScrollBarAsNeeded</enum>
-             </property>
-             <property name="horizontalScrollBarPolicy">
-              <enum>Qt::ScrollBarAsNeeded</enum>
-             </property>
-             <property name="autoScroll">
-              <bool>true</bool>
-             </property>
-             <property name="alternatingRowColors">
-              <bool>true</bool>
-             </property>
-             <property name="cornerButtonEnabled">
-              <bool>true</bool>
-             </property>
-             <attribute name="horizontalHeaderCascadingSectionResizes">
-              <bool>true</bool>
-             </attribute>
-             <attribute name="horizontalHeaderStretchLastSection">
-              <bool>true</bool>
-             </attribute>
-             <attribute name="verticalHeaderDefaultSectionSize">
-              <number>25</number>
-             </attribute>
-             <attribute name="verticalHeaderMinimumSectionSize">
-              <number>25</number>
-             </attribute>
-             <row>
-              <property name="text">
-               <string>0%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>25%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>50%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>75%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>100%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <column>
-              <property name="text">
-               <string>Throttle Curve</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </column>
-             <column>
-              <property name="text">
-               <string>Blade Pitch Curve</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </column>
-             <item row="0" column="0">
-              <property name="text">
-               <string>0.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="0" column="1">
-              <property name="text">
-               <string>0.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="1" column="0">
-              <property name="text">
-               <string>0.250</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="1" column="1">
-              <property name="text">
-               <string>0.250</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="2" column="0">
-              <property name="text">
-               <string>0.500</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="2" column="1">
-              <property name="text">
-               <string>0.500</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="3" column="0">
-              <property name="text">
-               <string>0.750</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="3" column="1">
-              <property name="text">
-               <string>0.750</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="4" column="0">
-              <property name="text">
-               <string>1.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="4" column="1">
-              <property name="text">
-               <string>1.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="5" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="5" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="6" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="6" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="7" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="7" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="8" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="8" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="9" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="9" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="ThrottleCurveBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>1</horstretch>
-               <verstretch>1</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>100</width>
-               <height>100</height>
-              </size>
-             </property>
-             <property name="sizeIncrement">
-              <size>
-               <width>10</width>
-               <height>10</height>
-              </size>
-             </property>
-             <property name="baseSize">
-              <size>
-               <width>100</width>
-               <height>100</height>
-              </size>
-             </property>
-             <property name="layoutDirection">
-              <enum>Qt::LeftToRight</enum>
-             </property>
-             <property name="title">
-              <string>Throttle Curve</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-             </property>
-             <property name="flat">
-              <bool>false</bool>
-             </property>
-             <layout class="QGridLayout" name="gridLayout">
-              <property name="margin">
-               <number>0</number>
-              </property>
-              <property name="spacing">
-               <number>0</number>
-              </property>
-              <item row="0" column="0">
-               <widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>50</width>
-                  <height>50</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>1000</width>
-                  <height>1000</height>
-                 </size>
-                </property>
-                <property name="sizeIncrement">
-                 <size>
-                  <width>10</width>
-                  <height>10</height>
-                 </size>
-                </property>
-                <property name="baseSize">
-                 <size>
-                  <width>200</width>
-                  <height>200</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="PitchCurveBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>1</horstretch>
-               <verstretch>1</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>100</width>
-               <height>100</height>
-              </size>
-             </property>
-             <property name="sizeIncrement">
-              <size>
-               <width>10</width>
-               <height>10</height>
-              </size>
-             </property>
-             <property name="baseSize">
-              <size>
-               <width>100</width>
-               <height>100</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Pitch Curve</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_5">
-              <property name="margin">
-               <number>0</number>
-              </property>
-              <property name="spacing">
-               <number>0</number>
-              </property>
-              <item row="0" column="0">
-               <widget class="MixerCurveWidget" name="PitchCurve" native="true">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-                  <horstretch>1</horstretch>
-                  <verstretch>1</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>50</width>
-                  <height>50</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>1000</width>
-                  <height>1000</height>
-                 </size>
-                </property>
-                <property name="sizeIncrement">
-                 <size>
-                  <width>10</width>
-                  <height>10</height>
-                 </size>
-                </property>
-                <property name="baseSize">
-                 <size>
-                  <width>200</width>
-                  <height>200</height>
-                 </size>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="4" column="0">
-          <spacer name="verticalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeType">
-            <enum>QSizePolicy::Preferred</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>0</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="AdvancedTab">
-        <attribute name="title">
-         <string>Advanced settings</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_4">
-         <property name="margin">
-          <number>3</number>
-         </property>
-         <property name="spacing">
-          <number>3</number>
-         </property>
-         <item row="0" column="0">
-          <widget class="QTableWidget" name="ccpmAdvancedSettingsTable">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>200</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>1000</width>
-             <height>300</height>
-            </size>
-           </property>
-           <property name="verticalScrollBarPolicy">
-            <enum>Qt::ScrollBarAlwaysOff</enum>
-           </property>
-           <property name="horizontalScrollBarPolicy">
-            <enum>Qt::ScrollBarAlwaysOff</enum>
-           </property>
-           <property name="autoScroll">
-            <bool>true</bool>
-           </property>
-           <property name="alternatingRowColors">
-            <bool>true</bool>
-           </property>
-           <property name="selectionMode">
-            <enum>QAbstractItemView::NoSelection</enum>
-           </property>
-           <property name="wordWrap">
-            <bool>false</bool>
-           </property>
-           <property name="cornerButtonEnabled">
-            <bool>true</bool>
-           </property>
-           <attribute name="horizontalHeaderDefaultSectionSize">
-            <number>75</number>
-           </attribute>
-           <attribute name="horizontalHeaderMinimumSectionSize">
-            <number>20</number>
-           </attribute>
-           <row>
-            <property name="text">
-             <string>Engine</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>Tail Rotor</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>Servo W</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>Servo X</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>Servo Y</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>Servo Z</string>
-            </property>
-           </row>
-           <column>
-            <property name="text">
-             <string>Channel</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Curve 1</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Curve 2</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-           </column>
-           <column>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-           </column>
-           <item row="0" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="0" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="0" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="0" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="0" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="0" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="1" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="2" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="3" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="4" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="0">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="1">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="2">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="3">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="4">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-           <item row="5" column="5">
-            <property name="text">
-             <string>-</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-            </property>
-           </item>
-          </widget>
-         </item>
-         <item row="1" column="0">
-          <spacer name="verticalSpacer">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeType">
-            <enum>QSizePolicy::MinimumExpanding</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </widget>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>MixerCurveWidget</class>
-   <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
- <tabstops>
-  <tabstop>ccpmType</tabstop>
-  <tabstop>TabObject</tabstop>
-  <tabstop>ccpmEngineChannel</tabstop>
-  <tabstop>ccpmTailChannel</tabstop>
-  <tabstop>ccpmServoWChannel</tabstop>
-  <tabstop>ccpmServoXChannel</tabstop>
-  <tabstop>ccpmServoYChannel</tabstop>
-  <tabstop>ccpmServoZChannel</tabstop>
-  <tabstop>ccpmSingleServo</tabstop>
-  <tabstop>ccpmAngleW</tabstop>
-  <tabstop>ccpmAngleX</tabstop>
-  <tabstop>ccpmAngleY</tabstop>
-  <tabstop>ccpmAngleZ</tabstop>
-  <tabstop>ccpmCorrectionAngle</tabstop>
-  <tabstop>ccpmRevoSlider</tabstop>
-  <tabstop>ccpmREVOspinBox</tabstop>
-  <tabstop>ccpmCollectiveSlider</tabstop>
-  <tabstop>ccpmCollectivespinBox</tabstop>
-  <tabstop>SwashplateImage</tabstop>
-  <tabstop>SwashLvlStartButton</tabstop>
-  <tabstop>SwashLvlNextButton</tabstop>
-  <tabstop>SwashLvlStepInstruction</tabstop>
-  <tabstop>SwashLvlCancelButton</tabstop>
-  <tabstop>SwashLvlFinishButton</tabstop>
-  <tabstop>SwashLvlStepList</tabstop>
-  <tabstop>SwashLvlPositionSlider</tabstop>
-  <tabstop>SwashLvlPositionSpinBox</tabstop>
-  <tabstop>SwashLvlSwashplateImage</tabstop>
-  <tabstop>CurveType</tabstop>
-  <tabstop>NumCurvePoints</tabstop>
-  <tabstop>CurveValue1</tabstop>
-  <tabstop>CurveValue2</tabstop>
-  <tabstop>CurveValue3</tabstop>
-  <tabstop>CurveToGenerate</tabstop>
-  <tabstop>ccpmGenerateCurve</tabstop>
-  <tabstop>CurveSettings</tabstop>
-  <tabstop>ccpmAdvancedSettingsTable</tabstop>
- </tabstops>
- <resources/>
- <connections>
-  <connection>
-   <sender>ccpmCollectiveSlider</sender>
-   <signal>sliderMoved(int)</signal>
-   <receiver>ccpmCollectivespinBox</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>283</x>
-     <y>400</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>294</x>
-     <y>550</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ccpmCollectivespinBox</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>ccpmCollectiveSlider</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>294</x>
-     <y>550</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>283</x>
-     <y>482</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ccpmREVOspinBox</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>ccpmRevoSlider</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>241</x>
-     <y>550</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>230</x>
-     <y>484</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ccpmRevoSlider</sender>
-   <signal>sliderMoved(int)</signal>
-   <receiver>ccpmREVOspinBox</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>230</x>
-     <y>313</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>241</x>
-     <y>550</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>SwashLvlPositionSlider</sender>
-   <signal>sliderMoved(int)</signal>
-   <receiver>SwashLvlPositionSpinBox</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>276</x>
-     <y>486</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>270</x>
-     <y>537</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>SwashLvlPositionSpinBox</sender>
-   <signal>valueChanged(int)</signal>
-   <receiver>SwashLvlPositionSlider</receiver>
-   <slot>setValue(int)</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>257</x>
-     <y>535</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>277</x>
-     <y>401</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ccpmWidget</class>
+ <widget class="QWidget" name="ccpmWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>660</width>
+    <height>572</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>300</width>
+    <height>300</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_17">
+   <item row="0" column="0">
+    <layout class="QGridLayout" name="gridLayout_13">
+     <item row="0" column="0">
+      <layout class="QFormLayout" name="formLayout_6">
+       <property name="fieldGrowthPolicy">
+        <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <item row="0" column="0">
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>Swashplate config:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QComboBox" name="ccpmType">
+         <property name="toolTip">
+          <string>Select aircraft type here</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item row="1" column="0">
+      <widget class="QTabWidget" name="TabObject">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>300</width>
+         <height>300</height>
+        </size>
+       </property>
+       <property name="currentIndex">
+        <number>2</number>
+       </property>
+       <widget class="QWidget" name="BasicTab">
+        <attribute name="title">
+         <string>Basic settings</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_6">
+         <property name="leftMargin">
+          <number>3</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>3</number>
+         </property>
+         <property name="bottomMargin">
+          <number>3</number>
+         </property>
+         <property name="spacing">
+          <number>3</number>
+         </property>
+         <item row="0" column="0">
+          <layout class="QVBoxLayout" name="ccpmSettingsBox" stretch="0,1,1,0,0">
+           <item>
+            <widget class="QGroupBox" name="SwashplateBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>190</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Outputs</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_18">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>2</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="ccpmTailChannel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="ccpmEngineChannel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="ccpmTailLabel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Tail Rotor</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="ccpmEngineLabel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Engine</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="SwashplateBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>190</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Swashplate Outputs</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_19">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>2</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QLabel" name="ccpmServoWLabel">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Servo W</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QComboBox" name="ccpmServoWChannel">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="ccpmServoXChannel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QComboBox" name="ccpmServoYChannel">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="ccpmServoXLabel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Servo X</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QComboBox" name="ccpmSingleServo">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Front</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Right</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Rear</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Left</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="ccpmServoZLabel_3">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>1st Servo</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QComboBox" name="ccpmServoZChannel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>100</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="ccpmServoZLabel">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Servo Z</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="ccpmServoYLabel">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Servo Y</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="SwashplateBox_3">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>70</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>190</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Swashplate Servo Angles</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_20">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>2</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="0" column="1">
+               <widget class="QDoubleSpinBox" name="ccpmAngleW">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>85</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="decimals">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>15.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0">
+               <widget class="QLabel" name="ccpmServoWLabel_2">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Angle W</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="ccpmServoXLabel_2">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Angle X</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="ccpmServoYLabel_2">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Angle Y</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="ccpmServoZLabel_2">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Angle Z</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_10">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>80</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>80</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>Correction Angle</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QDoubleSpinBox" name="ccpmAngleX">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>85</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="decimals">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>15.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QDoubleSpinBox" name="ccpmCorrectionAngle">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>85</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="decimals">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>15.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QDoubleSpinBox" name="ccpmAngleZ">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>85</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="decimals">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>15.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QDoubleSpinBox" name="ccpmAngleY">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>85</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>85</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="decimals">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <double>360.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>15.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="SwashplateBox_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>190</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>CCPM Options</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_21">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>2</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="1" column="0">
+               <widget class="QCheckBox" name="ccpmCollectivePassthrough">
+                <property name="text">
+                 <string>Collective Pass through</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QCheckBox" name="ccpmLinkRoll">
+                <property name="text">
+                 <string>Link Roll/Pitch</string>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QCheckBox" name="ccpmLinkCyclic">
+                <property name="text">
+                 <string>Link Cyclic/Collective</string>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <layout class="QHBoxLayout" name="ccpmCollectiveChannelBox">
+                <property name="sizeConstraint">
+                 <enum>QLayout::SetNoConstraint</enum>
+                </property>
+                <item>
+                 <widget class="QLabel" name="ccpmCollectiveChLabel">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>80</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>80</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <pointsize>11</pointsize>
+                   </font>
+                  </property>
+                  <property name="layoutDirection">
+                   <enum>Qt::LeftToRight</enum>
+                  </property>
+                  <property name="text">
+                   <string>Collective Ch</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                  <property name="wordWrap">
+                   <bool>true</bool>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="ccpmCollectiveChannel">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>90</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>100</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_3">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
+         <item row="0" column="10">
+          <layout class="QVBoxLayout" name="ccpmSwashImageBox_2">
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="ccpmSwashImageBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>1</horstretch>
+               <verstretch>1</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>200</width>
+               <height>200</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>600</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="sizeIncrement">
+              <size>
+               <width>10</width>
+               <height>10</height>
+              </size>
+             </property>
+             <property name="baseSize">
+              <size>
+               <width>200</width>
+               <height>200</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>11</pointsize>
+              </font>
+             </property>
+             <property name="title">
+              <string>Swashplate Layout</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignHCenter|Qt::AlignTop</set>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <property name="checkable">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_10">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QSplitter" name="splitter_3">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <widget class="QGraphicsView" name="SwashplateImage">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                   <horstretch>1</horstretch>
+                   <verstretch>1</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>10</width>
+                   <height>10</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>1000</width>
+                   <height>1000</height>
+                  </size>
+                 </property>
+                 <property name="sizeIncrement">
+                  <size>
+                   <width>10</width>
+                   <height>10</height>
+                  </size>
+                 </property>
+                 <property name="baseSize">
+                  <size>
+                   <width>200</width>
+                   <height>200</height>
+                  </size>
+                 </property>
+                 <property name="frameShape">
+                  <enum>QFrame::Box</enum>
+                 </property>
+                 <property name="frameShadow">
+                  <enum>QFrame::Plain</enum>
+                 </property>
+                 <property name="lineWidth">
+                  <number>1</number>
+                 </property>
+                 <property name="verticalScrollBarPolicy">
+                  <enum>Qt::ScrollBarAlwaysOff</enum>
+                 </property>
+                 <property name="horizontalScrollBarPolicy">
+                  <enum>Qt::ScrollBarAlwaysOff</enum>
+                 </property>
+                 <property name="backgroundBrush">
+                  <brush brushstyle="DiagCrossPattern">
+                   <color alpha="50">
+                    <red>112</red>
+                    <green>184</green>
+                    <blue>138</blue>
+                   </color>
+                  </brush>
+                 </property>
+                 <property name="foregroundBrush">
+                  <brush brushstyle="SolidPattern">
+                   <color alpha="0">
+                    <red>127</red>
+                    <green>127</green>
+                    <blue>127</blue>
+                   </color>
+                  </brush>
+                 </property>
+                 <property name="sceneRect">
+                  <rectf>
+                   <x>0.000000000000000</x>
+                   <y>0.000000000000000</y>
+                   <width>400.000000000000000</width>
+                   <height>400.000000000000000</height>
+                  </rectf>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                 <property name="resizeAnchor">
+                  <enum>QGraphicsView::AnchorViewCenter</enum>
+                 </property>
+                </widget>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="0" column="3">
+          <layout class="QHBoxLayout" name="horizontalLayout_10">
+           <property name="sizeConstraint">
+            <enum>QLayout::SetNoConstraint</enum>
+           </property>
+           <property name="rightMargin">
+            <number>3</number>
+           </property>
+           <property name="bottomMargin">
+            <number>3</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="ccpmRevoMixingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>REVO</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <widget class="QLabel" name="label_14">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="font">
+                 <font>
+                  <pointsize>7</pointsize>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>100%</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <item>
+                 <spacer name="horizontalSpacer_5">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmRevoSlider">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_4">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_13">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="font">
+                 <font>
+                  <pointsize>7</pointsize>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>0%</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmREVOspinBox"/>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ccpmPitchMixingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>CCPM</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <widget class="QLabel" name="label_15">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="font">
+                 <font>
+                  <pointsize>7</pointsize>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Collective</string>
+                </property>
+                <property name="scaledContents">
+                 <bool>true</bool>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout">
+                <item>
+                 <spacer name="horizontalSpacer_3">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmCollectiveSlider">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="value">
+                   <number>50</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_16">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="font">
+                 <font>
+                  <pointsize>7</pointsize>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Cyclic</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmCollectivespinBox">
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ccpmCollectiveScalingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Collective</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_12">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_11">
+                <item>
+                 <spacer name="horizontalSpacer_15">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmCollectiveScale">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="value">
+                   <number>50</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_16">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmCollectiveScaleBox">
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ccpmCyclicScalingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Cyclic</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="checkable">
+              <bool>false</bool>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_7">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_7">
+                <item>
+                 <spacer name="horizontalSpacer_9">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmCyclicScale">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="value">
+                   <number>50</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_10">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmCyclicScaleBox">
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ccpmPitchScalingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Pitch</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_13">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_12">
+                <item>
+                 <spacer name="horizontalSpacer_17">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmPitchScale">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="value">
+                   <number>50</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_18">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmPitchScaleBox">
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ccpmRollScalingBox">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>50</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>600</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Roll</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_10">
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_8">
+                <item>
+                 <spacer name="horizontalSpacer_11">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QSlider" name="ccpmRollScale">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>100</height>
+                   </size>
+                  </property>
+                  <property name="maximum">
+                   <number>100</number>
+                  </property>
+                  <property name="singleStep">
+                   <number>5</number>
+                  </property>
+                  <property name="value">
+                   <number>50</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_12">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>5</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QSpinBox" name="ccpmRollScaleBox">
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="SwashPlateLevel">
+        <attribute name="title">
+         <string>Swashplate Levelling</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_8">
+         <property name="margin">
+          <number>3</number>
+         </property>
+         <property name="spacing">
+          <number>3</number>
+         </property>
+         <item row="0" column="0">
+          <layout class="QVBoxLayout" name="verticalLayout_8">
+           <property name="leftMargin">
+            <number>3</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="SwashLvlInstructionsBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>228</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Commands</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout">
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_9">
+                <property name="spacing">
+                 <number>0</number>
+                </property>
+                <item>
+                 <widget class="QPushButton" name="SwashLvlStartButton">
+                  <property name="minimumSize">
+                   <size>
+                    <width>85</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>85</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Start</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QPushButton" name="SwashLvlNextButton">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>85</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>85</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Next</string>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QTextEdit" name="SwashLvlStepInstruction">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>150</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>220</width>
+                  <height>450</height>
+                 </size>
+                </property>
+                <property name="horizontalScrollBarPolicy">
+                 <enum>Qt::ScrollBarAlwaysOff</enum>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <layout class="QGridLayout" name="gridLayout_3">
+                <item row="0" column="0">
+                 <widget class="QPushButton" name="SwashLvlCancelButton">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>170</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>170</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Cancel</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QPushButton" name="SwashLvlFinishButton">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>170</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>170</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Finish</string>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="SwashLvlStatusBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Maximum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>200</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Status</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_22">
+              <property name="horizontalSpacing">
+               <number>3</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>2</number>
+              </property>
+              <property name="margin">
+               <number>3</number>
+              </property>
+              <item row="1" column="0">
+               <widget class="QListWidget" name="SwashLvlStepList">
+                <property name="minimumSize">
+                 <size>
+                  <width>220</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>190</width>
+                  <height>125</height>
+                 </size>
+                </property>
+                <property name="editTriggers">
+                 <set>QAbstractItemView::NoEditTriggers</set>
+                </property>
+                <property name="alternatingRowColors">
+                 <bool>true</bool>
+                </property>
+                <property name="selectionMode">
+                 <enum>QAbstractItemView::NoSelection</enum>
+                </property>
+                <property name="selectionBehavior">
+                 <enum>QAbstractItemView::SelectRows</enum>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Neutral</string>
+                 </property>
+                 <property name="icon">
+                  <iconset>
+                   <normaloff>:/configgadget/images/none.png</normaloff>
+                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Max</string>
+                 </property>
+                 <property name="icon">
+                  <iconset>
+                   <normaloff>:/configgadget/images/none.png</normaloff>
+                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Min</string>
+                 </property>
+                 <property name="icon">
+                  <iconset>
+                   <normaloff>:/configgadget/images/none.png</normaloff>
+                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
+                 </property>
+                 <property name="flags">
+                  <set>ItemIsSelectable|ItemIsEnabled</set>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>Verify</string>
+                 </property>
+                 <property name="icon">
+                  <iconset>
+                   <normaloff>:/configgadget/images/none.png</normaloff>
+                   <normalon>:/configgadget/images/ok.png</normalon>:/configgadget/images/none.png</iconset>
+                 </property>
+                 <property name="flags">
+                  <set>ItemIsEnabled</set>
+                 </property>
+                </item>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::MinimumExpanding</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>0</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </item>
+         <item row="0" column="1">
+          <widget class="QGroupBox" name="SwashLvlccpmSliderBox">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>100</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>600</height>
+            </size>
+           </property>
+           <property name="title">
+            <string>Position</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_5">
+            <property name="spacing">
+             <number>0</number>
+            </property>
+            <property name="margin">
+             <number>3</number>
+            </property>
+            <item>
+             <widget class="QLabel" name="label_17">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="text">
+               <string>Max</string>
+              </property>
+              <property name="scaledContents">
+               <bool>true</bool>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_4">
+              <item>
+               <spacer name="horizontalSpacer_7">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>5</width>
+                  <height>25</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QSlider" name="SwashLvlPositionSlider">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>100</height>
+                 </size>
+                </property>
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>5</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_8">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>5</width>
+                  <height>25</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_18">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="text">
+               <string>Min</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSpinBox" name="SwashLvlPositionSpinBox">
+              <property name="maximum">
+               <number>100</number>
+              </property>
+              <property name="singleStep">
+               <number>5</number>
+              </property>
+              <property name="value">
+               <number>50</number>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QGroupBox" name="SwashLvlccpmSwashImageBox">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+             <horstretch>1</horstretch>
+             <verstretch>1</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>200</width>
+             <height>200</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>600</width>
+             <height>600</height>
+            </size>
+           </property>
+           <property name="sizeIncrement">
+            <size>
+             <width>10</width>
+             <height>10</height>
+            </size>
+           </property>
+           <property name="baseSize">
+            <size>
+             <width>200</width>
+             <height>200</height>
+            </size>
+           </property>
+           <property name="title">
+            <string>Swashplate Adjustment</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignHCenter|Qt::AlignTop</set>
+           </property>
+           <property name="flat">
+            <bool>false</bool>
+           </property>
+           <property name="checkable">
+            <bool>false</bool>
+           </property>
+           <layout class="QGridLayout" name="gridLayout_11">
+            <property name="horizontalSpacing">
+             <number>3</number>
+            </property>
+            <property name="margin">
+             <number>3</number>
+            </property>
+            <item row="0" column="0">
+             <widget class="QSplitter" name="splitter_4">
+              <property name="orientation">
+               <enum>Qt::Vertical</enum>
+              </property>
+              <widget class="QGraphicsView" name="SwashLvlSwashplateImage">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                 <horstretch>1</horstretch>
+                 <verstretch>1</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="minimumSize">
+                <size>
+                 <width>10</width>
+                 <height>10</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>1000</width>
+                 <height>1000</height>
+                </size>
+               </property>
+               <property name="sizeIncrement">
+                <size>
+                 <width>10</width>
+                 <height>10</height>
+                </size>
+               </property>
+               <property name="baseSize">
+                <size>
+                 <width>200</width>
+                 <height>200</height>
+                </size>
+               </property>
+               <property name="frameShape">
+                <enum>QFrame::Box</enum>
+               </property>
+               <property name="frameShadow">
+                <enum>QFrame::Plain</enum>
+               </property>
+               <property name="lineWidth">
+                <number>1</number>
+               </property>
+               <property name="midLineWidth">
+                <number>0</number>
+               </property>
+               <property name="verticalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="horizontalScrollBarPolicy">
+                <enum>Qt::ScrollBarAlwaysOff</enum>
+               </property>
+               <property name="backgroundBrush">
+                <brush brushstyle="DiagCrossPattern">
+                 <color alpha="25">
+                  <red>126</red>
+                  <green>176</green>
+                  <blue>220</blue>
+                 </color>
+                </brush>
+               </property>
+               <property name="foregroundBrush">
+                <brush brushstyle="NoBrush">
+                 <color alpha="255">
+                  <red>0</red>
+                  <green>0</green>
+                  <blue>0</blue>
+                 </color>
+                </brush>
+               </property>
+               <property name="sceneRect">
+                <rectf>
+                 <x>0.000000000000000</x>
+                 <y>0.000000000000000</y>
+                 <width>400.000000000000000</width>
+                 <height>400.000000000000000</height>
+                </rectf>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignCenter</set>
+               </property>
+               <property name="resizeAnchor">
+                <enum>QGraphicsView::AnchorViewCenter</enum>
+               </property>
+              </widget>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="CurveTab">
+        <attribute name="title">
+         <string>Curve settings</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_7">
+         <property name="margin">
+          <number>3</number>
+         </property>
+         <property name="spacing">
+          <number>3</number>
+         </property>
+         <item row="0" column="0">
+          <layout class="QHBoxLayout" name="horizontalLayout_5">
+           <item>
+            <widget class="QComboBox" name="CurveType">
+             <property name="minimumSize">
+              <size>
+               <width>150</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string>Select aircraft type here</string>
+             </property>
+             <item>
+              <property name="text">
+               <string>Linear</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Flat</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Step</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Exp</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Log</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Custom</string>
+              </property>
+             </item>
+            </widget>
+           </item>
+           <item>
+            <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>
+           <item>
+            <widget class="QLabel" name="label_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Number of points</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QSpinBox" name="NumCurvePoints">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimum">
+              <number>2</number>
+             </property>
+             <property name="maximum">
+              <number>10</number>
+             </property>
+             <property name="value">
+              <number>5</number>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="1" column="0">
+          <layout class="QGridLayout" name="gridLayout_2">
+           <item row="0" column="0">
+            <widget class="QLabel" name="CurveLabel1">
+             <property name="text">
+              <string>Min</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QLabel" name="CurveLabel2">
+             <property name="text">
+              <string>Max</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="2">
+            <widget class="QLabel" name="CurveLabel3">
+             <property name="text">
+              <string>Step point</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <widget class="QDoubleSpinBox" name="CurveValue1">
+             <property name="decimals">
+              <number>1</number>
+             </property>
+             <property name="maximum">
+              <double>10.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QDoubleSpinBox" name="CurveValue2">
+             <property name="decimals">
+              <number>1</number>
+             </property>
+             <property name="maximum">
+              <double>10.000000000000000</double>
+             </property>
+             <property name="value">
+              <double>1.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <widget class="QDoubleSpinBox" name="CurveValue3">
+             <property name="decimals">
+              <number>1</number>
+             </property>
+             <property name="maximum">
+              <double>100.000000000000000</double>
+             </property>
+             <property name="value">
+              <double>50.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="2" column="0">
+          <layout class="QHBoxLayout" name="horizontalLayout_6">
+           <item>
+            <widget class="QComboBox" name="CurveToGenerate">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>150</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <pointsize>10</pointsize>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string>Select aircraft type here</string>
+             </property>
+             <item>
+              <property name="text">
+               <string>Throttle</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Pitch</string>
+              </property>
+             </item>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPushButton" name="ccpmGenerateCurve">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>150</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="toolTip">
+              <string>Generate curves based on settings</string>
+             </property>
+             <property name="text">
+              <string>&lt;-- Generate Curve</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_6">
+             <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>
+         </item>
+         <item row="3" column="0">
+          <layout class="QHBoxLayout" name="horizontalLayout_3">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <item>
+            <widget class="QTableWidget" name="CurveSettings">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>250</width>
+               <height>200</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>250</width>
+               <height>273</height>
+              </size>
+             </property>
+             <property name="verticalScrollBarPolicy">
+              <enum>Qt::ScrollBarAsNeeded</enum>
+             </property>
+             <property name="horizontalScrollBarPolicy">
+              <enum>Qt::ScrollBarAsNeeded</enum>
+             </property>
+             <property name="autoScroll">
+              <bool>true</bool>
+             </property>
+             <property name="alternatingRowColors">
+              <bool>true</bool>
+             </property>
+             <property name="cornerButtonEnabled">
+              <bool>true</bool>
+             </property>
+             <attribute name="horizontalHeaderCascadingSectionResizes">
+              <bool>true</bool>
+             </attribute>
+             <attribute name="horizontalHeaderStretchLastSection">
+              <bool>true</bool>
+             </attribute>
+             <attribute name="verticalHeaderDefaultSectionSize">
+              <number>25</number>
+             </attribute>
+             <attribute name="verticalHeaderMinimumSectionSize">
+              <number>25</number>
+             </attribute>
+             <row>
+              <property name="text">
+               <string>0%</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>25%</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>50%</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>75%</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>100%</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>none</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>none</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>none</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>none</string>
+              </property>
+             </row>
+             <row>
+              <property name="text">
+               <string>none</string>
+              </property>
+             </row>
+             <column>
+              <property name="text">
+               <string>Throttle Curve</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </column>
+             <column>
+              <property name="text">
+               <string>Blade Pitch Curve</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </column>
+             <item row="0" column="0">
+              <property name="text">
+               <string>0.000</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="0" column="1">
+              <property name="text">
+               <string>0.000</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="1" column="0">
+              <property name="text">
+               <string>0.250</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="1" column="1">
+              <property name="text">
+               <string>0.250</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="2" column="0">
+              <property name="text">
+               <string>0.500</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="2" column="1">
+              <property name="text">
+               <string>0.500</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="3" column="0">
+              <property name="text">
+               <string>0.750</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="3" column="1">
+              <property name="text">
+               <string>0.750</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="4" column="0">
+              <property name="text">
+               <string>1.000</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="4" column="1">
+              <property name="text">
+               <string>1.000</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="5" column="0">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="5" column="1">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="6" column="0">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="6" column="1">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="7" column="0">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="7" column="1">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="8" column="0">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="8" column="1">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="9" column="0">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+             <item row="9" column="1">
+              <property name="text">
+               <string>-</string>
+              </property>
+              <property name="textAlignment">
+               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+              </property>
+             </item>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="ThrottleCurveBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>1</horstretch>
+               <verstretch>1</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>100</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="sizeIncrement">
+              <size>
+               <width>10</width>
+               <height>10</height>
+              </size>
+             </property>
+             <property name="baseSize">
+              <size>
+               <width>100</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+             </property>
+             <property name="title">
+              <string>Throttle Curve</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <property name="margin">
+               <number>0</number>
+              </property>
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>50</width>
+                  <height>50</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>1000</width>
+                  <height>1000</height>
+                 </size>
+                </property>
+                <property name="sizeIncrement">
+                 <size>
+                  <width>10</width>
+                  <height>10</height>
+                 </size>
+                </property>
+                <property name="baseSize">
+                 <size>
+                  <width>200</width>
+                  <height>200</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="PitchCurveBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>1</horstretch>
+               <verstretch>1</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>100</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="sizeIncrement">
+              <size>
+               <width>10</width>
+               <height>10</height>
+              </size>
+             </property>
+             <property name="baseSize">
+              <size>
+               <width>100</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Pitch Curve</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_5">
+              <property name="margin">
+               <number>0</number>
+              </property>
+              <property name="spacing">
+               <number>0</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="MixerCurveWidget" name="PitchCurve" native="true">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+                  <horstretch>1</horstretch>
+                  <verstretch>1</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>50</width>
+                  <height>50</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>1000</width>
+                  <height>1000</height>
+                 </size>
+                </property>
+                <property name="sizeIncrement">
+                 <size>
+                  <width>10</width>
+                  <height>10</height>
+                 </size>
+                </property>
+                <property name="baseSize">
+                 <size>
+                  <width>200</width>
+                  <height>200</height>
+                 </size>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="4" column="0">
+          <spacer name="verticalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::Preferred</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>0</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+       <widget class="QWidget" name="AdvancedTab">
+        <attribute name="title">
+         <string>Advanced settings</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_4">
+         <property name="margin">
+          <number>3</number>
+         </property>
+         <property name="spacing">
+          <number>3</number>
+         </property>
+         <item row="0" column="0">
+          <widget class="QTableWidget" name="ccpmAdvancedSettingsTable">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>200</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>1000</width>
+             <height>300</height>
+            </size>
+           </property>
+           <property name="verticalScrollBarPolicy">
+            <enum>Qt::ScrollBarAlwaysOff</enum>
+           </property>
+           <property name="horizontalScrollBarPolicy">
+            <enum>Qt::ScrollBarAlwaysOff</enum>
+           </property>
+           <property name="autoScroll">
+            <bool>true</bool>
+           </property>
+           <property name="alternatingRowColors">
+            <bool>true</bool>
+           </property>
+           <property name="selectionMode">
+            <enum>QAbstractItemView::NoSelection</enum>
+           </property>
+           <property name="wordWrap">
+            <bool>false</bool>
+           </property>
+           <property name="cornerButtonEnabled">
+            <bool>true</bool>
+           </property>
+           <attribute name="horizontalHeaderDefaultSectionSize">
+            <number>75</number>
+           </attribute>
+           <attribute name="horizontalHeaderMinimumSectionSize">
+            <number>20</number>
+           </attribute>
+           <row>
+            <property name="text">
+             <string>Engine</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>Tail Rotor</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>Servo W</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>Servo X</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>Servo Y</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>Servo Z</string>
+            </property>
+           </row>
+           <column>
+            <property name="text">
+             <string>Channel</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Curve 1</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Curve 2</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Roll</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Pitch</string>
+            </property>
+           </column>
+           <column>
+            <property name="text">
+             <string>Yaw</string>
+            </property>
+           </column>
+           <item row="0" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="0" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="0" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="0" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="0" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="0" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="1" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="2" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="3" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="4" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="0">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="1">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="2">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="3">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="4">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+           <item row="5" column="5">
+            <property name="text">
+             <string>-</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+            </property>
+           </item>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeType">
+            <enum>QSizePolicy::MinimumExpanding</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>MixerCurveWidget</class>
+   <extends>QWidget</extends>
+   <header>mixercurvewidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <tabstops>
+  <tabstop>ccpmType</tabstop>
+  <tabstop>TabObject</tabstop>
+  <tabstop>ccpmEngineChannel</tabstop>
+  <tabstop>ccpmTailChannel</tabstop>
+  <tabstop>ccpmServoWChannel</tabstop>
+  <tabstop>ccpmServoXChannel</tabstop>
+  <tabstop>ccpmServoYChannel</tabstop>
+  <tabstop>ccpmServoZChannel</tabstop>
+  <tabstop>ccpmSingleServo</tabstop>
+  <tabstop>ccpmAngleW</tabstop>
+  <tabstop>ccpmAngleX</tabstop>
+  <tabstop>ccpmAngleY</tabstop>
+  <tabstop>ccpmAngleZ</tabstop>
+  <tabstop>ccpmCorrectionAngle</tabstop>
+  <tabstop>ccpmRevoSlider</tabstop>
+  <tabstop>ccpmREVOspinBox</tabstop>
+  <tabstop>ccpmCollectiveSlider</tabstop>
+  <tabstop>ccpmCollectivespinBox</tabstop>
+  <tabstop>SwashplateImage</tabstop>
+  <tabstop>SwashLvlStartButton</tabstop>
+  <tabstop>SwashLvlNextButton</tabstop>
+  <tabstop>SwashLvlStepInstruction</tabstop>
+  <tabstop>SwashLvlCancelButton</tabstop>
+  <tabstop>SwashLvlFinishButton</tabstop>
+  <tabstop>SwashLvlStepList</tabstop>
+  <tabstop>SwashLvlPositionSlider</tabstop>
+  <tabstop>SwashLvlPositionSpinBox</tabstop>
+  <tabstop>SwashLvlSwashplateImage</tabstop>
+  <tabstop>CurveType</tabstop>
+  <tabstop>NumCurvePoints</tabstop>
+  <tabstop>CurveValue1</tabstop>
+  <tabstop>CurveValue2</tabstop>
+  <tabstop>CurveValue3</tabstop>
+  <tabstop>CurveToGenerate</tabstop>
+  <tabstop>ccpmGenerateCurve</tabstop>
+  <tabstop>CurveSettings</tabstop>
+  <tabstop>ccpmAdvancedSettingsTable</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>ccpmCollectiveSlider</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmCollectivespinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>261</x>
+     <y>496</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>269</x>
+     <y>546</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmCollectivespinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmCollectiveSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>269</x>
+     <y>546</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>261</x>
+     <y>511</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmREVOspinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmRevoSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>216</x>
+     <y>546</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>208</x>
+     <y>511</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmRevoSlider</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmREVOspinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>208</x>
+     <y>412</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>216</x>
+     <y>546</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>SwashLvlPositionSlider</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>SwashLvlPositionSpinBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>276</x>
+     <y>486</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>270</x>
+     <y>537</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>SwashLvlPositionSpinBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>SwashLvlPositionSlider</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>301</x>
+     <y>546</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>277</x>
+     <y>401</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmCollectiveScaleBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmCollectiveScale</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>296</x>
+     <y>534</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>306</x>
+     <y>480</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmCollectiveScale</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmCollectiveScaleBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>308</x>
+     <y>328</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>292</x>
+     <y>534</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmCyclicScale</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmCyclicScaleBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>358</x>
+     <y>306</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>355</x>
+     <y>538</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmCyclicScaleBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmCyclicScale</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>341</x>
+     <y>538</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>351</x>
+     <y>376</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmPitchScale</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmPitchScaleBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>417</x>
+     <y>306</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>406</x>
+     <y>531</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmPitchScaleBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmPitchScale</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>394</x>
+     <y>531</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>408</x>
+     <y>302</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmRollScaleBox</sender>
+   <signal>valueChanged(int)</signal>
+   <receiver>ccpmRollScale</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>455</x>
+     <y>529</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>458</x>
+     <y>466</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>ccpmRollScale</sender>
+   <signal>sliderMoved(int)</signal>
+   <receiver>ccpmRollScaleBox</receiver>
+   <slot>setValue(int)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>461</x>
+     <y>388</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>474</x>
+     <y>533</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro
index 4918feb53..79ddea046 100644
--- a/ground/openpilotgcs/src/plugins/config/config.pro
+++ b/ground/openpilotgcs/src/plugins/config/config.pro
@@ -24,7 +24,8 @@ HEADERS += configplugin.h \
     configoutputwidget.h \
     configtaskwidget.h \
     configairframewidget.h \
-    configtelemetrywidget.h \
+    config_pro_hw_widget.h \
+    config_cc_hw_widget.h \
     configahrswidget.h \
     configccattitudewidget.h \
     mixercurvewidget.h \
@@ -34,7 +35,9 @@ HEADERS += configplugin.h \
     configstabilizationwidget.h \
     assertions.h \
     calibration.h \
-    defaultattitudewidget.h
+    defaultattitudewidget.h \
+    smartsavebutton.h \
+    defaulthwsettingswidget.h
 
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
@@ -47,7 +50,8 @@ SOURCES += configplugin.cpp \
     configinputwidget.cpp \
     configoutputwidget.cpp \
     configairframewidget.cpp \
-    configtelemetrywidget.cpp \
+    config_pro_hw_widget.cpp \
+    config_cc_hw_widget.cpp \
     configahrswidget.cpp \
     configccattitudewidget.cpp \
     mixercurvewidget.cpp \
@@ -59,17 +63,21 @@ SOURCES += configplugin.cpp \
     legacy-calibration.cpp \
     gyro-calibration.cpp \
     alignment-calibration.cpp \
-    defaultattitudewidget.cpp
+    defaultattitudewidget.cpp \
+    smartsavebutton.cpp \
+    defaulthwsettingswidget.cpp
     
 FORMS +=  \
     airframe.ui \
-    telemetry.ui \
+    cc_hw_settings.ui \
+    pro_hw_settings.ui \
     ahrs.ui \
     ccpm.ui \
     stabilization.ui \
     input.ui \
     output.ui \
     ccattitude.ui \
-    defaultattitude.ui
+    defaultattitude.ui \
+    defaulthwsettings.ui
 
 RESOURCES += configgadget.qrc
diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
new file mode 100644
index 000000000..e5adf27f1
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtelemetrywidget.h
+ * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to update settings in the firmware
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "config_cc_hw_widget.h"
+
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+#include <QDesktopServices>
+#include <QUrl>
+
+ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
+{
+    m_telemetry = new Ui_CC_HW_Widget();
+    m_telemetry->setupUi(this);
+    setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
+    addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
+    addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
+    addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
+    addUAVObjectToWidgetRelation("ManualControlSettings","InputMode",m_telemetry->receiverType);
+    connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
+    enableControls(false);
+    populateWidgets();
+    refreshWidgetsValues();
+}
+
+ConfigCCHWWidget::~ConfigCCHWWidget()
+{
+    // Do nothing
+}
+
+void ConfigCCHWWidget::refreshValues()
+{
+}
+
+void ConfigCCHWWidget::widgetsContentsChanged()
+{
+    ConfigTaskWidget::widgetsContentsChanged();
+    enableControls(false);
+    if((m_telemetry->cbFlexi->currentText()==m_telemetry->cbTele->currentText()) && m_telemetry->cbTele->currentText()!="Disabled")
+    {
+        m_telemetry->problems->setText("Warning: you have configured the MainPort and the FlexiPort for the same function, this is currently not suported");
+    }
+    else if((m_telemetry->cbTele->currentText()=="Spektrum" ||m_telemetry->cbFlexi->currentText()=="Spektrum") && m_telemetry->receiverType->currentText()!="Spektrum")
+    {
+        m_telemetry->problems->setText("Warning: you have a port configured as 'Spektrum' however that is not your selected receiver type");
+    }
+    else if(m_telemetry->cbTele->currentText()=="S.Bus"  && m_telemetry->receiverType->currentText()!="S.Bus")
+    {
+        m_telemetry->problems->setText("Warning: you have a port configured as 'S.Bus' however that is not your selected receiver type");
+    }
+    else if(m_telemetry->cbTele->currentText()!="S.Bus"  && m_telemetry->receiverType->currentText()=="S.Bus")
+    {
+        m_telemetry->problems->setText("Warning: you have selected 'S.Bus' as your receiver type however you have no port configured for that protocol");
+    }
+    else if((m_telemetry->cbTele->currentText()!="Spektrum" && m_telemetry->cbFlexi->currentText()!="Spektrum") && m_telemetry->receiverType->currentText()=="Spektrum")
+    {
+        m_telemetry->problems->setText("Warning: you have selected 'Spektrum' as your receiver type however you have no port configured for that protocol");
+    }
+    else
+    {
+        m_telemetry->problems->setText("");
+        enableControls(true);
+    }
+}
+
+void ConfigCCHWWidget::openHelp()
+{
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+HW+Settings", QUrl::StrictMode) );
+}
+
+/**
+  * @}
+  * @}
+  */
+
diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h
new file mode 100644
index 000000000..f815786fb
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h
@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtelemetrytwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Telemetry configuration panel
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef CONFIGCCHWWIDGET_H
+#define CONFIGCCHWWIDGET_H
+
+#include "ui_cc_hw_settings.h"
+#include "configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QtGui/QWidget>
+#include <QList>
+#include "smartsavebutton.h"
+
+class ConfigCCHWWidget: public ConfigTaskWidget
+{
+    Q_OBJECT
+
+public:
+    ConfigCCHWWidget(QWidget *parent = 0);
+    ~ConfigCCHWWidget();
+private slots:
+    void openHelp();
+    void refreshValues();
+    void widgetsContentsChanged();
+
+private:
+    Ui_CC_HW_Widget *m_telemetry;
+};
+
+#endif // CONFIGCCHWWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp
new file mode 100644
index 000000000..b3f562acd
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtelemetrywidget.h
+ * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to update settings in the firmware
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "config_pro_hw_widget.h"
+
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+
+
+ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
+{
+    m_telemetry = new Ui_PRO_HW_Widget();
+    m_telemetry->setupUi(this);
+
+    setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
+    addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
+    enableControls(false);
+    populateWidgets();
+    refreshWidgetsValues();
+}
+
+ConfigProHWWidget::~ConfigProHWWidget()
+{
+   // Do nothing
+}
+
+
+/**
+  Request telemetry settings from the board
+  */
+void ConfigProHWWidget::refreshValues()
+{
+}
diff --git a/ground/openpilotgcs/src/plugins/config/configtelemetrywidget.h b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h
similarity index 77%
rename from ground/openpilotgcs/src/plugins/config/configtelemetrywidget.h
rename to ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h
index f36ba1a4e..fbf35b9bd 100644
--- a/ground/openpilotgcs/src/plugins/config/configtelemetrywidget.h
+++ b/ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.h
@@ -24,10 +24,10 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef CONFIGTELEMETRYWIDGET_H
-#define CONFIGTELEMETRYWIDGET_H
+#ifndef CONFIGPROHWWIDGET_H
+#define CONFIGPROHWWIDGET_H
 
-#include "ui_telemetry.h"
+#include "ui_pro_hw_settings.h"
 #include "configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
@@ -36,23 +36,20 @@
 #include <QList>
 
 
-class ConfigTelemetryWidget: public ConfigTaskWidget
+class ConfigProHWWidget: public ConfigTaskWidget
 {
     Q_OBJECT
 
 public:
-    ConfigTelemetryWidget(QWidget *parent = 0);
-    ~ConfigTelemetryWidget();
+    ConfigProHWWidget(QWidget *parent = 0);
+    ~ConfigProHWWidget();
 
 private:
-    Ui_TelemetryWidget *m_telemetry;
-    void enableControls(bool enable);
+    Ui_PRO_HW_Widget *m_telemetry;
 
 private slots:
     virtual void refreshValues();
-    void sendTelemetryUpdate();
-    void saveTelemetryUpdate();
 
 };
 
-#endif // ConfigTelemetryWidget_H
+#endif // CONFIGPROHWWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
index bf3a1cfe9..dcf743915 100644
--- a/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
@@ -91,6 +91,32 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     m_aircraft = new Ui_AircraftWidget();
     m_aircraft->setupUi(this);
 
+    setupButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
+    addWidget(m_aircraft->customMixerTable);
+    addWidget(m_aircraft->customThrottle2Curve);
+    addWidget(m_aircraft->customThrottle1Curve);
+    addWidget(m_aircraft->multiThrottleCurve);
+    addWidget(m_aircraft->fixedWingThrottle);
+    addWidget(m_aircraft->fixedWingType);
+    addWidget(m_aircraft->feedForwardSlider);
+    addWidget(m_aircraft->accelTime);
+    addWidget(m_aircraft->decelTime);
+    addWidget(m_aircraft->maxAccelSlider);
+    addWidget(m_aircraft->multirotorFrameType);
+    addWidget(m_aircraft->multiMotor1);
+    addWidget(m_aircraft->multiMotor2);
+    addWidget(m_aircraft->multiMotor3);
+    addWidget(m_aircraft->multiMotor4);
+    addWidget(m_aircraft->multiMotor5);
+    addWidget(m_aircraft->multiMotor6);
+    addWidget(m_aircraft->multiMotor7);
+    addWidget(m_aircraft->multiMotor8);
+    addWidget(m_aircraft->triYawChannel);
+    addUAVObject("SystemSettings");
+    addUAVObject("MixerSettings");
+    addUAVObject("ActuatorSettings");
+
+
     ffTuningInProgress = false;
     ffTuningPhase = false;
 
@@ -164,11 +190,6 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
         m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
     }
 
-    connect(m_aircraft->saveAircraftToSD, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate()));
-    connect(m_aircraft->saveAircraftToRAM, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
-
-    connect(m_aircraft->ffSave, SIGNAL(clicked()), this, SLOT(saveAircraftUpdate()));
-    connect(m_aircraft->ffApply, SIGNAL(clicked()), this, SLOT(sendAircraftUpdate()));
     connect(m_aircraft->fixedWingType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
     connect(m_aircraft->multirotorFrameType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
     connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
@@ -191,17 +212,8 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
     connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
 
     enableControls(false);
-    refreshValues();
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
-    connect(parent, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()));
+    refreshWidgetsValues();
 
-    // Register for ManualControlSettings changes:
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues()));
 
     // Connect the help button
     connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
@@ -213,18 +225,6 @@ ConfigAirframeWidget::~ConfigAirframeWidget()
    // Do nothing
 }
 
-/**
-  Enable or disable controls depending on whether we're ronnected or not
-  */
-void ConfigAirframeWidget::enableControls(bool enable)
-{
-   //m_aircraft->saveAircraftToRAM->setEnabled(enable);
-   m_aircraft->saveAircraftToSD->setEnabled(enable);
-   //m_aircraft->ffApply->setEnabled(enable);
-   m_aircraft->ffSave->setEnabled(enable);
-}
-
-
 /**
   Slot for switching the airframe type. We do it explicitely
   rather than a signal in the UI, because we want to force a fitInView of the quad shapes.
@@ -374,7 +374,7 @@ void ConfigAirframeWidget::resetFwMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements());
+    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
 }
 
 /**
@@ -384,7 +384,7 @@ void ConfigAirframeWidget::resetMrMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements());
+    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
 }
 
 /**
@@ -394,7 +394,7 @@ void ConfigAirframeWidget::resetCt1Mixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements());
+    resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
 }
 
 /**
@@ -404,21 +404,17 @@ void ConfigAirframeWidget::resetCt2Mixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements());
+    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
 }
 
 
 /**
   Resets a mixer curve
   */
-void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
+void ConfigAirframeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
 {
-    QList<double> curveValues;
-    for (double i=0; i<numElements; i++) {
-        curveValues.append(i/(numElements-1));
-    }
     // Setup all Throttle1 curves for all types of airframes
-    mixer->initCurve(curveValues);
+    mixer->initLinearCurve((quint32)numElements,maxvalue);
 }
 
 /**
@@ -464,7 +460,7 @@ void ConfigAirframeWidget::updateCustomThrottle2CurveValue(QList<double> list, d
 /**
   Refreshes the current value of the SystemSettings which holds the aircraft type
   */
-void ConfigAirframeWidget::refreshValues()
+void ConfigAirframeWidget::refreshWidgetsValues()
 {
     // Get the Airframe type from the system settings:
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
@@ -484,18 +480,29 @@ void ConfigAirframeWidget::refreshValues()
     // 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) {
-        for (double i=0; i<field->getNumElements(); i++) {
-            curveValues.append(i/(field->getNumElements()-1));
-        }
-    } else {
+        m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
+        m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
+    }
+    else {
+        double temp=0;
+        double value;
         for (unsigned int i=0; i < field->getNumElements(); i++) {
-            curveValues.append(field->getValue(i).toDouble());
+            value=field->getValue(i).toDouble();
+            temp+=value;
+            curveValues.append(value);
+        }
+        if(temp==0)
+        {
+            m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);;
+            m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
+        }
+        else
+        {
+            m_aircraft->multiThrottleCurve->initCurve(curveValues);
+            m_aircraft->fixedWingThrottle->initCurve(curveValues);
         }
     }
     // Setup all Throttle1 curves for all types of airframes
-    m_aircraft->fixedWingThrottle->initCurve(curveValues);
-    m_aircraft->multiThrottleCurve->initCurve(curveValues);
-
     // Load the Settings for fixed wing frames:
     if (frameType.startsWith("FixedWing")) {
          // Then retrieve how channels are setup
@@ -658,10 +665,13 @@ void ConfigAirframeWidget::refreshValues()
                 val = floor(-field->getDouble(i)/1.27);
                 m_aircraft->mrYawMixLevel->setValue(val);
                 eng = m_aircraft->multiMotor2->currentIndex()-1;
-                field = obj->getField(mixerVectors.at(eng));
-                i = field->getElementNames().indexOf("Roll");
-                val = floor(1-field->getDouble(i)/1.27);
-                m_aircraft->mrRollMixLevel->setValue(val);
+                if(eng>-1)
+                {
+                    field = obj->getField(mixerVectors.at(eng));
+                    i = field->getElementNames().indexOf("Roll");
+                    val = floor(1-field->getDouble(i)/1.27);
+                    m_aircraft->mrRollMixLevel->setValue(val);
+                }
             }
         } else if (frameType == "HexaX") {
             // Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
@@ -1754,40 +1764,32 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
     // 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) {
-        for (double i=0; i<field->getNumElements(); i++) {
-            curveValues.append(i/(field->getNumElements()-1));
-        }
+        m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
     } else {
+        double temp=0;
+        double value;
         for (unsigned int i=0; i < field->getNumElements(); i++) {
-            curveValues.append(field->getValue(i).toDouble());
+            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);
     }
-    m_aircraft->customThrottle1Curve->initCurve(curveValues);
-
     field = obj->getField(QString("ThrottleCurve2"));
     curveValues.clear();;
     // 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) {
-        for (double i=0; i<field->getNumElements(); i++) {
-            curveValues.append(i/(field->getNumElements()-1));
-        }
+        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);
     }
-    m_aircraft->customThrottle2Curve->initCurve(curveValues);
-
-    // Retrieve Feed Forward:
-    field = obj->getField(QString("FeedForward"));
-    m_aircraft->customFFSlider->setValue(field->getDouble()*100);
-    field = obj->getField(QString("AccelTime"));
-    m_aircraft->customFFaccel->setValue(field->getDouble());
-    field = obj->getField(QString("DecelTime"));
-    m_aircraft->customFFdecel->setValue(field->getDouble());
-    field = obj->getField(QString("MaxAccel"));
-    m_aircraft->customFFMaxAccel->setValue(field->getDouble());
 
     // Update the table:
     for (int i=0; i<8; i++) {
@@ -1818,8 +1820,9 @@ void ConfigAirframeWidget::updateCustomAirframeUI()
   we call additional methods for specific frames, so that we do not have a code
   that is too heavy.
 */
-void ConfigAirframeWidget::sendAircraftUpdate()
+void ConfigAirframeWidget::updateObjectsFromWidgets()
 {
+    qDebug()<<"updateObjectsFromWidgets";
     QString airframeType = "Custom";
     if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
         // Save the curve (common to all Fixed wing frames)
@@ -2090,13 +2093,6 @@ void ConfigAirframeWidget::sendAircraftUpdate()
 
         UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
         UAVObjectField* field = obj->getField(QString("FeedForward"));
-        field->setDouble((double)m_aircraft->customFFSlider->value()/100);
-        field = obj->getField(QString("AccelTime"));
-        field->setDouble(m_aircraft->customFFaccel->value());
-        field = obj->getField(QString("DecelTime"));
-        field->setDouble(m_aircraft->customFFdecel->value());
-        field = obj->getField(QString("MaxAccel"));
-        field->setDouble(m_aircraft->customFFMaxAccel->value());
 
         // Curve is also common to all quads:
         field = obj->getField("ThrottleCurve1");
@@ -2131,31 +2127,9 @@ void ConfigAirframeWidget::sendAircraftUpdate()
         }
 
     }
-
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
-    obj->updated();
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    obj->updated();
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
+    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
     UAVObjectField* field = obj->getField(QString("AirframeType"));
     field->setValue(airframeType);
-    obj->updated();
-}
-
-/**
-  Send airframe type to the board and request saving to SD card
-  */
-void ConfigAirframeWidget::saveAircraftUpdate()
-{
-    // Send update so that the latest value is saved
-    sendAircraftUpdate();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    Q_ASSERT(obj);
-    saveObjectToSD(obj);
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    saveObjectToSD(obj);
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ActuatorSettings")));
-    saveObjectToSD(obj);
 
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/configairframewidget.h b/ground/openpilotgcs/src/plugins/config/configairframewidget.h
index 19b5c35e8..234a114c1 100644
--- a/ground/openpilotgcs/src/plugins/config/configairframewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configairframewidget.h
@@ -58,10 +58,9 @@ private:
     void updateCustomAirframeUI();
     bool setupMixer(double mixerFactors[8][3]);
     void setupMotors(QList<QString> motorList);
-    virtual void enableControls(bool enable);
 
     void resetField(UAVObjectField * field);
-    void resetMixer (MixerCurveWidget *mixer, int numElements);
+    void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
     void resetActuators();
     //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
@@ -74,9 +73,9 @@ private:
     UAVObject::Metadata accInitialData;
 
 private slots:
-    virtual void refreshValues();
-    void sendAircraftUpdate();
-    void saveAircraftUpdate();
+    virtual void refreshWidgetsValues();
+    void updateObjectsFromWidgets();
+   // void saveAircraftUpdate();
     void setupAirframeUI(QString type);
     void toggleAileron2(int index);
     void toggleElevator2(int index);
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index 52488da19..51b63fadb 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -27,6 +27,7 @@
 #include "configccattitudewidget.h"
 #include "ui_ccattitude.h"
 #include "utils/coordinateconversions.h"
+#include "attitudesettings.h"
 #include <QMutexLocker>
 #include <QMessageBox>
 #include <QDebug>
@@ -48,7 +49,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
 
     enableControls(true);
     refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected.
-    UAVObject * settings = getObjectManager()->getObject(QString("AttitudeSettings"));
+    UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager());
     connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
 
     // Connect the help button
@@ -79,7 +80,10 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
         x_accum.append(field->getDouble(0));
         y_accum.append(field->getDouble(1));
         z_accum.append(field->getDouble(2));
-	qDebug("update %d: %f, %f, %f\n",updates,field->getDouble(0),field->getDouble(1),field->getDouble(2));
+        field = obj->getField(QString("gyros"));
+        x_gyro_accum.append(field->getDouble(0));
+        y_gyro_accum.append(field->getDouble(1));
+        z_gyro_accum.append(field->getDouble(2));;
     } else if ( updates == NUM_ACCEL_UPDATES ) {
 	updates++;
         timer.stop();
@@ -90,18 +94,22 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
         float y_bias = listMean(y_accum) / ACCEL_SCALE;
         float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
 
+        float x_gyro_bias = listMean(x_gyro_accum) * 100.0f;
+        float y_gyro_bias = listMean(y_gyro_accum) * 100.0f;
+        float z_gyro_bias = listMean(z_gyro_accum) * 100.0f;
         obj->setMetadata(initialMdata);
 
-        UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
-        UAVObjectField * field = settings->getField("AccelBias");
-        field->setDouble(field->getDouble(0) + x_bias,0);
-        field->setDouble(field->getDouble(1) + y_bias,1);
-        field->setDouble(field->getDouble(2) + z_bias,2);
-	qDebug("New X bias: %f\n", field->getDouble(0)+x_bias);
-	qDebug("New Y bias: %f\n", field->getDouble(1)+y_bias);
-	qDebug("New Z bias: %f\n", field->getDouble(2)+z_bias);
-        settings->updated();
-        ui->status->setText("Calibration done.");
+        AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
+        // We offset the gyro bias by current bias to help precision
+        attitudeSettingsData.AccelBias[0] += x_bias;
+        attitudeSettingsData.AccelBias[1] += y_bias;
+        attitudeSettingsData.AccelBias[2] += z_bias;
+        attitudeSettingsData.GyroBias[0] = -x_gyro_bias;
+        attitudeSettingsData.GyroBias[1] = -y_gyro_bias;
+        attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
+        attitudeSettingsData.BiasCorrectGyro = initialBiasCorrected;
+        AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
+
     } else {
 	// Possible to get here if weird threading stuff happens.  Just ignore updates.
 	qDebug("Unexpected accel update received.");
@@ -123,32 +131,22 @@ void ConfigCCAttitudeWidget::timeout() {
 }
 
 void ConfigCCAttitudeWidget::applyAttitudeSettings() {
-    UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
-    UAVObjectField * field = settings->getField("BoardRotation");
-
-    field->setValue(ui->rollBias->value(),0);
-    field->setValue(ui->pitchBias->value(),1);
-    field->setValue(ui->yawBias->value(),2);
-
-    field = settings->getField("ZeroDuringArming");
-    // Handling of boolean values is done through enums on
-    // uavobjects...
-    field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE");
-
-    settings->updated();
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
+    attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value();
+    attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value();
+    attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value();
+    attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE :
+                                                                                 AttitudeSettings::ZERODURINGARMING_FALSE;
+    AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
 }
 
 void ConfigCCAttitudeWidget::refreshValues() {
-    UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
-    UAVObjectField * field = settings->getField("BoardRotation");
-    ui->rollBias->setValue(field->getDouble(0));
-    ui->pitchBias->setValue(field->getDouble(1));
-    ui->yawBias->setValue(field->getDouble(2));
-    field = settings->getField("ZeroDuringArming");
-    // Handling of boolean values is done through enums on
-    // uavobjects...
-    bool enabled = (field->getValue().toString() == "FALSE") ? false : true;
-    ui->zeroGyroBiasOnArming->setChecked(enabled);
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
+
+    ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]);
+    ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]);
+    ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]);
+    ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE);
 
 }
 
@@ -159,8 +157,15 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     x_accum.clear();
     y_accum.clear();
     z_accum.clear();
+    x_gyro_accum.clear();
+    y_gyro_accum.clear();
+    z_gyro_accum.clear();
 
-    ui->status->setText(tr("Calibrating..."));
+    // Disable gyro bias correction to see raw data
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
+    initialBiasCorrected = attitudeSettingsData.BiasCorrectGyro;
+    attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
+    AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
 
     // Set up to receive updates
     UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
index 1dee369f7..27176b22f 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
@@ -60,10 +60,12 @@ private:
     Ui_ccattitude *ui;
     QTimer timer;
     UAVObject::Metadata initialMdata;
+    quint8 initialBiasCorrected;
 
     int updates;
 
     QList<double> x_accum, y_accum, z_accum;
+    QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
     static const int NUM_ACCEL_UPDATES = 60;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
index 5d942bf1a..e53cbb70c 100644
--- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
@@ -25,6 +25,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "configccpmwidget.h"
+#include "mixersettings.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -32,20 +33,27 @@
 #include <QtGui/QTextEdit>
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
+#include <QBrush>
 #include <math.h>
 #include <QMessageBox>
 
+#include "mixersettings.h"
+#include "systemsettings.h"
+
 #define  Pi 3.14159265358979323846
 
 
 ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     int i;
+    
     m_ccpm = new Ui_ccpmWidget();
     m_ccpm->setupUi(this);
     SwashLvlConfigurationInProgress=0;
     SwashLvlState=0;
     SwashLvlServoInterlock=0;
+    updatingFromHardware=FALSE;
+    updatingToHardware=FALSE;
 
     // Now connect the widget to the ManualControlCommand / Channel UAVObject
     //ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@@ -55,12 +63,12 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_ccpm->SwashplateImage->setScene(new QGraphicsScene(this));
 
     m_ccpm->SwashLvlSwashplateImage->setScene(m_ccpm->SwashplateImage->scene());
-    m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-30,500,500);
-    m_ccpm->SwashLvlSwashplateImage->scale(.85,.85);
+    m_ccpm->SwashLvlSwashplateImage->setSceneRect(-50,-50,500,500);
+    //m_ccpm->SwashLvlSwashplateImage->scale(.85,.85);
 
     //m_ccpm->SwashplateImage->setSceneRect(SwashplateImg->boundingRect());
     m_ccpm->SwashplateImage->setSceneRect(-50,-30,500,500);
-    m_ccpm->SwashplateImage->scale(.85,.85);
+    //m_ccpm->SwashplateImage->scale(.85,.85);
 
 
 
@@ -72,9 +80,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     SwashplateImg->setSharedRenderer(renderer);
     SwashplateImg->setElementId("Swashplate");
     SwashplateImg->setObjectName("Swashplate");
+    //SwashplateImg->setScale(0.75);
     m_ccpm->SwashplateImage->scene()->addItem(SwashplateImg);
 
-    QFont serifFont("Times", 16, QFont::Bold);
+    QFont serifFont("Times", 24, QFont::Bold);
     QPen pen;  // creates a default pen
 
     pen.setStyle(Qt::DotLine);
@@ -83,6 +92,19 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     pen.setCapStyle(Qt::RoundCap);
     pen.setJoinStyle(Qt::RoundJoin);
 
+    
+    QBrush brush(Qt::darkBlue);
+    QPen pen2;  // creates a default pen
+    
+    //pen2.setStyle(Qt::DotLine);
+    pen2.setWidth(1);
+    pen2.setBrush(Qt::blue);
+    //pen2.setCapStyle(Qt::RoundCap);
+    //pen2.setJoinStyle(Qt::RoundJoin);
+    
+    
+   //brush.setStyle(Qt::RadialGradientPattern);
+    
     QList<QString> ServoNames;
     ServoNames << "ServoW" << "ServoX" << "ServoY" << "ServoZ" ;
 
@@ -96,10 +118,16 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
         m_ccpm->SwashplateImage->scene()->addItem(Servos[i]);
 
         ServosText[i] = new QGraphicsTextItem();
-        ServosText[i]->setDefaultTextColor(Qt::red);
+        ServosText[i]->setDefaultTextColor(Qt::yellow);
         ServosText[i]->setPlainText(QString("-"));
         ServosText[i]->setFont(serifFont);
+        
+        ServosTextCircles[i] = new QGraphicsEllipseItem(1,1,30,30);
+        ServosTextCircles[i]->setBrush(brush);
+        ServosTextCircles[i]->setPen(pen2);
+        m_ccpm->SwashplateImage->scene()->addItem(ServosTextCircles[i]);
         m_ccpm->SwashplateImage->scene()->addItem(ServosText[i]);
+        
 
 
         SwashLvlSpinBoxes[i] = new QSpinBox(m_ccpm->SwashLvlSwashplateImage);       // use QGraphicsView
@@ -172,7 +200,10 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     QStringList channels;
     channels << "Channel1" << "Channel2" <<
-            "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8" << "None" ;
+    "Channel3" << "Channel4" << "Channel5" << "Channel6" << "Channel7" << "Channel8"  ;
+    m_ccpm->ccpmCollectiveChannel->addItems(channels);
+    m_ccpm->ccpmCollectiveChannel->setCurrentIndex(8);
+    channels << "None" ;
     m_ccpm->ccpmEngineChannel->addItems(channels);
     m_ccpm->ccpmEngineChannel->setCurrentIndex(8);
     m_ccpm->ccpmTailChannel->addItems(channels);
@@ -187,7 +218,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
 
     QStringList Types;
-    Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
+    Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 90º" << "CCPM 4 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
     m_ccpm->ccpmType->addItems(Types);
     m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
     requestccpmUpdate();
@@ -196,6 +227,8 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     //disable changing number of points in curves until UAVObjects have more than 5
     m_ccpm->NumCurvePoints->setEnabled(0);
+    
+    
 
     UpdateType();
 
@@ -237,7 +270,13 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
     connect(m_ccpm->SwashLvlFinishButton, SIGNAL(clicked()), this, SLOT(SwashLvlFinishButtonPressed()));
 
+    connect(m_ccpm->ccpmCollectivePassthrough, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
+    connect(m_ccpm->ccpmLinkCyclic, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
+    connect(m_ccpm->ccpmLinkRoll, SIGNAL(clicked()), this, SLOT(SetUIComponentVisibilities()));
 
+
+    
+   ccpmSwashplateRedraw(); 
    // connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestccpmUpdate()));
 
 }
@@ -249,11 +288,13 @@ ConfigccpmWidget::~ConfigccpmWidget()
 
 void ConfigccpmWidget::UpdateType()
 {
-    int TypeInt,SingleServoIndex;
+    int TypeInt,SingleServoIndex,NumServosDefined;
     QString TypeText;
     double AdjustmentAngle=0;
 
-
+    UpdatCCPMOptionsFromUI();
+    SetUIComponentVisibilities();
+    
     TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
     TypeText = m_ccpm->ccpmType->currentText();
     SingleServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
@@ -266,7 +307,7 @@ void ConfigccpmWidget::UpdateType()
     m_ccpm->ccpmAngleX->setEnabled(TypeInt==1);
     m_ccpm->ccpmAngleY->setEnabled(TypeInt==1);
     m_ccpm->ccpmAngleZ->setEnabled(TypeInt==1);
-    m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt==1);
+    m_ccpm->ccpmCorrectionAngle->setEnabled(TypeInt!=0);
 
     m_ccpm->ccpmServoWChannel->setEnabled(TypeInt>0);
     m_ccpm->ccpmServoXChannel->setEnabled(TypeInt>0);
@@ -289,6 +330,7 @@ void ConfigccpmWidget::UpdateType()
     //m_ccpm->customThrottleCurve2Value->setVisible(1);
     //m_ccpm->label_41->setVisible(1);
 
+    NumServosDefined=4;
     //set values for pre defined heli types
         if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
         {
@@ -302,8 +344,34 @@ void ConfigccpmWidget::UpdateType()
             m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoYChannel->setEnabled(0);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(0);
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
+            NumServosDefined=2;
 
+        }
+        if (TypeText.compare(QString("CCPM 3 Servo 90º"), Qt::CaseInsensitive)==0)
+        {
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
+            m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
+            m_ccpm->ccpmAngleZ->setValue(0);
+            m_ccpm->ccpmAngleZ->setEnabled(0);
+            m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
+            m_ccpm->ccpmServoZChannel->setEnabled(0);
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
+            NumServosDefined=3;
+        
+        }
+        if (TypeText.compare(QString("CCPM 4 Servo 90º"), Qt::CaseInsensitive)==0)
+        {
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
+            m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 180,360));
+            m_ccpm->ccpmAngleZ->setValue(fmod(AdjustmentAngle + 270,360));
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
+            m_ccpm->ccpmSingleServo->setEnabled(0);
+            m_ccpm->ccpmSingleServo->setCurrentIndex(0);
+            NumServosDefined=4;
+        
         }
         if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
         {
@@ -314,8 +382,9 @@ void ConfigccpmWidget::UpdateType()
             m_ccpm->ccpmAngleZ->setEnabled(0);
             m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(0);
-
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
+            NumServosDefined=3;
+            
         }
         if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
         {
@@ -326,7 +395,8 @@ void ConfigccpmWidget::UpdateType()
             m_ccpm->ccpmAngleZ->setEnabled(0);
             m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(0);
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
+            NumServosDefined=3;
 
         }
         if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
@@ -341,7 +411,7 @@ void ConfigccpmWidget::UpdateType()
             m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoYChannel->setEnabled(0);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(0);
+            //m_ccpm->ccpmCorrectionAngle->setValue(0);
 
             m_ccpm->ccpmCollectivespinBox->setEnabled(0);
             m_ccpm->ccpmCollectiveSlider->setEnabled(0);
@@ -353,8 +423,29 @@ void ConfigccpmWidget::UpdateType()
             m_ccpm->PitchCurve->setVisible(0);
             //m_ccpm->customThrottleCurve2Value->setVisible(0);
             //m_ccpm->label_41->setVisible(0);
+            NumServosDefined=2;
         }
 
+    //set the visibility of the swashplate servo selection boxes
+    m_ccpm->ccpmServoWLabel->setVisible(NumServosDefined>=1);
+    m_ccpm->ccpmServoXLabel->setVisible(NumServosDefined>=2);
+    m_ccpm->ccpmServoYLabel->setVisible(NumServosDefined>=3);
+    m_ccpm->ccpmServoZLabel->setVisible(NumServosDefined>=4);
+    m_ccpm->ccpmServoWChannel->setVisible(NumServosDefined>=1);
+    m_ccpm->ccpmServoXChannel->setVisible(NumServosDefined>=2);
+    m_ccpm->ccpmServoYChannel->setVisible(NumServosDefined>=3);
+    m_ccpm->ccpmServoZChannel->setVisible(NumServosDefined>=4);
+    
+    //set the visibility of the swashplate angle selection boxes
+    m_ccpm->ccpmServoWLabel_2->setVisible(NumServosDefined>=1);
+    m_ccpm->ccpmServoXLabel_2->setVisible(NumServosDefined>=2);
+    m_ccpm->ccpmServoYLabel_2->setVisible(NumServosDefined>=3);
+    m_ccpm->ccpmServoZLabel_2->setVisible(NumServosDefined>=4);
+    m_ccpm->ccpmAngleW->setVisible(NumServosDefined>=1);
+    m_ccpm->ccpmAngleX->setVisible(NumServosDefined>=2);
+    m_ccpm->ccpmAngleY->setVisible(NumServosDefined>=3);
+    m_ccpm->ccpmAngleZ->setVisible(NumServosDefined>=4);
+    
 
         m_ccpm->ccpmAdvancedSettingsTable->resizeColumnsToContents();
         for (int i=0;i<6;i++) {
@@ -362,9 +453,12 @@ void ConfigccpmWidget::UpdateType()
                                                             m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
         }
 
+    
+    
+    
     //update UI
     ccpmSwashplateUpdate();
-
+    
 }
 
 /**
@@ -372,12 +466,7 @@ void ConfigccpmWidget::UpdateType()
   */
 void ConfigccpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
 {
-    QList<double> curveValues;
-    for (double i=0; i<numElements; i++) {
-        curveValues.append(i/(numElements-1));
-    }
-    // Setup all Throttle1 curves for all types of airframes
-    mixer->initCurve(curveValues);
+    mixer->initLinearCurve(numElements,(double)1);
 }
 
 void ConfigccpmWidget::UpdateCurveWidgets()
@@ -660,17 +749,43 @@ void ConfigccpmWidget::GenerateCurve()
 void ConfigccpmWidget::ccpmSwashplateRedraw()
 {
     double angle[CCPM_MAX_SWASH_SERVOS],CorrectionAngle,x,y,w,h,radius,CenterX,CenterY;
-    int used[CCPM_MAX_SWASH_SERVOS],i;
+    int used[CCPM_MAX_SWASH_SERVOS],defined[CCPM_MAX_SWASH_SERVOS],i;
+    QRectF bounds;
+    QRect size;
+    double scale,xscale,yscale;
 
+
+    size = m_ccpm->SwashplateImage->rect();
+    xscale=size.width();
+    yscale=size.height();
+    scale=xscale;
+    if (yscale<scale)scale=yscale;
+    scale/=460.00;
+    m_ccpm->SwashplateImage->resetTransform ();
+    m_ccpm->SwashplateImage->scale(scale,scale);  
+    
+    size = m_ccpm->SwashLvlSwashplateImage->rect();
+    xscale=size.width();
+    yscale=size.height();
+    scale=xscale;
+    if (yscale<scale)scale=yscale;
+    scale/=590.00;
+    m_ccpm->SwashLvlSwashplateImage->resetTransform ();
+    m_ccpm->SwashLvlSwashplateImage->scale(scale,scale);  
+    
     CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
 
-    //CenterX=m_ccpm->SwashplateImage->scene()->sceneRect().center().x();
-   // CenterY=m_ccpm->SwashplateImage->scene()->sceneRect().center().y();
     CenterX=200;
-    CenterY=220;
+    CenterY=200;
 
-    SwashplateImg->setPos(CenterX-200,CenterY-200);
+    bounds=SwashplateImg->boundingRect();
+    
+    SwashplateImg->setPos(CenterX-bounds.width()/2,CenterY-bounds.height()/2);
 
+    defined[0]=(m_ccpm->ccpmServoWChannel->isEnabled());
+    defined[1]=(m_ccpm->ccpmServoXChannel->isEnabled());
+    defined[2]=(m_ccpm->ccpmServoYChannel->isEnabled());
+    defined[3]=(m_ccpm->ccpmServoZChannel->isEnabled());
     used[0]=((m_ccpm->ccpmServoWChannel->currentIndex()<8)&&(m_ccpm->ccpmServoWChannel->isEnabled()));
     used[1]=((m_ccpm->ccpmServoXChannel->currentIndex()<8)&&(m_ccpm->ccpmServoXChannel->isEnabled()));
     used[2]=((m_ccpm->ccpmServoYChannel->currentIndex()<8)&&(m_ccpm->ccpmServoYChannel->isEnabled()));
@@ -689,11 +804,28 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
         Servos[i]->setPos(x, y);
         Servos[i]->setVisible(used[i]!=0);
 
-        radius=170;
-        x=CenterX-(radius*sin(angle[i]))-10.00;
-        y=CenterY+(radius*cos(angle[i]))-10.00;
+        radius=150;
+        bounds=ServosText[i]->boundingRect();
+        x=CenterX-(radius*sin(angle[i]))-bounds.width()/2;
+        y=CenterY+(radius*cos(angle[i]))-bounds.height()/2;
+        
         ServosText[i]->setPos(x, y);
         ServosText[i]->setVisible(used[i]!=0);
+ 
+        if (bounds.width()>bounds.height())
+        {
+            bounds.setHeight(bounds.width());
+        }
+        else
+        {
+            bounds.setWidth(bounds.height());
+        }
+        x=CenterX-(radius*sin(angle[i]))-bounds.width()/2;
+        y=CenterY+(radius*cos(angle[i]))-bounds.height()/2;
+        
+        ServosTextCircles[i]->setRect(bounds);
+        ServosTextCircles[i]->setPos(x, y);
+        ServosTextCircles[i]->setVisible(used[i]!=0);
 
         w=SwashLvlSpinBoxes[i]->width()/2;
         h=SwashLvlSpinBoxes[i]->height()/2;
@@ -707,7 +839,7 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
         x=CenterX-(radius*sin(angle[i]));
         y=CenterY+(radius*cos(angle[i]));
         ServoLines[i]->setLine(CenterX,CenterY,x,y);
-        ServoLines[i]->setVisible(used[i]!=0);
+        ServoLines[i]->setVisible(defined[i]!=0);
     }
 
     //m_ccpm->SwashplateImage->centerOn (CenterX, CenterY);
@@ -718,22 +850,104 @@ void ConfigccpmWidget::ccpmSwashplateRedraw()
 void ConfigccpmWidget::ccpmSwashplateUpdate()
 {
     ccpmSwashplateRedraw();
+    SetUIComponentVisibilities();
     UpdateMixer();
 }
 
+void ConfigccpmWidget::ccpmChannelCheck()
+{
+    if((m_ccpm->ccpmServoWChannel->currentIndex()==8)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
+    {
+        m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmServoWLabel->setText("<font color=black>Servo W</font>");   
+    }
+    if((m_ccpm->ccpmServoXChannel->currentIndex()==8)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
+    {
+        m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmServoXLabel->setText("<font color=black>Servo X</font>");   
+    }
+    if((m_ccpm->ccpmServoYChannel->currentIndex()==8)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
+    {
+        m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmServoYLabel->setText("<font color=black>Servo Y</font>");   
+    }
+    if((m_ccpm->ccpmServoZChannel->currentIndex()==8)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
+    {
+        m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmServoZLabel->setText("<font color=black>Servo Z</font>");   
+    }
+
+    if((m_ccpm->ccpmEngineChannel->currentIndex()==8)&&(m_ccpm->ccpmEngineChannel->isEnabled()))
+    {
+        m_ccpm->ccpmEngineLabel->setText("<font color=red>Engine</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmEngineLabel->setText("<font color=black>Engine</font>");   
+    }
+    
+    if((m_ccpm->ccpmTailChannel->currentIndex()==8)&&(m_ccpm->ccpmTailChannel->isEnabled()))
+    {
+        m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");   
+    }
+    else
+    {
+        m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");   
+    }
+    
+}
+
 void ConfigccpmWidget::UpdateMixer()
 {
-    int i,j,Type,ThisEnable[6];
-    float CollectiveConstant,CorrectionAngle,ThisAngle[6];
+    bool useCCPM;
+    bool useCyclic;
+    int i,j,ThisEnable[6];
+    float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
     //QTableWidgetItem *newItem;// = new QTableWidgetItem();
     QString Channel;
 
-    Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
-    CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
-    CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
+    ccpmChannelCheck();
+    //Type = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
+    //CollectiveConstant=m_ccpm->ccpmCollectiveSlider->value()/100.0;
+    //CorrectionAngle=m_ccpm->ccpmCorrectionAngle->value();
+    UpdatCCPMOptionsFromUI();
+ 
+    useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
+    useCyclic = GUIConfigData.heli.ccpmLinkRollState;
 
+    CollectiveConstant = (float)GUIConfigData.heli.SliderValue0 / 100.00;
 
-    if (Type>0)
+    if (useCCPM) 
+    {//cyclic = 1 - collective
+        PitchConstant = 1-CollectiveConstant;
+        RollConstant = PitchConstant;
+    }
+    else
+    {
+        PitchConstant = (float)GUIConfigData.heli.SliderValue1 / 100.00;;
+        if (useCyclic) 
+        {
+            RollConstant = PitchConstant;
+        }   
+        else
+        {
+            RollConstant = (float)GUIConfigData.heli.SliderValue2 / 100.00;;
+        }               
+    }
+
+    if (GUIConfigData.heli.SwasplateType>0)
     {//not advanced settings
         //get the channel data from the ui
         MixerChannelData[0] = m_ccpm->ccpmEngineChannel->currentIndex();
@@ -797,8 +1011,8 @@ void ConfigccpmWidget::UpdateMixer()
                 {//Swashplate
                     m_ccpm->ccpmAdvancedSettingsTable->item(i,1)->setText(QString("%1").arg(0));//ThrottleCurve1
                     m_ccpm->ccpmAdvancedSettingsTable->item(i,2)->setText(QString("%1").arg((int)(127.0*CollectiveConstant)));//ThrottleCurve2
-                    m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*sin((180+CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
-                    m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
+                    m_ccpm->ccpmAdvancedSettingsTable->item(i,3)->setText(QString("%1").arg((int)(127.0*(RollConstant)*sin((180+GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
+                    m_ccpm->ccpmAdvancedSettingsTable->item(i,4)->setText(QString("%1").arg((int)(127.0*(PitchConstant)*cos((GUIConfigData.heli.CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
                     m_ccpm->ccpmAdvancedSettingsTable->item(i,5)->setText(QString("%1").arg(0));//Yaw
 
                 }
@@ -827,6 +1041,140 @@ void ConfigccpmWidget::UpdateMixer()
 /**************************
   * ccpm settings
   **************************/
+/*
+ Get the state of the UI check boxes and change the visibility of sliders
+ typedef struct {
+ uint SwasplateType:3;
+ uint FirstServoIndex:2;
+ uint CorrectionAngle:9;
+ uint ccpmCollectivePassthroughState:1;
+ uint ccpmLinkCyclicState:1;
+ uint ccpmLinkRollState:1;
+ uint CollectiveChannel:3;
+ uint padding:12;
+ } __attribute__((packed))  heliGUISettingsStruct;
+
+ */
+void ConfigccpmWidget::UpdatCCPMOptionsFromUI()
+{
+    bool useCCPM;
+    bool useCyclic;
+    
+    if (updatingFromHardware) return;
+    //get the user options
+    //swashplate config
+    GUIConfigData.heli.SwasplateType = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
+    GUIConfigData.heli.FirstServoIndex = m_ccpm->ccpmSingleServo->currentIndex();
+    
+    //ccpm mixing options
+    GUIConfigData.heli.ccpmCollectivePassthroughState = m_ccpm->ccpmCollectivePassthrough->isChecked();
+    GUIConfigData.heli.ccpmLinkCyclicState = m_ccpm->ccpmLinkCyclic->isChecked();
+    GUIConfigData.heli.ccpmLinkRollState = m_ccpm->ccpmLinkRoll->isChecked();
+    useCCPM = !(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
+    useCyclic = GUIConfigData.heli.ccpmLinkRollState;
+    
+    //correction angle
+    GUIConfigData.heli.CorrectionAngle = m_ccpm->ccpmCorrectionAngle->value();
+    
+    //CollectiveChannel
+    GUIConfigData.heli.CollectiveChannel = m_ccpm->ccpmCollectiveChannel->currentIndex();
+    
+    //update sliders
+    if (useCCPM) 
+    {
+        GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveSlider->value();
+    }
+    else
+    {
+        GUIConfigData.heli.SliderValue0 = m_ccpm->ccpmCollectiveScale->value();
+    }
+    if (useCyclic) 
+    {
+        GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmCyclicScale->value();
+    }
+    else
+    {
+        GUIConfigData.heli.SliderValue1 = m_ccpm->ccpmPitchScale->value();
+    }    
+    GUIConfigData.heli.SliderValue2 = m_ccpm->ccpmRollScale->value();
+    //GUIConfigData.heli.RevoSlider = m_ccpm->ccpmREVOScale->value();
+    
+    //servo assignments
+    GUIConfigData.heli.ServoIndexW = m_ccpm->ccpmServoWChannel->currentIndex();
+    GUIConfigData.heli.ServoIndexX = m_ccpm->ccpmServoXChannel->currentIndex();
+    GUIConfigData.heli.ServoIndexY = m_ccpm->ccpmServoYChannel->currentIndex();
+    GUIConfigData.heli.ServoIndexZ = m_ccpm->ccpmServoZChannel->currentIndex();
+    
+}
+void ConfigccpmWidget::UpdatCCPMUIFromOptions()
+{
+    //swashplate config
+    m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - (GUIConfigData.heli.SwasplateType +1));
+    m_ccpm->ccpmSingleServo->setCurrentIndex(GUIConfigData.heli.FirstServoIndex);
+    
+    //ccpm mixing options
+    m_ccpm->ccpmCollectivePassthrough->setChecked(GUIConfigData.heli.ccpmCollectivePassthroughState);
+    m_ccpm->ccpmLinkCyclic->setChecked(GUIConfigData.heli.ccpmLinkCyclicState);
+    m_ccpm->ccpmLinkRoll->setChecked(GUIConfigData.heli.ccpmLinkRollState);
+    
+    //correction angle
+    m_ccpm->ccpmCorrectionAngle->setValue(GUIConfigData.heli.CorrectionAngle);
+    
+    //CollectiveChannel
+    m_ccpm->ccpmCollectiveChannel->setCurrentIndex(GUIConfigData.heli.CollectiveChannel);
+    
+    //update sliders
+    m_ccpm->ccpmCollectiveScale->setValue(GUIConfigData.heli.SliderValue0);
+    m_ccpm->ccpmCollectiveScaleBox->setValue(GUIConfigData.heli.SliderValue0);
+    m_ccpm->ccpmCyclicScale->setValue(GUIConfigData.heli.SliderValue1);
+    m_ccpm->ccpmCyclicScaleBox->setValue(GUIConfigData.heli.SliderValue1);
+    m_ccpm->ccpmPitchScale->setValue(GUIConfigData.heli.SliderValue1);
+    m_ccpm->ccpmPitchScaleBox->setValue(GUIConfigData.heli.SliderValue1);
+    m_ccpm->ccpmRollScale->setValue(GUIConfigData.heli.SliderValue2);
+    m_ccpm->ccpmRollScaleBox->setValue(GUIConfigData.heli.SliderValue2);
+    m_ccpm->ccpmCollectiveSlider->setValue(GUIConfigData.heli.SliderValue0);
+    m_ccpm->ccpmCollectivespinBox->setValue(GUIConfigData.heli.SliderValue0);
+    //m_ccpm->ccpmREVOScale->setValue(GUIConfigData.heli.RevoSlider);
+    
+    //servo assignments
+    m_ccpm->ccpmServoWChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexW);
+    m_ccpm->ccpmServoXChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexX);
+    m_ccpm->ccpmServoYChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexY);
+    m_ccpm->ccpmServoZChannel->setCurrentIndex(GUIConfigData.heli.ServoIndexZ);
+
+}
+
+
+void ConfigccpmWidget::SetUIComponentVisibilities()
+{
+    UpdatCCPMOptionsFromUI();
+    //set which sliders are user...
+    m_ccpm->ccpmRevoMixingBox->setVisible(0);
+    
+    m_ccpm->ccpmPitchMixingBox->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState);
+    m_ccpm->ccpmCollectiveScalingBox->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState);
+
+    m_ccpm->ccpmCollectiveChLabel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
+    m_ccpm->ccpmCollectiveChannel->setVisible(GUIConfigData.heli.ccpmCollectivePassthroughState);
+
+    m_ccpm->ccpmLinkCyclic->setVisible(!GUIConfigData.heli.ccpmCollectivePassthroughState);
+    
+    m_ccpm->ccpmCyclicScalingBox->setVisible((GUIConfigData.heli.ccpmCollectivePassthroughState || !GUIConfigData.heli.ccpmLinkCyclicState) && GUIConfigData.heli.ccpmLinkRollState);
+    if (!GUIConfigData.heli.ccpmCollectivePassthroughState && GUIConfigData.heli.ccpmLinkCyclicState)
+    {
+        m_ccpm->ccpmPitchScalingBox->setVisible(0);
+        m_ccpm->ccpmRollScalingBox->setVisible(0);
+        m_ccpm->ccpmLinkRoll->setVisible(0);
+        
+    }
+    else
+    {
+        m_ccpm->ccpmPitchScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
+        m_ccpm->ccpmRollScalingBox->setVisible(!GUIConfigData.heli.ccpmLinkRollState);
+        m_ccpm->ccpmLinkRoll->setVisible(1);
+    }
+
+}
 /**
   Request the current value of the SystemSettings which holds the ccpm type
   */
@@ -834,7 +1182,7 @@ void ConfigccpmWidget::requestccpmUpdate()
 {
 #define MaxAngleError 2
     int MixerDataFromHeli[8][5];
-    QString MixerOutputType[8];
+    quint8 MixerOutputType[8];
     int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4];
     int NumServos=0;
     double Collective=0.0;
@@ -843,32 +1191,48 @@ void ConfigccpmWidget::requestccpmUpdate()
     int isCCPM=0;
 
     if (SwashLvlConfigurationInProgress)return;
-
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    if (updatingToHardware)return;
+    updatingFromHardware=TRUE;
+    
     int i,j;
-    UAVObjectField *field;
-    UAVDataObject* obj;
-    obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
-    Q_ASSERT(obj);
+    
+    SystemSettings * systemSettings = SystemSettings::GetInstance(getObjectManager());
+    SystemSettings::DataFields systemSettingsData = systemSettings->getData();
 
+    Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM ==
+             (sizeof(GUIConfigData.UAVObject) / sizeof(GUIConfigData.UAVObject[0])));
+
+    for(i = 0; i < SystemSettings::GUICONFIGDATA_NUMELEM; i++)
+        GUIConfigData.UAVObject[i]=systemSettingsData.GUIConfigData[i];
+
+    UpdatCCPMUIFromOptions();
+
+    // Get existing mixer settings
+    MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
+    MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
+    
     //go through the user data and update the mixer matrix
-    for (i=0;i<8;i++)
+    for (j=0;j<5;j++)
     {
-            field = obj->getField(tr( "Mixer%1Vector" ).arg(i+1));
-            //config the vector
-            for (j=0;j<5;j++)
-            {
-                MixerDataFromHeli[i][j] = field->getValue(j).toInt();
-                //field->setValue(m_ccpm->ccpmAdvancedSettingsTable->item(i,j+1)->text().toInt(),j);
-            }
-    }
-    for (i=0;i<8;i++)
-    {
-            field = obj->getField(tr( "Mixer%1Type" ).arg(i+1));
-            MixerOutputType[i] = field->getValue().toString();
+        MixerDataFromHeli[0][j] = mixerSettingsData.Mixer1Vector[j];
+        MixerDataFromHeli[1][j] = mixerSettingsData.Mixer2Vector[j];
+        MixerDataFromHeli[2][j] = mixerSettingsData.Mixer3Vector[j];
+        MixerDataFromHeli[3][j] = mixerSettingsData.Mixer4Vector[j];
+        MixerDataFromHeli[4][j] = mixerSettingsData.Mixer5Vector[j];
+        MixerDataFromHeli[5][j] = mixerSettingsData.Mixer6Vector[j];
+        MixerDataFromHeli[6][j] = mixerSettingsData.Mixer7Vector[j];
+        MixerDataFromHeli[7][j] = mixerSettingsData.Mixer8Vector[j];
     }
 
+    MixerOutputType[0] = mixerSettingsData.Mixer1Type;
+    MixerOutputType[1] = mixerSettingsData.Mixer2Type;
+    MixerOutputType[2] = mixerSettingsData.Mixer3Type;
+    MixerOutputType[3] = mixerSettingsData.Mixer4Type;
+    MixerOutputType[4] = mixerSettingsData.Mixer5Type;
+    MixerOutputType[5] = mixerSettingsData.Mixer6Type;
+    MixerOutputType[6] = mixerSettingsData.Mixer7Type;
+    MixerOutputType[7] = mixerSettingsData.Mixer8Type;
+
     EngineChannel =-1;
     TailRotorChannel =-1;
     for (j=0;j<5;j++)
@@ -884,7 +1248,7 @@ void ConfigccpmWidget::requestccpmUpdate()
     for (i=0;i<8;i++)
     {
         //check if this is the engine... Throttle only
-        if ((MixerOutputType[i].compare("Motor")==0)&&
+        if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_MOTOR)&&
             (MixerDataFromHeli[i][0]>0)&&//ThrottleCurve1
             (MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
             (MixerDataFromHeli[i][2]==0)&&//Roll
@@ -896,7 +1260,7 @@ void ConfigccpmWidget::requestccpmUpdate()
 
         }
         //check if this is the tail rotor... REVO and YAW
-        if ((MixerOutputType[i].compare("Servo")==0)&&
+        if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&&
             //(MixerDataFromHeli[i][0]!=0)&&//ThrottleCurve1
             (MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
             (MixerDataFromHeli[i][2]==0)&&//Roll
@@ -909,7 +1273,7 @@ void ConfigccpmWidget::requestccpmUpdate()
             m_ccpm->ccpmREVOspinBox->setValue((MixerDataFromHeli[i][0]*100)/127);
         }
         //check if this is a swashplate servo... Throttle is zero
-        if ((MixerOutputType[i].compare("Servo")==0)&&
+        if ((MixerOutputType[i] == MixerSettings::MIXER1TYPE_SERVO)&&
             (MixerDataFromHeli[i][0]==0)&&//ThrottleCurve1
             //(MixerDataFromHeli[i][1]==0)&&//ThrottleCurve2
             //(MixerDataFromHeli[i][2]==0)&&//Roll
@@ -920,185 +1284,23 @@ void ConfigccpmWidget::requestccpmUpdate()
             ServoCurve2[NumServos]=MixerDataFromHeli[i][1];//record the ThrottleCurve2 contribution to this servo
             ServoAngles[NumServos]=NumServos*45;//make this 0 for the final version
 
-            //if (NumServos==0)m_ccpm->ccpmServoWChannel->setCurrentIndex(i);
-            //if (NumServos==1)m_ccpm->ccpmServoXChannel->setCurrentIndex(i);
-            //if (NumServos==2)m_ccpm->ccpmServoYChannel->setCurrentIndex(i);
-            //if (NumServos==3)m_ccpm->ccpmServoZChannel->setCurrentIndex(i);
             NumServos++;
         }
 
     }
 
-
-
-
-    //just call it user angles for now....
-    m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
-
-    if (NumServos>1)
-    {
-        if((ServoCurve2[0]==0)&&(ServoCurve2[1]==0)&&(ServoCurve2[2]==0)&&(ServoCurve2[3]==0))
-        {
-            //fixed pitch heli
-            isCCPM=0;
-            m_ccpm->ccpmCollectiveSlider->setValue(0);
-            Collective = 0.0;
-        }
-        if(ServoCurve2[0]==ServoCurve2[1])
-        {
-            if ((NumServos<3)||(ServoCurve2[1]==ServoCurve2[2]))
-            {
-                if ((NumServos<4)||(ServoCurve2[2]==ServoCurve2[3]))
-                {//all the servos have the same ThrottleCurve2 setting so this must be a CCPM config
-                    isCCPM=1;
-                    Collective = ((double)ServoCurve2[0]*100.00)/127.00;
-                    m_ccpm->ccpmCollectiveSlider->setValue((int)Collective);
-                    m_ccpm->ccpmCollectivespinBox->setValue((int)Collective);
-
-                 }
-            }
-        }
-    }
-    else
-    {//must be a custom config... "Custom - Advanced Settings"
-        m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings"));
-    }
-
-    HeadRotation=0;
-    //calculate the angles
-    for(j=0;j<NumServos;j++)
-    {
-        //MixerDataFromHeli[i][2]=(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
-        //MixerDataFromHeli[i][3]=(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
-        a1=((double)MixerDataFromHeli[ServoChannels[j]][2]/(1.27*(100.0-Collective)));
-        a2=((double)MixerDataFromHeli[ServoChannels[j]][3]/(1.27*(100.0-Collective)));
-        ServoAngles[j]=fmod(360.0+atan2(-a1,a2)/(Pi/180.00),360.0);
-        //check the angles for one being a multiple of 90deg
-        if (fmod(ServoAngles[j],90)<MaxAngleError)
-        {
-            HeadRotation=ServoAngles[j]/90;
-        }
-
-    }
-    //set the head rotation
-    m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation);
-
-    //calculate the un rotated angles
-    for(j=0;j<NumServos;j++)
-    {
-      CalcAngles[j] = fmod(360.0+ServoAngles[j]-(double)HeadRotation*90.0,360.0);
-    }
-    //sort the calc angles do the smallest is first...brute force...
-    for(i=0;i<5;i++)
-    for(j=0;j<NumServos-1;j++)
-    {
-      if (CalcAngles[SortAngles[j]] > CalcAngles[SortAngles[j+1]])
-      {//swap the sorted angles
-        temp = SortAngles[j];
-        SortAngles[j]=SortAngles[j+1];
-        SortAngles[j+1]=temp;
-      }
-
-    }
-
-    m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]);
-    m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]);
-    m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]);
-    m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]);
-
-    m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]);
-    m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]);
-    m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]);
-    m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]);
-
-
-    //Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
-
-
-    //check this against known combinations
-    if (NumServos==2)
-    {
-        if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
-            (fabs(CalcAngles[SortAngles[1]]-90)<MaxAngleError))
-        {// two servo 90º
-            if (isCCPM)
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 2 Servo 90º"));
-                UpdateType();
-            }
-            else
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 2 Servo 90º"));
-                UpdateType();
-            }
-
-        }
-    }
-    if (NumServos==3)
-    {
-        if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
-            (fabs(CalcAngles[SortAngles[1]]-120)<MaxAngleError)&&
-            (fabs(CalcAngles[SortAngles[2]]-240)<MaxAngleError))
-        {// three servo 120º
-            if (isCCPM)
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 120º"));
-                UpdateType();
-
-            }
-            else
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 120º"));
-                UpdateType();
-            }
-
-        }
-        else if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
-            (fabs(CalcAngles[SortAngles[1]]-140)<MaxAngleError)&&
-            (fabs(CalcAngles[SortAngles[2]]-220)<MaxAngleError))
-        {// three servo 140º
-            if (isCCPM)
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 140º"));
-                UpdateType();
-            }
-            else
-            {
-                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 140º"));
-                UpdateType();
-            }
-
-        }
-
-    }
-    if (NumServos==4)
-    {
-
-    }
-
-
-
-
     //get the settings for the curve from the mixer settings
-    field = obj->getField(QString("ThrottleCurve1"));
     for (i=0;i<5;i++)
     {
-        m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
-        //m_ccpm->CurveSettings->item(i, 0)->setText(field->getValue(i).toString());
-    }
-    field = obj->getField(QString("ThrottleCurve2"));
-    for (i=0;i<5;i++)
-    {
-        m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",field->getValue(i).toDouble()));
-        //m_ccpm->CurveSettings->item(i, 1)->setText(field->getValue(i).toString());
+        m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",
+                                                                     mixerSettingsData.ThrottleCurve1[i]));
+        m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",
+                                                                     mixerSettingsData.ThrottleCurve2[i]));
     }
 
-
-
-
-
+    updatingFromHardware=FALSE;
+    UpdatCCPMUIFromOptions();
     ccpmSwashplateUpdate();
-
 }
 
 
@@ -1112,10 +1314,22 @@ void ConfigccpmWidget::sendccpmUpdate()
     UAVDataObject* obj;
 
     if (SwashLvlConfigurationInProgress)return;
-    ShowDisclaimer(1);
+    updatingToHardware=TRUE;
+    //ShowDisclaimer(1);
+    
+    
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
+    UpdatCCPMOptionsFromUI();
+    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
+    field = obj->getField(QString("GUIConfigData"));
+    field->setValue(GUIConfigData.UAVObject[0],0);
+    field->setValue(GUIConfigData.UAVObject[1],1);
+    obj->updated();
+   
+
+    
     obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("MixerSettings")));
         Q_ASSERT(obj);
 
@@ -1124,7 +1338,7 @@ void ConfigccpmWidget::sendccpmUpdate()
         //clear the output types
         for (i=0;i<8;i++)
         {
-            field = obj->getField(tr( "Mixer%1Type" ).arg( i+1 ));
+            field = obj->getField( QString( "Mixer%1Type" ).arg( i+1 ));
             //clear the mixer type
             field->setValue("Disabled");
         }
@@ -1145,7 +1359,7 @@ void ConfigccpmWidget::sendccpmUpdate()
             if (MixerChannelData[i]<8)
             {
                 //select the correct mixer for this config element
-                field = obj->getField(tr( "Mixer%1Type" ).arg( MixerChannelData[i]+1 ));
+                field = obj->getField(QString( "Mixer%1Type" ).arg( MixerChannelData[i]+1 ));
                 //set the mixer type
                 if (i==0)
                 {
@@ -1157,7 +1371,7 @@ void ConfigccpmWidget::sendccpmUpdate()
                 }
 
                 //select the correct mixer for this config element
-                field = obj->getField(tr( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 ));
+                field = obj->getField(QString( "Mixer%1Vector" ).arg( MixerChannelData[i]+1 ));
                 //config the vector
                 for (j=0;j<5;j++)
                 {
@@ -1181,8 +1395,32 @@ void ConfigccpmWidget::sendccpmUpdate()
             field->setValue(m_ccpm->CurveSettings->item(i, 1)->text().toDouble(),i);
         }
 
+    obj->updated();
+    
+    field = obj->getField(QString("Curve2Source"));
+    
+    //mapping of collective input to curve 2...
+    //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
+    //check if we are using throttle or directly from a channel...
+    if (GUIConfigData.heli.ccpmCollectivePassthroughState)
+    {// input channel
+        field->setValue("Accessory0");
         obj->updated();
-
+ 
+        obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
+        Q_ASSERT(obj);
+        field = obj->getField(QString("Accessory0"));
+        field->setValue(tr( "Channel%1" ).arg(GUIConfigData.heli.CollectiveChannel+1));
+        
+    }
+    else
+    {// throttle
+        
+        field->setValue("Throttle");
+    }
+    
+    obj->updated();
+    updatingToHardware=FALSE;
 
 }
 
@@ -1220,6 +1458,7 @@ void ConfigccpmWidget::showEvent(QShowEvent *event)
         m_ccpm->ccpmAdvancedSettingsTable->setColumnWidth(i,(m_ccpm->ccpmAdvancedSettingsTable->width()-
                                                         m_ccpm->ccpmAdvancedSettingsTable->verticalHeader()->width())/6);
     }
+    ccpmSwashplateRedraw();
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
index c55a5b521..d07da53c8 100644
--- a/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccpmwidget.h
@@ -34,6 +34,7 @@
 #include "uavobject.h"
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include <QGraphicsEllipseItem>
 #include <QtGui/QWidget>
 #include <QList>
 
@@ -49,6 +50,30 @@ typedef struct {
     int Min[CCPM_MAX_SWASH_SERVOS];
 } SwashplateServoSettingsStruct;
 
+typedef struct {
+    uint SwasplateType:3;
+    uint FirstServoIndex:2;
+    uint CorrectionAngle:9;
+    uint ccpmCollectivePassthroughState:1;
+    uint ccpmLinkCyclicState:1;
+    uint ccpmLinkRollState:1;
+    uint CollectiveChannel:3;//20bits
+    uint SliderValue0:7;
+    uint SliderValue1:7;
+    uint SliderValue2:7;//41bits
+    uint ServoIndexW:4;
+    uint ServoIndexX:4;
+    uint ServoIndexY:4;
+    uint ServoIndexZ:4;//57bits
+    uint padding:7;
+} __attribute__((packed))  heliGUISettingsStruct;
+
+typedef union
+{
+    uint                    UAVObject[2];//32bits * 2
+    heliGUISettingsStruct   heli;//64bits
+} GUIConfigDataUnion;
+
 class ConfigccpmWidget: public ConfigTaskWidget
 {
     Q_OBJECT
@@ -72,6 +97,7 @@ private:
         QGraphicsSvgItem *Servos[CCPM_MAX_SWASH_SERVOS];
         QGraphicsTextItem *ServosText[CCPM_MAX_SWASH_SERVOS];
         QGraphicsLineItem *ServoLines[CCPM_MAX_SWASH_SERVOS];
+        QGraphicsEllipseItem *ServosTextCircles[CCPM_MAX_SWASH_SERVOS];
         QSpinBox *SwashLvlSpinBoxes[CCPM_MAX_SWASH_SERVOS];
 
         bool SwashLvlConfigurationInProgress;
@@ -82,11 +108,15 @@ private:
         SwashplateServoSettingsStruct oldSwashLvlConfiguration;
         SwashplateServoSettingsStruct newSwashLvlConfiguration;
 
+        GUIConfigDataUnion GUIConfigData;
 
         int MixerChannelData[6];
         int ShowDisclaimer(int messageID);
         virtual void enableControls(bool enable) { Q_UNUSED(enable)}; // Not used by this widget
 
+        bool updatingFromHardware;
+        bool updatingToHardware;
+
     private slots:
         void ccpmSwashplateUpdate();
         void ccpmSwashplateRedraw();
@@ -104,6 +134,12 @@ private:
         void SwashLvlCancelButtonPressed();
         void SwashLvlFinishButtonPressed();
 
+        void UpdatCCPMOptionsFromUI();
+        void UpdatCCPMUIFromOptions();
+
+        void SetUIComponentVisibilities();
+        void ccpmChannelCheck();
+
         void enableSwashplateLevellingControl(bool state);
         void setSwashplateLevel(int percent);
         void SwashLvlSpinBoxChanged(int value);
diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc
index 30f9431e3..5f982053b 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc
+++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc
@@ -1,18 +1,19 @@
 <RCC>
-  <qresource prefix="/configgadget">
-    <file>images/help2.png</file>
-    <file>images/XBee.svg</file>
-    <file>images/Airframe.png</file>
-    <file>images/Servo.png</file>
-    <file>images/ahrs-calib.svg</file>
-    <file>images/AHRS-v1.3.png</file>
-    <file>images/paper-plane.svg</file>
-    <file>images/curve-bg.svg</file>
-    <file>images/quad-shapes.svg</file>
-    <file>images/ccpm_setup.svg</file>
-    <file>images/PipXtreme.png</file>
-    <file>images/gyroscope.svg</file>
-    <file>images/Transmitter.png</file>
-    <file>images/help.png</file>
-  </qresource>
+    <qresource prefix="/configgadget">
+        <file>images/help2.png</file>
+        <file>images/Airframe.png</file>
+        <file>images/Servo.png</file>
+        <file>images/ahrs-calib.svg</file>
+        <file>images/AHRS-v1.3.png</file>
+        <file>images/paper-plane.svg</file>
+        <file>images/curve-bg.svg</file>
+        <file>images/quad-shapes.svg</file>
+        <file>images/ccpm_setup.svg</file>
+        <file>images/PipXtreme.png</file>
+        <file>images/Transmitter.png</file>
+        <file>images/help.png</file>
+        <file>images/coptercontrol.svg</file>
+        <file>images/hw_config.png</file>
+        <file>images/gyroscope.png</file>
+    </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index f19b414c4..39acb5adf 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -33,9 +33,10 @@
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
-#include "configtelemetrywidget.h"
+#include "config_pro_hw_widget.h"
+#include "config_cc_hw_widget.h"
 #include "defaultattitudewidget.h"
-
+#include "defaulthwsettingswidget.h"
 #include "uavobjectutilmanager.h"
 
 #include <QDebug>
@@ -51,34 +52,35 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
 
-    ftw = new FancyTabWidget(this, true);
-
+    ftw = new MyTabbedStackWidget(this, true, true);
     ftw->setIconSize(64);
 
     QVBoxLayout *layout = new QVBoxLayout;
+    layout->setContentsMargins(0, 0, 0, 0);
     layout->addWidget(ftw);
     setLayout(layout);
 
     // *********************
     QWidget *qwd;
 
+    qwd = new DefaultHwSettingsWidget(this);
+    ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+
     qwd = new ConfigAirframeWidget(this);
-    ftw->insertTab(0, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
+    ftw->insertTab(ConfigGadgetWidget::aircraft, qwd, QIcon(":/configgadget/images/Airframe.png"), QString("Aircraft"));
 
     qwd = new ConfigInputWidget(this);
-    ftw->insertTab(1, qwd, QIcon(":/configgadget/images/Transmitter.png"), QString("Input"));
+    ftw->insertTab(ConfigGadgetWidget::input, qwd, QIcon(":/configgadget/images/Transmitter.png"), QString("Input"));
 
     qwd = new ConfigOutputWidget(this);
-    ftw->insertTab(2, qwd, QIcon(":/configgadget/images/Servo.png"), QString("Output"));
+    ftw->insertTab(ConfigGadgetWidget::output, qwd, QIcon(":/configgadget/images/Servo.png"), QString("Output"));
 
     qwd = new DefaultAttitudeWidget(this);
-    ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+    ftw->insertTab(ConfigGadgetWidget::ins, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
 
     qwd = new ConfigStabilizationWidget(this);
-    ftw->insertTab(4, qwd, QIcon(":/configgadget/images/gyroscope.svg"), QString("Stabilization"));
+    ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Stabilization"));
 
-    qwd = new ConfigTelemetryWidget(this);
-    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/XBee.svg"), QString("Telemetry"));
 
 
 //    qwd = new ConfigPipXtremeWidget(this);
@@ -128,16 +130,24 @@ void ConfigGadgetWidget::onAutopilotConnect() {
         if ((board & 0xff00) == 1024) {
             // CopterControl family
             // Delete the INS panel, replace with CC Panel:
-            ftw->setCurrentIndex(0);
-            ftw->removeTab(3);
+            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
+            ftw->removeTab(ConfigGadgetWidget::ins);
             QWidget *qwd = new ConfigCCAttitudeWidget(this);
-            ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Attitude"));
+            ftw->insertTab(ConfigGadgetWidget::ins, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("Attitude"));
+            ftw->removeTab(ConfigGadgetWidget::hardware);
+            qwd = new ConfigCCHWWidget(this);
+            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
         } else if ((board & 0xff00) == 256 ) {
             // Mainboard family
-            ftw->setCurrentIndex(0);
-            ftw->removeTab(3);
+            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
+            ftw->removeTab(ConfigGadgetWidget::ins);
             QWidget *qwd = new ConfigAHRSWidget(this);
-            ftw->insertTab(3, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+            ftw->insertTab(ConfigGadgetWidget::ins, qwd, QIcon(":/configgadget/images/AHRS-v1.3.png"), QString("INS"));
+            ftw->removeTab(ConfigGadgetWidget::hardware);
+            qwd = new ConfigProHWWidget(this);
+            ftw->insertTab(ConfigGadgetWidget::hardware, qwd, QIcon(":/configgadget/images/hw_config.png"), QString("HW Settings"));
+            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
         }
     }
     emit autopilotConnected();
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
index 43db58429..df2f553a3 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
@@ -38,7 +38,8 @@
 #include <QTextBrowser>
 #include "utils/pathutils.h"
 
-#include "fancytabwidget.h"
+//#include "fancytabwidget.h"
+#include "utils/mytabbedstackwidget.h"
 
 
 class ConfigGadgetWidget: public QWidget
@@ -49,6 +50,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
+    enum widgetTabs {hardware=0, aircraft, input, output, ins, stabilization};
 
 public slots:
     void onAutopilotConnect();
@@ -60,8 +62,7 @@ signals:
 
 protected:
         void resizeEvent(QResizeEvent * event);
-        FancyTabWidget *ftw;
-
+        MyTabbedStackWidget *ftw;
 };
 
 #endif // CONFIGGADGETWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index af0fbc500..83e1a02ac 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -110,11 +110,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     // Get the receiver types supported by OpenPilot and fill the corresponding
     // dropdown menu:
     obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
-    QString fieldName = QString("InputMode");
-    UAVObjectField *field = obj->getField(fieldName);
-    m_config->receiverType->addItems(field->getOptions());
-    m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.
-
+    UAVObjectField * field;
     // Fill in the dropdown menus for the channel RC Input assignement.
     QStringList channelsList;
         channelsList << "None";
@@ -174,11 +170,13 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
     connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
     connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
-
+    connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int)));
     firstUpdate = true;
 
     // Connect the help button
     connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+    updateTips(Qt::Unchecked);
+
 }
 
 ConfigInputWidget::~ConfigInputWidget()
@@ -262,7 +260,7 @@ void ConfigInputWidget::refreshValues()
 
     // Update receiver type
     field = obj->getField(QString("InputMode"));
-    m_config->receiverType->setCurrentIndex(m_config->receiverType->findText(field->getValue().toString()));
+    m_config->receiverType->setText(field->getValue().toString());
 
     // Reset all channel assignement dropdowns:
     foreach (QComboBox *combo, inChannelAssign) {
@@ -330,11 +328,6 @@ void ConfigInputWidget::sendRCInputUpdate()
     for (int i = 0; i < 8; i++)
         field->setValue(inSliders[i]->value(), i);
 
-    // Set RC Receiver type:
-    fieldName = QString("InputMode");
-    field = obj->getField(fieldName);
-    field->setValue(m_config->receiverType->currentText());
-
     // Set Roll/Pitch/Yaw/Etc assignement:
     // Rule: if two channels have the same setting (which is wrong!) the higher channel
     // will get the setting.
@@ -469,10 +462,15 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand)
     QString fieldName = QString("Connected");
     UAVObjectField *field = controlCommand->getField(fieldName);
     if (field->getValue().toBool())
+    {
         m_config->RCInputConnected->setText("RC Receiver connected");
+        m_config->lblMissingInputs->setText("");
+    }
     else
+    {
         m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)");
-
+        receiverHelp();
+    }
     if (m_config->doRCInputCalibration->isChecked()) {
         if (firstUpdate) {
             // Increase the data rate from the board so that the sliders
@@ -538,7 +536,7 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand)
             obj->setMetadata(mdata);
 
             // Set some slider values to better defaults
-            // Find what channel we used for throttle, set it 5% about min:
+            // Find some channels first
             int throttleChannel = -1;
             int fmChannel = -1;
             for (int i=0; i < inChannelAssign.length(); i++) {
@@ -655,4 +653,77 @@ void ConfigInputWidget::openHelp()
 
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
 }
+void ConfigInputWidget::receiverHelp()
+{
+    QString unassigned;
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    UAVDataObject* controlCommand = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
 
+    UAVObjectField *field;
+
+    field= controlCommand->getField("Roll");
+    if(field->getValue().toString()=="None")
+        unassigned.append("Roll");
+
+    field =controlCommand->getField("Pitch");
+    if(field->getValue().toString()=="None")
+    {
+        if(unassigned.length()>0)
+            unassigned.append(", ");
+        unassigned.append("Pitch");
+    }
+
+    field =controlCommand->getField("Yaw");
+    if(field->getValue().toString()=="None")
+    {
+        if(unassigned.length()>0)
+            unassigned.append(", ");
+        unassigned.append("Yaw");
+    }
+
+    field =controlCommand->getField("Throttle");
+    if(field->getValue().toString()=="None")
+    {
+        if(unassigned.length()>0)
+            unassigned.append(", ");
+        unassigned.append("Throttle");
+    }
+
+    field =controlCommand->getField("FlightMode");
+    if(field->getValue().toString()=="None")
+    {
+        if(unassigned.length()>0)
+            unassigned.append(", ");
+        unassigned.append("FlightMode");
+    }
+    if(unassigned.length()>0)
+        m_config->lblMissingInputs->setText(QString("Channels left to assign: ")+unassigned);
+    else
+        m_config->lblMissingInputs->setText("");
+}
+void ConfigInputWidget::updateTips(int value)
+{
+    if(value==Qt::Checked)
+    {
+        m_config->ch0Cur->setToolTip("Current channel value");
+        m_config->ch1Cur->setToolTip("Current channel value");
+        m_config->ch2Cur->setToolTip("Current channel value");
+        m_config->ch3Cur->setToolTip("Current channel value");
+        m_config->ch4Cur->setToolTip("Current channel value");
+        m_config->ch5Cur->setToolTip("Current channel value");
+        m_config->ch6Cur->setToolTip("Current channel value");
+        m_config->ch7Cur->setToolTip("Current channel value");
+    }
+    else
+    {
+        m_config->ch0Cur->setToolTip("Channel neutral point");
+        m_config->ch1Cur->setToolTip("Channel neutral point");
+        m_config->ch2Cur->setToolTip("Channel neutral point");
+        m_config->ch3Cur->setToolTip("Channel neutral point");
+        m_config->ch4Cur->setToolTip("Channel neutral point");
+        m_config->ch5Cur->setToolTip("Channel neutral point");
+        m_config->ch6Cur->setToolTip("Channel neutral point");
+        m_config->ch7Cur->setToolTip("Channel neutral point");
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index 3017c5677..75f47cc8d 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -71,7 +71,7 @@ private:
 	bool firstUpdate;
 
         virtual void enableControls(bool enable);
-
+        void receiverHelp();
 private slots:
 	void updateChannels(UAVObject* obj);
         virtual void refreshValues();
@@ -79,6 +79,7 @@ private slots:
 	void saveRCInputObject();
         void reverseCheckboxClicked(bool state);
         void openHelp();
+        void updateTips(int);
 };
 
 #endif
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index f691cc22f..5cd0cfa04 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -194,17 +194,17 @@ void ConfigStabilizationWidget::refreshValues()
     // stabSettings->requestUpdate();
     StabilizationSettings::DataFields stabData = stabSettings->getData();
     // Now fill in all the fields, this is fairly tedious:
-    m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
-    m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
-    m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
+    m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]);
+    m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]);
+    m_stabilization->rateRollILimit->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT]);
 
-    m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
-    m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
-    m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
+    m_stabilization->ratePitchKp->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]);
+    m_stabilization->ratePitchKi->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]);
+    m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT]);
 
-    m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
-    m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
-    m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
+    m_stabilization->rateYawKp->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP]);
+    m_stabilization->rateYawKi->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI]);
+    m_stabilization->rateYawILimit->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT]);
 
     m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
     m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
@@ -230,6 +230,8 @@ void ConfigStabilizationWidget::refreshValues()
     m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
     m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
 
+    m_stabilization->lowThrottleZeroIntegral->setChecked(
+                stabData.LowThrottleZeroIntegral == StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE);
 }
 
 
@@ -241,17 +243,17 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
 {
     StabilizationSettings::DataFields stabData = stabSettings->getData();
 
-    stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
-    stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
-    stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
+    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = m_stabilization->rateRollKp->value();
+    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = m_stabilization->rateRollKi->value();
+    stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT] = m_stabilization->rateRollILimit->value();
 
-    stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
-    stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
-    stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
+    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = m_stabilization->ratePitchKp->value();
+    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = m_stabilization->ratePitchKi->value();
+    stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT] = m_stabilization->ratePitchILimit->value();
 
-    stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
-    stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
-    stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
+    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP] = m_stabilization->rateYawKp->value();
+    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI] = m_stabilization->rateYawKi->value();
+    stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT] = m_stabilization->rateYawILimit->value();
 
     stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
     stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();
@@ -277,6 +279,10 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
     stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value();
     stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value();
 
+    stabData.LowThrottleZeroIntegral = m_stabilization->lowThrottleZeroIntegral->isChecked() ?
+                StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :
+                StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE;
+
     stabSettings->setData(stabData); // this is atomic
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
index bb598cba0..8fd35c596 100644
--- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
@@ -28,13 +28,72 @@
 #include <QtGui/QWidget>
 
 
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent)
+ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),smartsave(NULL),dirty(false)
 {
+    pm = ExtensionSystem::PluginManager::instance();
+    objManager = pm->getObject<UAVObjectManager>();
+    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
+    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
 }
+void ConfigTaskWidget::addWidget(QWidget * widget)
+{
+    addUAVObjectToWidgetRelation("","",widget);
+}
+void ConfigTaskWidget::addUAVObject(QString objectName)
+{
+    addUAVObjectToWidgetRelation(objectName,"",NULL);
+}
+void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString field, QWidget * widget)
+{
+    UAVObject *obj=NULL;
+    UAVObjectField *_field=NULL;
+    if(!object.isEmpty())
+        obj = objManager->getObject(QString(object));
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
+    //smartsave->addObject(obj);
+    if(!field.isEmpty() && obj)
+        _field = obj->getField(QString(field));
+    objectToWidget * ow=new objectToWidget();
+    ow->field=_field;
+    ow->object=obj;
+    ow->widget=widget;
+    objOfInterest.append(ow);
+    if(obj)
+        smartsave->addObject(obj);
+    if(widget==NULL)
+    {
+        // do nothing
+    }
+    else if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
+    {
+        connect(cb,SIGNAL(currentIndexChanged(int)),this,SLOT(widgetsContentsChanged()));
+    }
+    else if(QSlider * cb=qobject_cast<QSlider *>(widget))
+    {
+        connect(cb,SIGNAL(sliderMoved(int)),this,SLOT(widgetsContentsChanged()));
+    }
+    else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
+    {
+        connect(cb,SIGNAL(curveUpdated(QList<double>,double)),this,SLOT(widgetsContentsChanged()));
+    }
+    else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
+    {
+        connect(cb,SIGNAL(cellChanged(int,int)),this,SLOT(widgetsContentsChanged()));
+    }
+    else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
+    {
+        connect(cb,SIGNAL(valueChanged(int)),this,SLOT(widgetsContentsChanged()));
+    }
+    else if(QDoubleSpinBox * cb=qobject_cast<QDoubleSpinBox *>(widget))
+    {
+        connect(cb,SIGNAL(valueChanged(double)),this,SLOT(widgetsContentsChanged()));
+    }
+}
+
 
 ConfigTaskWidget::~ConfigTaskWidget()
 {
-    // Do nothing
+    delete smartsave;
 }
 
 void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
@@ -73,9 +132,125 @@ void ConfigTaskWidget::onAutopilotDisconnect()
 void ConfigTaskWidget::onAutopilotConnect()
 {
         enableControls(true);
-        refreshValues();
+        refreshWidgetsValues();
 }
 
+void ConfigTaskWidget::populateWidgets()
+{
+    foreach(objectToWidget * ow,objOfInterest)
+    {
+        if(ow->object==NULL || ow->field==NULL)
+        {
+            // do nothing
+        }
+        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
+        {
+            cb->addItems(ow->field->getOptions());
+            cb->setCurrentIndex(cb->findText(ow->field->getValue().toString()));
+        }
+        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
+        {
+            cb->setText(ow->field->getValue().toString());
+        }
+    }
+    dirty=false;
+}
+
+void ConfigTaskWidget::refreshWidgetsValues()
+{
+    foreach(objectToWidget * ow,objOfInterest)
+    {
+        if(ow->object==NULL || ow->field==NULL)
+        {
+            //do nothing
+        }
+        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
+        {
+            cb->setCurrentIndex(cb->findText(ow->field->getValue().toString()));
+        }
+        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
+        {
+            cb->setText(ow->field->getValue().toString());
+        }
+    }
+}
+
+void ConfigTaskWidget::updateObjectsFromWidgets()
+{
+    foreach(objectToWidget * ow,objOfInterest)
+    {
+        if(ow->object==NULL || ow->field==NULL)
+        {
+            //do nothing
+        }
+        else if(QComboBox * cb=qobject_cast<QComboBox *>(ow->widget))
+        {
+                ow->field->setValue(cb->currentText());
+        }
+        else if(QLabel * cb=qobject_cast<QLabel *>(ow->widget))
+        {
+            ow->field->setValue(cb->text());
+        }
+    }
+}
+
+void ConfigTaskWidget::setupButtons(QPushButton *update, QPushButton *save)
+{
+    smartsave=new smartSaveButton(update,save);
+    connect(smartsave, SIGNAL(preProcessOperations()), this, SLOT(updateObjectsFromWidgets()));
+    connect(smartsave,SIGNAL(saveSuccessfull()),this,SLOT(clearDirty()));
+    connect(smartsave,SIGNAL(beginOp()),this,SLOT(disableObjUpdates()));
+    connect(smartsave,SIGNAL(endOp()),this,SLOT(enableObjUpdates()));
+}
+
+void ConfigTaskWidget::enableControls(bool enable)
+{
+    if(smartsave)
+        smartsave->enableControls(enable);
+}
+
+void ConfigTaskWidget::widgetsContentsChanged()
+{
+    dirty=true;
+}
+
+void ConfigTaskWidget::clearDirty()
+{
+    dirty=false;
+}
+
+bool ConfigTaskWidget::isDirty()
+{
+    return dirty;
+}
+
+void ConfigTaskWidget::refreshValues()
+{
+}
+
+void ConfigTaskWidget::disableObjUpdates()
+{
+    foreach(objectToWidget * obj,objOfInterest)
+    {
+        if(obj->object)
+            disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
+    }
+}
+
+void ConfigTaskWidget::enableObjUpdates()
+{
+    foreach(objectToWidget * obj,objOfInterest)
+    {
+        if(obj->object)
+            connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
+    }
+}
+
+
+
+
+
+
 
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h
index 6ffe15b70..bd293ce5f 100644
--- a/ground/openpilotgcs/src/plugins/config/configtaskwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configtaskwidget.h
@@ -35,28 +35,56 @@
 #include <QQueue>
 #include <QtGui/QWidget>
 #include <QList>
-
-
+#include <QLabel>
+#include "smartsavebutton.h"
+#include "mixercurvewidget.h"
+#include <QTableWidget>
+#include <QDoubleSpinBox>
+#include <QSpinBox>
 class ConfigTaskWidget: public QWidget
 {
     Q_OBJECT
 
 public:
+    struct objectToWidget
+    {
+        UAVObject * object;
+        UAVObjectField * field;
+        QWidget * widget;
+    };
+
     ConfigTaskWidget(QWidget *parent = 0);
     ~ConfigTaskWidget();
     void saveObjectToSD(UAVObject *obj);
     UAVObjectManager* getObjectManager();
     static double listMean(QList<double> list);
-
+    void addUAVObject(QString objectName);
+    void addWidget(QWidget * widget);
+    void addUAVObjectToWidgetRelation(QString object,QString field,QWidget * widget);
+    void setupButtons(QPushButton * update,QPushButton * save);
+    bool isDirty();
 public slots:
     void onAutopilotDisconnect();
     void onAutopilotConnect();
 
 private slots:
-    virtual void refreshValues() = 0;
-
+    virtual void refreshValues();
+    virtual void updateObjectsFromWidgets();
 private:
-    virtual void enableControls(bool enable) = 0;
+    QList <objectToWidget*> objOfInterest;
+    ExtensionSystem::PluginManager *pm;
+    UAVObjectManager *objManager;
+    smartSaveButton *smartsave;
+    bool dirty;
+protected slots:
+    virtual void disableObjUpdates();
+    virtual void enableObjUpdates();
+    virtual void clearDirty();
+    virtual void widgetsContentsChanged();
+    virtual void populateWidgets();
+    virtual void refreshWidgetsValues();
+protected:
+    virtual void enableControls(bool enable);
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/config/configtelemetrywidget.cpp b/ground/openpilotgcs/src/plugins/config/configtelemetrywidget.cpp
deleted file mode 100644
index 2b1a8e873..000000000
--- a/ground/openpilotgcs/src/plugins/config/configtelemetrywidget.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       configtelemetrywidget.h
- * @author     E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief The Configuration Gadget used to update settings in the firmware
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#include "configtelemetrywidget.h"
-
-#include <QDebug>
-#include <QStringList>
-#include <QtGui/QWidget>
-#include <QtGui/QTextEdit>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QPushButton>
-
-
-ConfigTelemetryWidget::ConfigTelemetryWidget(QWidget *parent) : ConfigTaskWidget(parent)
-{
-    m_telemetry = new Ui_TelemetryWidget();
-    m_telemetry->setupUi(this);
-
-    // Now connect the widget to the ManualControlCommand / Channel UAVObject
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-
-    UAVObject *obj = objManager->getObject(QString("TelemetrySettings"));
-    UAVObjectField *field = obj->getField(QString("Speed"));
-    m_telemetry->telemetrySpeed->addItems(field->getOptions());
-
-    connect(m_telemetry->saveTelemetryToSD, SIGNAL(clicked()), this, SLOT(saveTelemetryUpdate()));
-    connect(m_telemetry->saveTelemetryToRAM, SIGNAL(clicked()), this, SLOT(sendTelemetryUpdate()));
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
-
-    enableControls(false);
-    refreshValues();
-    connect(parent, SIGNAL(autopilotConnected()),this, SLOT(onAutopilotConnect()));
-    connect(parent, SIGNAL(autopilotDisconnected()),this, SLOT(onAutopilotDisconnect()));
-}
-
-ConfigTelemetryWidget::~ConfigTelemetryWidget()
-{
-   // Do nothing
-}
-
-
-/*******************************
- * Telemetry Settings
- *****************************/
-
-void ConfigTelemetryWidget::enableControls(bool enable)
-{
-    m_telemetry->saveTelemetryToSD->setEnabled(enable);
-    //m_telemetry->saveTelemetryToRAM->setEnabled(enable);
-}
-
-/**
-  Request telemetry settings from the board
-  */
-void ConfigTelemetryWidget::refreshValues()
-{
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("TelemetrySettings")));
-    Q_ASSERT(obj);
-    UAVObjectField *field = obj->getField(QString("Speed"));
-    m_telemetry->telemetrySpeed->setCurrentIndex(m_telemetry->telemetrySpeed->findText(field->getValue().toString()));
-}
-
-/**
-  Send telemetry settings to the board
-  */
-void ConfigTelemetryWidget::sendTelemetryUpdate()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("TelemetrySettings")));
-    Q_ASSERT(obj);
-    UAVObjectField* field = obj->getField(QString("Speed"));
-    field->setValue(m_telemetry->telemetrySpeed->currentText());
-    obj->updated();
-}
-
-/**
-  Send telemetry settings to the board and request saving to SD card
-  */
-void ConfigTelemetryWidget::saveTelemetryUpdate()
-{
-    // Send update so that the latest value is saved
-    sendTelemetryUpdate();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("TelemetrySettings")));
-    Q_ASSERT(obj);
-    saveObjectToSD(obj);
-}
diff --git a/ground/openpilotgcs/src/plugins/config/defaulthwsettings.ui b/ground/openpilotgcs/src/plugins/config/defaulthwsettings.ui
new file mode 100644
index 000000000..d1ef7d913
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/defaulthwsettings.ui
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>defaulthwsettings</class>
+ <widget class="QWidget" name="defaulthwsettings">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QFrame" name="frame">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QTextBrowser" name="textBrowser">
+        <property name="html">
+         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;Hardware Configuration&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <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>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.cpp b/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.cpp
new file mode 100644
index 000000000..69eef9117
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.cpp
@@ -0,0 +1,44 @@
+/**
+ ******************************************************************************
+ *
+ * @file       DefaultHwSettingsWidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Placeholder for attitude panel until board is connected.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "defaulthwsettingswidget.h"
+#include "ui_defaultattitude.h"
+#include <QMutexLocker>
+#include <QErrorMessage>
+#include <QDebug>
+
+DefaultHwSettingsWidget::DefaultHwSettingsWidget(QWidget *parent) :
+        QWidget(parent),
+        ui(new Ui_defaulthwsettings)
+{
+    ui->setupUi(this);
+}
+
+DefaultHwSettingsWidget::~DefaultHwSettingsWidget()
+{
+    delete ui;
+}
+
diff --git a/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.h b/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.h
new file mode 100644
index 000000000..e94435f8d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/defaulthwsettingswidget.h
@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       defaultccattitudewidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Placeholder for attitude settings widget until board connected.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef DEFAULTHWSETTINGSt_H
+#define DEFAULTHWSETTINGSt_H
+
+#include "ui_defaulthwsettings.h"
+#include "configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QtGui/QWidget>
+#include <QTimer>
+#include <QMutex>
+
+class Ui_Widget;
+
+class DefaultHwSettingsWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit DefaultHwSettingsWidget(QWidget *parent = 0);
+    ~DefaultHwSettingsWidget();
+
+private slots:
+
+private:
+    Ui_defaulthwsettings *ui;
+};
+
+#endif // DEFAULTHWSETTINGSt_H
diff --git a/ground/openpilotgcs/src/plugins/config/images/coptercontrol.svg b/ground/openpilotgcs/src/plugins/config/images/coptercontrol.svg
new file mode 100644
index 000000000..669199ef6
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/images/coptercontrol.svg
@@ -0,0 +1,2647 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   id="svg3578"
+   version="1.1"
+   inkscape:version="0.48.1 "
+   width="217.16675"
+   height="212.0625"
+   xml:space="preserve"
+   sodipodi:docname="deviceID-0401.svg"><metadata
+     id="metadata3584"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title></dc:title></cc:Work></rdf:RDF></metadata><defs
+     id="defs3582"><clipPath
+       clipPathUnits="userSpaceOnUse"
+       id="clipPath3596"><path
+         d="M 0,0 662,0 662,675 0,675 0,0 z"
+         id="path3598"
+         inkscape:connector-curvature="0" /></clipPath></defs><sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1280"
+     inkscape:window-height="738"
+     id="namedview3580"
+     showgrid="false"
+     inkscape:zoom="1.4596704"
+     inkscape:cx="74.195835"
+     inkscape:cy="113.87434"
+     inkscape:window-x="-8"
+     inkscape:window-y="-8"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="layer2"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" /><g
+     inkscape:groupmode="layer"
+     id="layer2"
+     inkscape:label="Rendering#1"
+     style="display:inline"
+     transform="translate(-40.177007,-31.1875)"><g
+       id="device"
+       inkscape:label="#g15334"
+       transform="matrix(0,1,-1,0,285.97623,-11.53961)"><rect
+         rx="13.079585"
+         ry="10"
+         y="32.199471"
+         x="46.668976"
+         height="210.03767"
+         width="209.67079"
+         id="rect9798"
+         style="fill:#171717;fill-opacity:1;stroke:#000000;stroke-width:2;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><g
+         transform="translate(-311.74173,-199.45)"
+         id="g4318"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect4320"
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4322"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4324"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         transform="matrix(0,-1,1,0,-158.96398,620.23853)"
+         id="g4406"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect4408"
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4410"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4412"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10505"
+         transform="translate(-238.1085,-287.13166)"><rect
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10507"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10509"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10511"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="translate(-297.20885,-185.40155)"
+         id="g10513"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10515"
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10517"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10519"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         id="g4225"
+         style="display:inline"
+         transform="translate(-324.12933,-188.57649)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4219"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4221"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4223"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="translate(-229.42344,-179.37234)"
+         style="display:inline"
+         id="g10548"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10550"
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10552"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10554"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         id="g10556"
+         style="display:inline"
+         transform="translate(-230.15008,-167.50383)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10558"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10560"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10562"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="translate(-235.23659,-253.7322)"
+         style="display:inline"
+         id="g10564"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10566"
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10568"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10570"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         id="g10572"
+         style="display:inline"
+         transform="translate(-214.16393,-327.60763)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10574"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10576"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10578"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         id="g4414"
+         transform="translate(-365.77251,-288.34483)"
+         style="display:inline"><rect
+           style="fill:#0052ff;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4416"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4418"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4420"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         id="g10667"
+         style="display:inline"
+         transform="translate(-466.1013,-470.16522)"><rect
+           style="fill:#ff7900;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4432"
+           width="6.5178571"
+           height="5.0892859"
+           x="522.11609"
+           y="559.755" /><rect
+           y="559.755"
+           x="528.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4434"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4436"
+           width="3.5714285"
+           height="5.0892859"
+           x="518.58929"
+           y="559.755" /></g><g
+         transform="matrix(0,1,-1,0,476.81179,-372.57224)"
+         id="g4278"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect4280"
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4282"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4284"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10761"
+         transform="matrix(0,1,-1,0,476.81179,-340.57224)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10763"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10765"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10767"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="matrix(0,1,-1,0,531.29622,-332.15009)"
+         id="g10769"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10771"
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10773"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10775"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10777"
+         transform="matrix(0,1,-1,0,453.06093,-235.02206)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10779"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10781"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10783"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="matrix(0,1,-1,0,453.06093,-213.9494)"
+         id="g10785"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10787"
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10789"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10791"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10793"
+         transform="matrix(0,1,-1,0,497.6284,-222.66912)"><rect
+           style="fill:#bc781e;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10795"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10797"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10799"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         style="display:inline"
+         id="g10801"
+         transform="matrix(0,-1,1,0,-252.45879,579.30427)"><rect
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10803"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10805"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10807"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="matrix(0,-1,1,0,-263.11623,579.54648)"
+         id="g10809"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10811"
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10813"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10815"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10817"
+         transform="matrix(0,-1,1,0,-273.53145,580.27312)"><rect
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10819"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10821"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10823"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="matrix(0,-1,1,0,-272.56259,546.12087)"
+         id="g10825"
+         style="display:inline"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect10827"
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10829"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10831"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g10833"
+         transform="matrix(0,-1,1,0,-257.06086,546.36308)"><rect
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10835"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect10837"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect10839"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         id="g10887"><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path4550"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(20.6651,-466.48541)" /><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path4554"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(4.6651,-466.48541)" /><rect
+           y="71.519623"
+           x="210.81711"
+           height="8.5714283"
+           width="9.6428576"
+           id="rect4556"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /></g><g
+         transform="translate(0,14)"
+         id="g10892"><path
+           transform="translate(20.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10894"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><path
+           transform="translate(4.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10896"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><rect
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect10898"
+           width="9.6428576"
+           height="8.5714283"
+           x="210.81711"
+           y="71.519623" /></g><g
+         id="g10900"
+         transform="translate(0,30)"><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path10902"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(20.6651,-466.48541)" /><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path10904"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(4.6651,-466.48541)" /><rect
+           y="71.519623"
+           x="210.81711"
+           height="8.5714283"
+           width="9.6428576"
+           id="rect10906"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /></g><g
+         transform="translate(0,46)"
+         id="g10908"><path
+           transform="translate(20.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10910"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><path
+           transform="translate(4.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10912"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><rect
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect10914"
+           width="9.6428576"
+           height="8.5714283"
+           x="210.81711"
+           y="71.519623" /></g><g
+         id="g10916"
+         transform="translate(0,62)"><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path10918"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(20.6651,-466.48541)" /><path
+           sodipodi:type="arc"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="path10920"
+           sodipodi:cx="225.89285"
+           sodipodi:cy="542.54077"
+           sodipodi:rx="5.1785712"
+           sodipodi:ry="5.1785712"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           transform="translate(4.6651,-466.48541)" /><rect
+           y="71.519623"
+           x="210.81711"
+           height="8.5714283"
+           width="9.6428576"
+           id="rect10922"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /></g><g
+         transform="translate(0,76)"
+         id="g10924"><path
+           transform="translate(20.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10926"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><path
+           transform="translate(4.6651,-466.48541)"
+           d="m 231.07142,542.54077 c 0,2.86005 -2.31852,5.17857 -5.17857,5.17857 -2.86004,0 -5.17857,-2.31852 -5.17857,-5.17857 0,-2.86004 2.31853,-5.17857 5.17857,-5.17857 2.86005,0 5.17857,2.31853 5.17857,5.17857 z"
+           sodipodi:ry="5.1785712"
+           sodipodi:rx="5.1785712"
+           sodipodi:cy="542.54077"
+           sodipodi:cx="225.89285"
+           id="path10928"
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           sodipodi:type="arc" /><rect
+           style="fill:none;stroke:#f2edda;stroke-width:1.5;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect10930"
+           width="9.6428576"
+           height="8.5714283"
+           x="210.81711"
+           y="71.519623" /></g><g
+         style="display:inline"
+         transform="matrix(0,1.2406633,-1.7870765,0,753.06413,-443.20477)"
+         id="g4788"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect4790"
+           style="fill:#a9814d;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect4792"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect4794"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         id="g12054"
+         transform="matrix(0,1.2406633,-1.7870765,0,753.06413,-475.20477)"
+         style="display:inline"><rect
+           style="fill:#a9814d;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect12056"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect12058"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect12060"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         style="display:inline"
+         transform="matrix(1.2406633,0,0,1.7870765,-460.86273,-457.63731)"
+         id="g12062"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect12064"
+           style="fill:#a9814d;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect12066"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect12068"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         id="g12070"
+         transform="matrix(1.2406633,0,0,1.7870765,-426.86273,-457.63731)"
+         style="display:inline"><rect
+           style="fill:#a9814d;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect12072"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect12074"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect12076"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         id="g12796"><g
+           transform="translate(-0.3633218,-0.12110727)"
+           id="g12766"><path
+             d="m 133.77917,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5376"
+             inkscape:connector-curvature="0" /><path
+             d="m 130.94256,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5378"
+             inkscape:connector-curvature="0" /><path
+             d="m 145.57351,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5386"
+             inkscape:connector-curvature="0" /><path
+             d="m 142.58758,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5388"
+             inkscape:connector-curvature="0" /><path
+             d="m 139.75097,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5390"
+             inkscape:connector-curvature="0" /><path
+             d="m 130.94256,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5454"
+             inkscape:connector-curvature="0" /><path
+             d="m 133.77917,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5456"
+             inkscape:connector-curvature="0" /><path
+             d="m 139.75097,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5466"
+             inkscape:connector-curvature="0" /><path
+             d="m 142.58758,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5468"
+             inkscape:connector-curvature="0" /><path
+             d="m 145.57351,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5470"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,57.810942 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5612"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,60.64656 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5614"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,63.63141 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5616"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,63.63141 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5618"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,60.64656 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5620"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,57.810942 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5622"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,46.020858 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5624"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,49.005667 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5626"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,51.841284 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5628"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,51.841284 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5630"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,49.005667 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5632"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,46.020858 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5634"
+             inkscape:connector-curvature="0" /><path
+             d="m 136.76509,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5636"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,54.826134 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5726"
+             inkscape:connector-curvature="0" /><path
+             d="m 136.76509,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5728"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,54.826134 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5730"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,43.036008 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5738"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,43.036008 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path5740"
+             inkscape:connector-curvature="0" /></g><rect
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:0.69999999;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect4974"
+           width="24.34742"
+           height="31.192205"
+           x="125.66183"
+           y="37.711323" /></g><g
+         id="g12828"><g
+           id="g12830"
+           transform="translate(-0.3633218,-0.12110727)"><path
+             inkscape:connector-curvature="0"
+             id="path12832"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 133.77917,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12834"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 130.94256,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12836"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 145.57351,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12838"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 142.58758,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12840"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 139.75097,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12842"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 130.94256,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12844"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 133.77917,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12846"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 139.75097,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12848"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 142.58758,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12850"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 145.57351,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12852"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,57.810942 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12854"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,60.64656 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12856"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,63.63141 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12858"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,63.63141 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12860"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,60.64656 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12862"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,57.810942 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12864"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,46.020858 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12866"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,49.005667 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12868"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,51.841284 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12870"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,51.841284 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12872"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,49.005667 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12874"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,46.020858 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12876"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 136.76509,39.752694 0,-2.686385" /><path
+             inkscape:connector-curvature="0"
+             id="path12878"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,54.826134 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12880"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 136.76509,69.7503 0,-2.686344" /><path
+             inkscape:connector-curvature="0"
+             id="path12882"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,54.826134 2.53802,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12884"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 124.82147,43.036008 2.6873,0" /><path
+             inkscape:connector-curvature="0"
+             id="path12886"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             d="m 149.0073,43.036008 2.53802,0" /></g><rect
+           y="37.711323"
+           x="125.66183"
+           height="31.192205"
+           width="24.34742"
+           id="rect12888"
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:0.69999999;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /></g><g
+         transform="translate(0.68508616,38.685086)"
+         id="g12890"><g
+           transform="translate(-0.3633218,-0.12110727)"
+           id="g12892"><path
+             d="m 133.77917,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12894"
+             inkscape:connector-curvature="0" /><path
+             d="m 130.94256,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12896"
+             inkscape:connector-curvature="0" /><path
+             d="m 145.57351,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12898"
+             inkscape:connector-curvature="0" /><path
+             d="m 142.58758,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12900"
+             inkscape:connector-curvature="0" /><path
+             d="m 139.75097,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12902"
+             inkscape:connector-curvature="0" /><path
+             d="m 130.94256,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12904"
+             inkscape:connector-curvature="0" /><path
+             d="m 133.77917,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12906"
+             inkscape:connector-curvature="0" /><path
+             d="m 139.75097,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12908"
+             inkscape:connector-curvature="0" /><path
+             d="m 142.58758,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12910"
+             inkscape:connector-curvature="0" /><path
+             d="m 145.57351,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12912"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,57.810942 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12914"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,60.64656 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12916"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,63.63141 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12918"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,63.63141 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12920"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,60.64656 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12922"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,57.810942 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12924"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,46.020858 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12926"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,49.005667 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12928"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,51.841284 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12930"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,51.841284 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12932"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,49.005667 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12934"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,46.020858 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12936"
+             inkscape:connector-curvature="0" /><path
+             d="m 136.76509,39.752694 0,-2.686385"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12938"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,54.826134 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12940"
+             inkscape:connector-curvature="0" /><path
+             d="m 136.76509,69.7503 0,-2.686344"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12942"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,54.826134 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12944"
+             inkscape:connector-curvature="0" /><path
+             d="m 124.82147,43.036008 2.6873,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12946"
+             inkscape:connector-curvature="0" /><path
+             d="m 149.0073,43.036008 2.53802,0"
+             style="fill:none;stroke:#e9dcdc;stroke-width:1.49294174;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none;display:inline"
+             id="path12948"
+             inkscape:connector-curvature="0" /></g><rect
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:0.69999999;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect12950"
+           width="24.34742"
+           height="31.192205"
+           x="125.66183"
+           y="37.711323" /></g><g
+         id="g12952"
+         style="display:inline"
+         transform="matrix(0.55313316,0,0,0.55313316,202.151,-66.0335)"><rect
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:3.61576581;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect3773"
+           width="76.428574"
+           height="76.785713"
+           x="-104.28571"
+           y="358.43362"
+           ry="2.5" /><g
+           id="g3875"
+           transform="translate(-520,-37.142857)"><g
+             transform="matrix(1.4970318,0,0,1,-211.28069,0.21205357)"
+             id="g3781"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3777"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3779"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3785"
+             transform="matrix(1.4970318,0,0,1,-207.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3787"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3789"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-203.28069,0.21205357)"
+             id="g3791"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3793"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3795"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3797"
+             transform="matrix(1.4970318,0,0,1,-199.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3799"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3801"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-195.28069,0.21205357)"
+             id="g3803"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3805"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3807"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3809"
+             transform="matrix(1.4970318,0,0,1,-191.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3811"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3813"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-187.28069,0.21205357)"
+             id="g3815"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3817"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3819"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3821"
+             transform="matrix(1.4970318,0,0,1,-183.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3823"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3825"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-179.28069,0.21205357)"
+             id="g3827"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3829"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3831"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3833"
+             transform="matrix(1.4970318,0,0,1,-175.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3835"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3837"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-171.28069,0.21205357)"
+             id="g3839"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3841"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3843"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3845"
+             transform="matrix(1.4970318,0,0,1,-167.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3847"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3849"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-163.28069,0.21205357)"
+             id="g3851"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3853"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3855"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3857"
+             transform="matrix(1.4970318,0,0,1,-159.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3859"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3861"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-155.28069,0.21205357)"
+             id="g3863"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3865"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3867"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3869"
+             transform="matrix(1.4970318,0,0,1,-151.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3871"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3873"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g></g><g
+           id="g3925"
+           transform="matrix(0,1,-1,0,367.93406,-54.993437)"><g
+             id="g3927"
+             transform="matrix(1.4970318,0,0,1,-211.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3929"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3931"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-207.28069,0.21205357)"
+             id="g3933"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3935"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3937"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3939"
+             transform="matrix(1.4970318,0,0,1,-203.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3941"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3943"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-199.28069,0.21205357)"
+             id="g3945"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3947"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3949"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3951"
+             transform="matrix(1.4970318,0,0,1,-195.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3953"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3955"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-191.28069,0.21205357)"
+             id="g3957"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3959"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3961"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3963"
+             transform="matrix(1.4970318,0,0,1,-187.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3965"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3967"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-183.28069,0.21205357)"
+             id="g3969"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3971"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3973"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3975"
+             transform="matrix(1.4970318,0,0,1,-179.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3977"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3979"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-175.28069,0.21205357)"
+             id="g3981"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3983"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3985"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3987"
+             transform="matrix(1.4970318,0,0,1,-171.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path3989"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path3991"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-167.28069,0.21205357)"
+             id="g3993"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path3995"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path3997"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g3999"
+             transform="matrix(1.4970318,0,0,1,-163.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4001"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4003"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-159.28069,0.21205357)"
+             id="g4005"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4007"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4009"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4011"
+             transform="matrix(1.4970318,0,0,1,-155.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4013"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4015"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-151.28069,0.21205357)"
+             id="g4017"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4019"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4021"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g></g><g
+           transform="matrix(0,1,1,0,-500.02315,-54.993437)"
+           id="g4023"><g
+             transform="matrix(1.4970318,0,0,1,-211.28069,0.21205357)"
+             id="g4025"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4027"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4029"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4031"
+             transform="matrix(1.4970318,0,0,1,-207.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4033"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4035"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-203.28069,0.21205357)"
+             id="g4037"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4039"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4041"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4043"
+             transform="matrix(1.4970318,0,0,1,-199.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4045"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4047"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-195.28069,0.21205357)"
+             id="g4049"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4051"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4053"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4055"
+             transform="matrix(1.4970318,0,0,1,-191.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4057"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4059"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-187.28069,0.21205357)"
+             id="g4061"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4063"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4065"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4067"
+             transform="matrix(1.4970318,0,0,1,-183.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4069"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4071"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-179.28069,0.21205357)"
+             id="g4073"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4075"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4077"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4079"
+             transform="matrix(1.4970318,0,0,1,-175.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4081"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4083"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-171.28069,0.21205357)"
+             id="g4085"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4087"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4089"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4091"
+             transform="matrix(1.4970318,0,0,1,-167.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4093"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4095"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-163.28069,0.21205357)"
+             id="g4097"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4099"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4101"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4103"
+             transform="matrix(1.4970318,0,0,1,-159.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4105"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4107"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-155.28069,0.21205357)"
+             id="g4109"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4111"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4113"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4115"
+             transform="matrix(1.4970318,0,0,1,-151.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4117"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4119"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g></g><g
+           id="g4121"
+           transform="matrix(1,0,0,-1,-520,830.07704)"><g
+             id="g4123"
+             transform="matrix(1.4970318,0,0,1,-211.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4125"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4127"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-207.28069,0.21205357)"
+             id="g4129"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4131"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4133"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4135"
+             transform="matrix(1.4970318,0,0,1,-203.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4137"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4139"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-199.28069,0.21205357)"
+             id="g4141"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4143"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4145"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4147"
+             transform="matrix(1.4970318,0,0,1,-195.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4149"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4151"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-191.28069,0.21205357)"
+             id="g4153"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4155"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4157"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4159"
+             transform="matrix(1.4970318,0,0,1,-187.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4161"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4163"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-183.28069,0.21205357)"
+             id="g4165"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4167"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4169"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4171"
+             transform="matrix(1.4970318,0,0,1,-179.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4173"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4175"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-175.28069,0.21205357)"
+             id="g4177"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4179"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4181"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4183"
+             transform="matrix(1.4970318,0,0,1,-171.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4185"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4187"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-167.28069,0.21205357)"
+             id="g4189"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4191"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4193"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4195"
+             transform="matrix(1.4970318,0,0,1,-163.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4197"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4199"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-159.28069,0.21205357)"
+             id="g4201"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4203"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4205"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g><g
+             id="g4207"
+             transform="matrix(1.4970318,0,0,1,-155.28069,0.21205357)"><path
+               inkscape:connector-curvature="0"
+               id="path4209"
+               d="m 423.9087,394.32647 0,-7.85715"
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" /><path
+               sodipodi:nodetypes="cc"
+               inkscape:connector-curvature="0"
+               id="path4211"
+               d="m 423.84066,392.00721 0.13607,0"
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1" /></g><g
+             transform="matrix(1.4970318,0,0,1,-151.28069,0.21205357)"
+             id="g4213"><path
+               style="fill:none;stroke:#e9dcdc;stroke-width:1.80788291px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.9087,394.32647 0,-7.85715"
+               id="path4215"
+               inkscape:connector-curvature="0" /><path
+               style="fill:none;stroke:#8c8989;stroke-width:1.56546891px;stroke-linecap:square;stroke-linejoin:miter;stroke-opacity:1"
+               d="m 423.84066,392.00721 0.13607,0"
+               id="path4217"
+               inkscape:connector-curvature="0"
+               sodipodi:nodetypes="cc" /></g></g></g><g
+         style="display:inline"
+         id="g4920"
+         transform="matrix(0.41419929,0,0,0.41419929,-10.368172,-50.871127)"><g
+           transform="matrix(0,1.4970318,-1,0,849.26635,-33.0226)"
+           id="g4871"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4867"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4869"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g4875"
+           transform="matrix(0,1.4970318,-1,0,849.26635,-23.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect4877"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect4879"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,-1,0,849.26635,-13.0226)"
+           id="g4881"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4883"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4885"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g4887"
+           transform="matrix(0,1.4970318,1,0,55.91598,-13.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect4889"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect4891"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,1,0,55.91598,-33.0226)"
+           id="g4899"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4901"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4903"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><rect
+           ry="1.5"
+           y="590.15265"
+           x="443.12988"
+           height="31.819805"
+           width="18.687822"
+           id="rect4841"
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:2.41429687;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         transform="matrix(0,0.41419929,-0.41419929,0,462.12545,-133.30339)"
+         id="g13877"
+         style="display:inline"><g
+           style="display:inline"
+           id="g13879"
+           transform="matrix(0,1.4970318,-1,0,849.26635,-33.0226)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect13881"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect13883"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           style="display:inline"
+           transform="matrix(0,1.4970318,-1,0,849.26635,-23.0226)"
+           id="g13885"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect13887"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect13889"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g13891"
+           transform="matrix(0,1.4970318,-1,0,849.26635,-13.0226)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect13893"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect13895"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           style="display:inline"
+           transform="matrix(0,1.4970318,1,0,55.91598,-13.0226)"
+           id="g13897"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect13899"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect13901"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g13903"
+           transform="matrix(0,1.4970318,1,0,55.91598,-33.0226)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect13905"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect13907"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><rect
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:2.41429687;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect13909"
+           width="18.687822"
+           height="31.819805"
+           x="443.12988"
+           y="590.15265"
+           ry="1.5" /></g><g
+         id="g13760"
+         style="display:inline"
+         transform="matrix(0,0.61819183,-0.61819183,0,444.94676,-97.125819)"><rect
+           transform="translate(188.57143,331.57648)"
+           y="269.42856"
+           x="140.71428"
+           height="52.142857"
+           width="89.285713"
+           id="rect5020"
+           style="fill:#fffcfc;fill-opacity:1;stroke:#828282;stroke-width:3.23524165;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /><g
+           transform="matrix(-1.4970318,0,0,1,971.39158,213.03078)"
+           id="g4964-3"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4966-2"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4968-1"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g5046"
+           transform="matrix(-1.4970318,0,0,1,981.39158,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect5048"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect5050"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,991.39158,213.03078)"
+           id="g5052"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect5054"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect5056"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g5058"
+           transform="matrix(-1.4970318,0,0,1,1001.3916,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect5060"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect5062"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,1011.3916,213.03078)"
+           id="g5064"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect5066"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect5068"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g5070"
+           transform="matrix(-1.4970318,0,0,1,1021.3916,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect5072"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect5074"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           style="display:inline"
+           id="g13998"
+           transform="matrix(-1.4970318,0,0,1,1031.0972,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14000"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14002"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,1040.8028,213.03078)"
+           id="g14004"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14006"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14008"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g></g><g
+         style="display:inline"
+         id="g4920-2"
+         transform="matrix(-0.48222043,0,0,-0.59728256,285.82656,546.58597)"><g
+           transform="matrix(0,1.4970318,-1,0,849.26635,-33.0226)"
+           id="g4871-7"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4867-0"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4869-4"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g4875-1"
+           transform="matrix(0,1.4970318,-1,0,849.26635,-23.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect4877-3"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect4879-4"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,-1,0,849.26635,-13.0226)"
+           id="g4881-9"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4883-6"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4885-2"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g4887-8"
+           transform="matrix(0,1.4970318,1,0,55.91598,-13.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect4889-3"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect4891-3"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,1,0,55.91598,-33.0226)"
+           id="g4899-7"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect4901-7"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect4903-8"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><rect
+           ry="1.5"
+           y="590.15265"
+           x="443.12988"
+           height="31.819805"
+           width="18.687822"
+           id="rect4841-1"
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:1.86331928;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><g
+         style="display:inline"
+         id="g14076"
+         transform="matrix(0,-1,1,0,-150.96398,652.23853)"><rect
+           y="365.75504"
+           x="426.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect14080"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect14082"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         transform="matrix(0.61819183,0,0,0.48347584,-108.7519,-76.23362)"
+         style="display:inline"
+         id="g14084"><rect
+           style="fill:#fffcfc;fill-opacity:1;stroke:#828282;stroke-width:3.65831399;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+           id="rect14086"
+           width="53.268898"
+           height="52.142857"
+           x="329.28571"
+           y="601.00507" /><g
+           style="display:inline"
+           id="g14088"
+           transform="matrix(-1.4970318,0,0,1,971.39158,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14090"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14092"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,981.39158,213.03078)"
+           id="g14094"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14096"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14098"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g14100"
+           transform="matrix(-1.4970318,0,0,1,991.39158,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14102"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14104"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,1001.3916,213.03078)"
+           id="g14106"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14108"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14110"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g></g><g
+         id="g14136"
+         style="display:inline"
+         transform="matrix(0.61819183,0,0,0.48347584,-30.7519,-76.23362)"><rect
+           y="601.00507"
+           x="329.28571"
+           height="52.142857"
+           width="53.268898"
+           id="rect14138"
+           style="fill:#fffcfc;fill-opacity:1;stroke:#828282;stroke-width:3.65831399;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /><g
+           transform="matrix(-1.4970318,0,0,1,971.39158,213.03078)"
+           id="g14140"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14142"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14144"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g14146"
+           transform="matrix(-1.4970318,0,0,1,981.39158,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14148"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14150"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(-1.4970318,0,0,1,991.39158,213.03078)"
+           id="g14152"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14154"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14156"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g14158"
+           transform="matrix(-1.4970318,0,0,1,1001.3916,213.03078)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14160"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14162"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g></g><g
+         style="display:inline"
+         transform="matrix(2.4017041,0,0,3.9408912,-788.51882,-1271.7817)"
+         id="g14164"><rect
+           y="365.75504"
+           x="422.11606"
+           height="5.0892859"
+           width="6.5178571"
+           id="rect14166"
+           style="fill:#00440d;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect14168"
+           width="3.5714285"
+           height="5.0892859"
+           x="428.58929"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="418.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect14170"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><rect
+         style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:0.69999999;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+         id="rect14172"
+         width="18.524187"
+         height="28.45186"
+         x="174.85481"
+         y="44.491241" /><g
+         style="display:inline"
+         id="g14192"
+         transform="translate(-342.57061,-300.15766)"><rect
+           style="fill:#312d29;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect14194"
+           width="6.5178571"
+           height="5.0892859"
+           x="422.11606"
+           y="365.75504" /><rect
+           y="365.75504"
+           x="428.58929"
+           height="5.0892859"
+           width="3.5714285"
+           id="rect14196"
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /><rect
+           style="fill:#d3d0ce;fill-opacity:1;stroke:#8c8989;stroke-width:0;stroke-linecap:square;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
+           id="rect14198"
+           width="3.5714285"
+           height="5.0892859"
+           x="418.58929"
+           y="365.75504" /></g><g
+         style="display:inline"
+         id="g14200"
+         transform="matrix(0,0.63857044,-0.6183842,0,527.83252,-72.180508)"><g
+           transform="matrix(0,1.4970318,-1,0,852.39835,-33.0226)"
+           id="g14202"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14204"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14206"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g14208"
+           transform="matrix(0,1.4970318,-1,0,852.39835,-23.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14210"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14212"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,-1,0,852.39835,-13.0226)"
+           id="g14214"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14216"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14218"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           id="g14220"
+           transform="matrix(0,1.4970318,1,0,46.519992,-13.0226)"
+           style="display:inline"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14222"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14224"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><g
+           transform="matrix(0,1.4970318,1,0,46.519992,-33.0226)"
+           id="g14226"
+           style="display:inline"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14228"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14230"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           transform="matrix(0,1.4970318,1,0,46.519992,-22.679788)"
+           id="g14240"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14242"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14244"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           transform="matrix(0,1.4970318,1,0,46.519992,-3.365413)"
+           id="g14246"><rect
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none"
+             id="rect14248"
+             width="10.985409"
+             height="4.0486217"
+             x="-386.60983"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-383.45309"
+             height="4.0486217"
+             width="2.5253813"
+             id="rect14250"
+             style="fill:#8c8989;fill-opacity:1;stroke:none" /></g><g
+           style="display:inline"
+           id="g14252"
+           transform="matrix(0,1.4970318,-1,0,852.39835,-3.365413)"><rect
+             transform="matrix(0,-1,1,0,0,0)"
+             y="417.41403"
+             x="-386.60983"
+             height="4.0486217"
+             width="10.985409"
+             id="rect14254"
+             style="fill:#e9dcdc;fill-opacity:1;stroke:none" /><rect
+             style="fill:#8c8989;fill-opacity:1;stroke:none"
+             id="rect14256"
+             width="2.5253813"
+             height="4.0486217"
+             x="-383.45309"
+             y="417.41403"
+             transform="matrix(0,-1,1,0,0,0)" /></g><rect
+           ry="1.9272836"
+           y="590.15265"
+           x="432.12994"
+           height="40.883862"
+           width="34.998043"
+           id="rect14232"
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:1.59135258;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g></g></g></svg>
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/config/images/gyroscope.png b/ground/openpilotgcs/src/plugins/config/images/gyroscope.png
new file mode 100644
index 000000000..b6277f5cc
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/config/images/gyroscope.png differ
diff --git a/ground/openpilotgcs/src/plugins/config/images/hw_config.png b/ground/openpilotgcs/src/plugins/config/images/hw_config.png
new file mode 100644
index 000000000..ff69b90f3
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/config/images/hw_config.png differ
diff --git a/ground/openpilotgcs/src/plugins/config/images/hw_config.svg b/ground/openpilotgcs/src/plugins/config/images/hw_config.svg
new file mode 100644
index 000000000..a40c3c3f3
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/images/hw_config.svg
@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- made by Andy, It's public domain,  yeah why not-->
+<svg xmlns:svg="http://www.w3.org/2000/svg" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.0" width="128" height="128" id="svg4895">
+	<defs>
+		<linearGradient id="WhiteTransparent">
+			<stop style="stop-color:white;stop-opacity:1" offset="0"/>
+			<stop style="stop-color:white;stop-opacity:0" offset="1"/>
+		</linearGradient>
+		<linearGradient id="BlackTransparent">
+			<stop style="stop-color:black;stop-opacity:1" offset="0"/>
+			<stop style="stop-color:black;stop-opacity:0" offset="1"/>
+		</linearGradient>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg1999" x1="637.03" y1="69.99" x2="638.3" y2="118.3" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.1,0.1,-0.22,0.2,75.6,-33.53)"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg02" x1="512.7" y1="254.36" x2="615.59" y2="254.83"  gradientUnits="userSpaceOnUse" gradientTransform="matrix(8.07e-2,7.75e-2,-0.35,0.36,77.14,-45.89)"/>
+		<linearGradient xlink:href="#BlackTransparent" id="lg05" x1="543.1" y1="286.56" x2="419.88" y2="286.56" gradientUnits="userSpaceOnUse" gradientTransform="matrix(9.98e-2,9.98e-2,-0.28,0.28,78.84,-44.8)" spreadMethod="pad"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg09" x1="258.96" y1="62.74" x2="258.96" y2="-1.72" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.33,0.33,-9.44e-2,9.44e-2,9.03,-48.1)"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg12" x1="146.15" y1="288.57" x2="146.15" y2="368.27" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.3,0.3,-9e-2,9e-2,78.84,-44.8)"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg16" x1="577.03" y1="124" x2="626.1" y2="124" gradientUnits="userSpaceOnUse" gradientTransform="matrix(7.75e-2,7.75e-2,-0.36,0.36,78.84,-44.8)" spreadMethod="pad"/>
+		<linearGradient xlink:href="#BlackTransparent" id="lg19" x1="75.1" y1="189.14" x2="71.77" y2="185.8" gradientTransform="matrix(1.05,0,0,1.05,0.13,-140.54)"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg51" x1="646.24" y1="-252.6" x2="607.66" y2="-186.26" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.2,0,0,0.2,-80.94,88.3)"/>
+		<linearGradient xlink:href="#WhiteTransparent" id="lg55" x1="550.96" y1="-137.5" x2="655.42" y2="-241.2" gradientUnits="userSpaceOnUse" gradientTransform="matrix(0.26,0,0,0.26,-106.57,101.57)"/>
+		<linearGradient xlink:href="#BlackTransparent" id="lgdg" x1="73.88" y1="66.2" x2="84.3" y2="86.68" gradientTransform="translate(-0.30267,-3.20138)" gradientUnits="userSpaceOnUse"/>
+		<clipPath clipPathUnits="userSpaceOnUse" id="clipoutline1">
+			<path id="outline1" d="M 22.42,17.2 L 35.38,30.15 L 32.88,38.93 L 24.1,41.43 L 11.14,28.47 L 5.28,34.33 L 20.17,55.79 L 37.73,52.45 L 99.36,118.07 C 108.8,127.58 121.53,113.32 112.7,105.2 L 46.85,42.92 L 50.86,25.16 L 28.72,10.89 L 22.42,17.2 z M 103.48,109.17 C 105.16,107.49 107.88,107.49 109.56,109.17 C 111.24,110.85 111.24,113.57 109.56,115.25 C 107.88,116.92 105.16,116.92 103.48,115.25 C 101.8,113.57 101.8,110.85 103.48,109.17 z"/>
+		</clipPath>
+		<clipPath clipPathUnits="userSpaceOnUse" id="clipoutline2">
+			<path id="outline2" d="M 55.8,12 L 56.56,12.16 C 65.4,9.22 85.24,20.8 80.82,31.12 C 79.7,32.74 79.89,35.62 81.24,37.43 L 56.43,62.25 C 55.04,60.86 51.95,60.89 50.53,62.25 L 9.5,101.63 C 5.76,105.22 8.7,108.27 10.28,109.88 L 17.64,117.24 C 19.25,118.84 23.5,121 26.52,117.8 L 65.24,76.99 C 66.59,75.57 66.6,72.52 65.24,71.12 C 65.24,71.12 65.25,71.1 65.24,71.1 L 90.15,46.2 C 92.78,48.57 95.263827,48.774854 97.62,48.13 C 102.17057,46.884568 104.70725,51.336643 107.43,54.59 L 106.2,55.8 C 104.38,57.64 104.55,60.74 106.59,62.78 C 108.63,64.82 111.74,64.99 113.56,63.17 L 121.7,55.04 C 123.52,53.2 123.35,50.1 121.3,48.07 C 119.46,46.22 116.79,45.98 114.93,47.3 C 109.35,41.04 112.28,40.1 104.92,31.95 L 91.13,17.86 C 81.2,8.12 68.3,8.13 55.8,12 z"/>
+		</clipPath>
+		<!-- -->
+		<filter id="ShadowBlur" filterUnits="userSpaceOnUse" x="0" y="0"> <feGaussianBlur in="SourceGraphic" stdDeviation="2" id="feGaussianBlur6" /></filter>
+	</defs>
+	<style type="text/css">
+	<![CDATA[
+	/* Specular Highlighting */
+		.low-specularity	{opacity:0.25;}
+		.specularity		{opacity:0.5;}
+		.high-specularity	{opacity:0.75;}
+		.full-specularity	{opacity:1;}
+
+	/* Shading */
+		.low-shade	{opacity:0.25;}
+		.shade		{opacity:0.5;}
+		.high-shade	{opacity:0.75;}
+		.full-shade	{opacity:1;}
+
+	/* Tango palette fill/stroke */
+		.black		{fill:#000;}
+		.aluminium1	{fill:#eeeeec;}
+		.aluminium2	{fill:#d3d7cf;}
+		.aluminium6	{fill:#2e3436;}
+		.chocolate3	{fill:#8f5902;}
+		.chocolate2	{fill:#c17d11;}
+		.aluminium4	{fill:#888a85;}
+
+	/* Shadows: Back-Shadows & Base Shadows */
+		.base-shadow	{opacity:0.4;}
+		.outline-big	{stroke:black;stroke-width:8;opacity:0.25;stroke-linejoin:round;}
+		.outline-small	{stroke:black;stroke-width:4;opacity:0.5;stroke-linejoin:round;}
+		.stroke-highlight	{fill:none;stroke:white;stroke-opacity:0.2;stroke-width:4;stroke-linejoin:round;}
+	]]>
+	</style>
+	<g id="configuration">
+	<g id="spanner">
+		<use xlink:href="#outline1" class="outline-big"/>
+		<use xlink:href="#outline1" class="outline-small"/>
+		<use xlink:href="#outline1" class="aluminium4"/>
+		<use class="stroke-highlight" xlink:href="#outline1" clip-path="url(#clipoutline1)" style="stroke-linejoin:miter;"/>
+		<path class="high-specularity" style="fill:url(#lg55);" d="M 24.33,15.4 L 37.78,28.78 L 34.45,40.47 L 23.5,43.74 L 9.9319417,30 L 5.2,34.54 L 19.4,54.48 L 38.3,50.34 L 100.8,116.7 C 108.3,125 121,114.03 111.94,105.1 L 45.04,42 L 48.9,24.83 L 28.94,10.8 L 24.33,15.4 z M 104.3,108.7 C 105.97,107.03 108.93,106.7 110.6,108.4 C 112.3,110.07 113.66,113.03 111.25,116.24 C 109.25,118.24 106.05,118.16 104.05,116 C 102.37,114.32 102.6,110.4 104.3,108.7 z"/>
+		<path class="specularity" style="fill:url(#lg51);" d="M 24.2,15.42 L 47.67,39.07 L 50.89,25.2 L 28.79,10.8 L 24.2,15.42 z"/>
+	</g>
+	<path class="low-shade" style="fill:url(#lgdg)" d="M 70.739,65.52 L 75.37,69.8 C 75.75,74.12 74.64,75.42 67.54,81.44 L 58.94,72.22 L 70.73,65.52 L 70.73,65.52 L 70.739,65.52 z " />
+	<g id="hammer">
+		<use xlink:href="#outline2" class="outline-big"/>
+		<use xlink:href="#outline2" class="outline-small stroke-aluminium5"/>
+		<path class="aluminium2" d="M 82.92,35.75 L 53.47,65.2 L 62.3,74.03 L 91.75,44.59 L 82.92,35.75 z"/>
+		<path class="specularity" style="fill:url(#lg19);"  d="M 88.93,41.76 L 59.48,71.2 L 62.3,74.03 L 91.75,44.59 L 88.93,41.76 z"/>
+		<path style="fill:url(#lg16);" d="M 86.46,37.04 L 57.13,66.37 L 60.92,70.16 L 89.5,40.08 L 86.46,37.04 z"/>
+		<path class="aluminium6" d="M 55.8,12 L 56.56,12.16 C 65.4,9.22 85.24,20.8 80.82,31.12 C 79.7,32.74 79.89,35.62 81.24,37.43 L 90.15,46.2 C 92.78,48.57 95.26,48.77 97.62,48.13 C 102.17,46.9 104.7,51.33 107.43,54.59 L 106.2,55.8 C 104.38,57.64 104.55,60.74 106.59,62.78 C 108.63,64.82 111.74,64.99 113.56,63.17 L 121.7,55.04 C 123.52,53.2 123.35,50.1 121.3,48.07 C 119.46,46.22 116.79,45.98 114.93,47.3 C 109.35,41.04 112.28,40.1 104.92,31.95 L 91.13,17.86 C 81.2,8.12 68.3,8.13 55.8,12 z "/>
+		<path class="specularity" style="fill:url(#lg12);" d="M 114.93,47.3 C 109.35,41.04 112.28,40.1 104.92,31.95 L 91.13,17.86 C 85.44,12.28 78.77,9.9 71.77,9.6 L 112.9,51.13 L 115.87535,48.4 L 114.93,47.3 z "/>
+		<path class="low-specularity" style="fill:url(#lg09);" d="M 81.45,28 C 81.5,29 81.270657,30 80.8,31.12 C 79.7,32.74 79.89,35.62 81.24,37.43 L 90.15,46.2 C 92.78,48.57 95.26,48.77 97.62,48.13 C 98.7,47.8 99.68,47.86 100.6,48.13 C 103.4,48.9 81.44,27.58 81.45,27.9 L 81.45,28 z"/>
+		<path style="fill:#3465a4;"  d="M 56.43,62.25 C 55.04,60.86 51.95,60.89 50.53,62.25 L 9.5,101.63 C 5.76,105.22 8.68,108.27 10.28,109.88 L 17.64,117.24 C 19.25,118.84 23.5,121 26.52,117.8 L 65.24,76.99 C 66.59,75.57 66.6,72.52 65.24,71.12 C 65.24,71.12 65.25,71.1 65.24,71.1 L 56.43,62.25 z"/>
+		<path class="low-shade" style="fill:url(#lg05);"  d="M 10.27,109.87 L 17.63,117.24 C 19.24,118.84 23.36,121.13 26.38,117.95 L 65.25,76.98 C 66.6,75.55 66.64,72.48 65.25,71.1 L 56.42,62.26 L 10.27,109.87 z"/>
+		<path class="specularity" style="fill:url(#lg02);"  d="M 51.2,65.7 L 12.32,103.74 C 10.7,105.3 11.25,107.49 12.42,108.63 L 16.55,112.6 L 58.92,69 L 55,65.32 C 54.16,64.52 52.2,64.75 51.2,65.7 z"/>
+		<use class="stroke-highlight" xlink:href="#outline2" clip-path="url(#clipoutline2)"/>
+		<path style="fill:url(#lg1999);" d="M 120.45,49.26 C 121.96,50.7 122.25,52.7 120.17,54.62 L 116.3,58.25 C 114.22,60.2 108.78,55 110.85,53.06 L 114.73,49.43 C 116.8,47.48 118.94,47.82 120.45,49.26 z"/>
+	</g>
+	</g>
+</svg>
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 224424c4e..e1eb0b435 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>557</width>
-    <height>467</height>
+    <width>626</width>
+    <height>532</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,834 +24,75 @@
        <string>RC Input</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout">
-       <item row="2" column="0">
-        <widget class="QComboBox" name="ch1Assign">
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_2">
          <property name="font">
           <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
-        <widget class="QLabel" name="ch1Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
            <weight>75</weight>
            <bold>true</bold>
           </font>
          </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
          <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="2">
-        <widget class="QLabel" name="ch1Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
+          <string>Receiver Type:</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
          </property>
         </widget>
        </item>
-       <item row="2" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider1">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
+       <item row="0" column="5">
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
+         <item>
+          <widget class="QLabel" name="RCInputConnected">
+           <property name="minimumSize">
+            <size>
+             <width>234</width>
+             <height>54</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <weight>75</weight>
+             <bold>true</bold>
+            </font>
+           </property>
+           <property name="toolTip">
+            <string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
+           </property>
+           <property name="text">
+            <string>RC Receiver not connected or invalid input configuration (missing channels)</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </item>
-       <item row="2" column="6">
-        <widget class="QLabel" name="ch1Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="7">
-        <widget class="QCheckBox" name="ch1Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="0">
-        <widget class="QComboBox" name="ch2Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="1">
-        <widget class="QLabel" name="ch2Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="2">
-        <widget class="QLabel" name="ch2Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider2">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="6">
-        <widget class="QLabel" name="ch2Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="7">
-        <widget class="QCheckBox" name="ch2Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="0">
-        <widget class="QComboBox" name="ch3Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="1">
-        <widget class="QLabel" name="ch3Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="2">
-        <widget class="QLabel" name="ch3Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider3">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="6">
-        <widget class="QLabel" name="ch3Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="7">
-        <widget class="QCheckBox" name="ch3Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="0">
-        <widget class="QComboBox" name="ch4Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="1">
-        <widget class="QLabel" name="ch4Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="2">
-        <widget class="QLabel" name="ch4Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider4">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="6">
-        <widget class="QLabel" name="ch4Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="7">
-        <widget class="QCheckBox" name="ch4Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="0">
-        <widget class="QComboBox" name="ch5Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="1">
-        <widget class="QLabel" name="ch5Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="2">
-        <widget class="QLabel" name="ch5Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider5">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="6">
-        <widget class="QLabel" name="ch5Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="7">
-        <widget class="QCheckBox" name="ch5Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="0">
-        <widget class="QComboBox" name="ch6Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="1">
-        <widget class="QLabel" name="ch6Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="2">
-        <widget class="QLabel" name="ch6Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider6">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="6">
-        <widget class="QLabel" name="ch6Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="7">
-        <widget class="QCheckBox" name="ch6Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="0">
-        <widget class="QComboBox" name="ch7Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="1">
-        <widget class="QLabel" name="ch7Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1500</string>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="2">
-        <widget class="QLabel" name="ch7Min">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>1000</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="3" colspan="3">
-        <widget class="QSlider" name="inSlider7">
-         <property name="mouseTracking">
-          <bool>true</bool>
-         </property>
-         <property name="minimum">
-          <number>1000</number>
-         </property>
-         <property name="maximum">
-          <number>2000</number>
-         </property>
-         <property name="value">
-          <number>1500</number>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="6">
-        <widget class="QLabel" name="ch7Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="7">
-        <widget class="QCheckBox" name="ch7Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="9" column="0" colspan="2">
-        <widget class="QCheckBox" name="doRCInputCalibration">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="toolTip">
-          <string>Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-During calibration: move your RC controls over their whole range,
-then leave them on Neutral, uncheck calibration and save.
-Neutral should be put at the bottom of the slider for the throttle.</string>
-         </property>
-         <property name="text">
-          <string>Run Calibration</string>
-         </property>
-        </widget>
-       </item>
-       <item row="10" column="0" colspan="8">
-        <widget class="QLabel" name="label_20">
-         <property name="text">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:10pt; font-weight:600; color:#ff0000;&quot;&gt;BEWARE: make sure your engines are not connected when running calibration!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="7">
+       <item row="0" column="9">
         <widget class="QLabel" name="label">
          <property name="text">
           <string>Rev.</string>
          </property>
-        </widget>
-       </item>
-       <item row="1" column="7">
-        <widget class="QCheckBox" name="ch0Rev">
-         <property name="toolTip">
-          <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-         </property>
-         <property name="text">
-          <string/>
+         <property name="alignment">
+          <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
          </property>
         </widget>
        </item>
-       <item row="1" column="6">
-        <widget class="QLabel" name="ch0Max">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
-          </font>
+       <item row="1" column="0">
+        <widget class="QComboBox" name="ch0Assign">
+         <property name="iconSize">
+          <size>
+           <width>16</width>
+           <height>16</height>
+          </size>
          </property>
-         <property name="toolTip">
-          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         </property>
-         <property name="text">
-          <string>2000</string>
+         <property name="frame">
+          <bool>true</bool>
          </property>
         </widget>
        </item>
-       <item row="1" column="3" colspan="3">
+       <item row="1" column="5" colspan="3">
         <widget class="QSlider" name="inSlider0">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -870,14 +111,432 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="2">
-        <widget class="QLabel" name="ch0Min">
+       <item row="1" column="8">
+        <widget class="QLabel" name="ch0Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="9">
+        <widget class="QCheckBox" name="ch0Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
+        <widget class="QComboBox" name="ch1Assign"/>
+       </item>
+       <item row="2" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider1">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="8">
+        <widget class="QLabel" name="ch1Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="9">
+        <widget class="QCheckBox" name="ch1Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QComboBox" name="ch2Assign"/>
+       </item>
+       <item row="3" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider2">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="8">
+        <widget class="QLabel" name="ch2Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="9">
+        <widget class="QCheckBox" name="ch2Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QComboBox" name="ch3Assign"/>
+       </item>
+       <item row="4" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider3">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="8">
+        <widget class="QLabel" name="ch3Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="9">
+        <widget class="QCheckBox" name="ch3Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
+        <widget class="QComboBox" name="ch4Assign"/>
+       </item>
+       <item row="5" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider4">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="8">
+        <widget class="QLabel" name="ch4Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="9">
+        <widget class="QCheckBox" name="ch4Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="0">
+        <widget class="QComboBox" name="ch5Assign"/>
+       </item>
+       <item row="6" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider5">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="8">
+        <widget class="QLabel" name="ch5Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="9">
+        <widget class="QCheckBox" name="ch5Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="0">
+        <widget class="QComboBox" name="ch6Assign"/>
+       </item>
+       <item row="7" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider6">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="8">
+        <widget class="QLabel" name="ch6Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="9">
+        <widget class="QCheckBox" name="ch6Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="0">
+        <widget class="QComboBox" name="ch7Assign"/>
+       </item>
+       <item row="8" column="5" colspan="3">
+        <widget class="QSlider" name="inSlider7">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="8">
+        <widget class="QLabel" name="ch7Max">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="9">
+        <widget class="QCheckBox" name="ch7Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="14" column="0" colspan="10">
+        <widget class="QLabel" name="label_20">
          <property name="font">
           <font>
-           <family>FreeSans</family>
-           <pointsize>8</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
           </font>
          </property>
+         <property name="text">
+          <string>BEWARE: make sure your engines are not connected when running calibration!
+</string>
+         </property>
+        </widget>
+       </item>
+       <item row="11" column="0" colspan="10">
+        <widget class="QLabel" name="lblMissingInputs">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="0">
+        <widget class="QCheckBox" name="doRCInputCalibration">
+         <property name="font">
+          <font>
+           <weight>50</weight>
+           <bold>false</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <string>Start calibrating the RC Inputs.
+Uncheck/Check to restart calibration.
+During calibration: move your RC controls over their whole range,
+then leave them on Neutral, uncheck calibration and save.
+Neutral should be put at the bottom of the slider for the throttle.</string>
+         </property>
+         <property name="text">
+          <string>Run Calibration</string>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLabel" name="receiverType">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="4">
+        <widget class="QLabel" name="ch0Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
@@ -894,16 +553,134 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
-        <widget class="QLabel" name="ch0Cur">
-         <property name="font">
-          <font>
-           <family>FreeSans</family>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
+       <item row="2" column="4">
+        <widget class="QLabel" name="ch1Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="4">
+        <widget class="QLabel" name="ch2Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="4">
+        <widget class="QLabel" name="ch3Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="4">
+        <widget class="QLabel" name="ch4Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="4">
+        <widget class="QLabel" name="ch5Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="4">
+        <widget class="QLabel" name="ch6Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="4">
+        <widget class="QLabel" name="ch7Min">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="2">
+        <widget class="QLabel" name="ch0Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
@@ -916,68 +693,101 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="0">
-        <widget class="QComboBox" name="ch0Assign">
-         <property name="font">
-          <font>
-           <family>MS Shell Dlg 2</family>
-           <pointsize>8</pointsize>
-          </font>
-         </property>
-         <property name="iconSize">
-          <size>
-           <width>16</width>
-           <height>16</height>
-          </size>
-         </property>
-         <property name="frame">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="3" colspan="4">
-        <widget class="QLabel" name="RCInputConnected">
-         <property name="font">
-          <font>
-           <pointsize>11</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
+       <item row="2" column="2">
+        <widget class="QLabel" name="ch1Cur">
          <property name="toolTip">
-          <string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
          <property name="text">
-          <string>RC Receiver not connected or invalid input configuration (missing channels)</string>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
+          <string>1500</string>
          </property>
         </widget>
        </item>
-       <item row="0" column="1" colspan="2">
-        <widget class="QComboBox" name="receiverType">
+       <item row="3" column="2">
+        <widget class="QLabel" name="ch2Cur">
          <property name="toolTip">
-          <string>Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="0">
-        <widget class="QLabel" name="label_2">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
          <property name="text">
-          <string>Receiver Type:</string>
+          <string>1500</string>
          </property>
-         <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </widget>
+       </item>
+       <item row="4" column="2">
+        <widget class="QLabel" name="ch3Cur">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1500</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="2">
+        <widget class="QLabel" name="ch4Cur">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1500</string>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="2">
+        <widget class="QLabel" name="ch5Cur">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1500</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="2">
+        <widget class="QLabel" name="ch6Cur">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1500</string>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="2">
+        <widget class="QLabel" name="ch7Cur">
+         <property name="toolTip">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1500</string>
          </property>
         </widget>
        </item>
@@ -1143,9 +953,9 @@ p, li { white-space: pre-wrap; }
         <property name="geometry">
          <rect>
           <x>100</x>
-          <y>50</y>
+          <y>55</y>
           <width>151</width>
-          <height>31</height>
+          <height>26</height>
          </rect>
         </property>
        </widget>
@@ -1153,9 +963,9 @@ p, li { white-space: pre-wrap; }
         <property name="geometry">
          <rect>
           <x>100</x>
-          <y>20</y>
+          <y>25</y>
           <width>151</width>
-          <height>31</height>
+          <height>26</height>
          </rect>
         </property>
         <property name="toolTip">
@@ -1179,9 +989,9 @@ p, li { white-space: pre-wrap; }
         <property name="geometry">
          <rect>
           <x>100</x>
-          <y>80</y>
+          <y>85</y>
           <width>151</width>
-          <height>31</height>
+          <height>26</height>
          </rect>
         </property>
        </widget>
@@ -1247,7 +1057,7 @@ if you have not done so already.</string>
          <enum>QSlider::TicksBelow</enum>
         </property>
         <property name="tickInterval">
-         <number>66</number>
+         <number>100</number>
         </property>
        </widget>
       </widget>
@@ -1441,8 +1251,6 @@ Applies and Saves all settings to SD</string>
   <tabstop>ch5Assign</tabstop>
   <tabstop>ch6Assign</tabstop>
   <tabstop>ch7Assign</tabstop>
-  <tabstop>receiverType</tabstop>
-  <tabstop>doRCInputCalibration</tabstop>
   <tabstop>fmsSlider</tabstop>
   <tabstop>fmsModePos3</tabstop>
   <tabstop>fmsSsPos3Roll</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp
index 2acf5babd..6e031d8d7 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.cpp
@@ -147,7 +147,17 @@ QList<double> MixerCurveWidget::getCurve() {
 
     return list;
 }
-
+/**
+  Sets a linear graph
+  */
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+{
+    QList<double> points;
+    for (double i=0; i<numPoints;i++) {
+        points.append(maxValue*(i/(numPoints-1)));
+    }
+    initCurve(points);
+}
 /**
   Setd the current curve settings
   */
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.h
index d8b6360f6..3bba14335 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurvewidget.h
@@ -45,6 +45,7 @@ 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 setCurve(QList<double>);
    void setMin(double value);
    void setMax(double value);
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index 0084d11ed..9c1fdacca 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>659</width>
-    <height>511</height>
+    <height>523</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -223,11 +223,6 @@ Leave at 50Hz for fixed wing.</string>
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="toolTip">
         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
@@ -258,11 +253,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="toolTip">
         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
@@ -341,11 +331,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -369,11 +354,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -428,11 +408,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -456,11 +431,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -515,11 +485,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -543,11 +508,6 @@ p, li { white-space: pre-wrap; }
        <property name="enabled">
         <bool>true</bool>
        </property>
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -599,11 +559,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="5" column="2">
       <widget class="QSpinBox" name="ch4OutMin">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -621,11 +576,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="5" column="4">
       <widget class="QSpinBox" name="ch4OutMax">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -677,11 +627,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="6" column="2">
       <widget class="QSpinBox" name="ch5OutMin">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -699,11 +644,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="6" column="4">
       <widget class="QSpinBox" name="ch5OutMax">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -762,11 +702,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="7" column="2">
       <widget class="QSpinBox" name="ch6OutMin">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -784,11 +719,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="7" column="4">
       <widget class="QSpinBox" name="ch6OutMax">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -833,11 +763,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="8" column="2">
       <widget class="QSpinBox" name="ch7OutMin">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
@@ -855,11 +780,6 @@ p, li { white-space: pre-wrap; }
      </item>
      <item row="8" column="4">
       <widget class="QSpinBox" name="ch7OutMax">
-       <property name="font">
-        <font>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
        <property name="maximum">
         <number>9999</number>
        </property>
diff --git a/ground/openpilotgcs/src/plugins/config/telemetry.ui b/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
similarity index 98%
rename from ground/openpilotgcs/src/plugins/config/telemetry.ui
rename to ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
index 0db9c9299..6e6751b87 100644
--- a/ground/openpilotgcs/src/plugins/config/telemetry.ui
+++ b/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>TelemetryWidget</class>
- <widget class="QWidget" name="TelemetryWidget">
+ <class>PRO_HW_Widget</class>
+ <widget class="QWidget" name="PRO_HW_Widget">
   <property name="geometry">
    <rect>
     <x>0</x>
diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
new file mode 100644
index 000000000..ed5abf2c7
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.cpp
@@ -0,0 +1,122 @@
+#include "smartsavebutton.h"
+
+smartSaveButton::smartSaveButton(QPushButton * update, QPushButton * save):bupdate(update),bsave(save)
+{
+    connect(bsave,SIGNAL(clicked()),this,SLOT(processClick()));
+    connect(bupdate,SIGNAL(clicked()),this,SLOT(processClick()));
+
+}
+void smartSaveButton::processClick()
+{
+    emit beginOp();
+    bool save=false;
+    QPushButton *button=bupdate;
+    if(sender()==bsave)
+    {
+        save=true;
+        button=bsave;
+    }
+    emit preProcessOperations();
+    button->setEnabled(false);
+    button->setIcon(QIcon(":/uploader/images/system-run.svg"));
+    QTimer timer;
+    timer.setSingleShot(true);
+    bool error=false;
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    foreach(UAVObject * obj,objects)
+    {
+        up_result=false;
+        current_object=obj;
+        for(int i=0;i<3;++i)
+        {
+
+            connect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool)));
+            connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
+            obj->updated();
+            timer.start(1000);
+            loop.exec();
+            timer.stop();
+            disconnect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool)));
+            disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
+            if(up_result)
+                break;
+        }
+        if(up_result==false)
+        {
+            error=true;
+            continue;
+        }
+        sv_result=false;
+        current_objectID=obj->getObjID();
+        if(save)
+        {
+        for(int i=0;i<3;++i)
+        {
+            connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
+            connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
+            utilMngr->saveObjectToSD(obj);
+            timer.start(1000);
+            loop.exec();
+            timer.stop();
+            disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
+            disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
+            if(sv_result)
+                break;
+        }
+        if(sv_result==false)
+        {
+            error=true;
+        }
+        }
+    }
+    button->setEnabled(true);
+    if(!error)
+    {
+        button->setIcon(QIcon(":/uploader/images/dialog-apply.svg"));
+        emit saveSuccessfull();
+    }
+    else
+    {
+        button->setIcon(QIcon(":/uploader/images/process-stop.svg"));
+    }
+    emit endOp();
+}
+
+void smartSaveButton::setObjects(QList<UAVObject *> list)
+{
+    objects=list;
+}
+
+void smartSaveButton::addObject(UAVObject * obj)
+{
+    objects.append(obj);
+}
+
+void smartSaveButton::clearObjects()
+{
+    objects.clear();
+}
+void smartSaveButton::transaction_finished(UAVObject* obj, bool result)
+{
+    if(current_object==obj)
+    {
+        up_result=result;
+        loop.quit();
+    }
+}
+
+void smartSaveButton::saving_finished(int id, bool result)
+{
+    if(id==current_objectID)
+    {
+        sv_result=result;
+        loop.quit();
+    }
+}
+
+void smartSaveButton::enableControls(bool value)
+{
+    bupdate->setEnabled(value);
+    bsave->setEnabled(value);
+}
diff --git a/ground/openpilotgcs/src/plugins/config/smartsavebutton.h b/ground/openpilotgcs/src/plugins/config/smartsavebutton.h
new file mode 100644
index 000000000..d0238d034
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/smartsavebutton.h
@@ -0,0 +1,49 @@
+#ifndef SMARTSAVEBUTTON_H
+#define SMARTSAVEBUTTON_H
+
+#include "uavtalk/telemetrymanager.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QPushButton>
+#include <QList>
+#include <QEventLoop>
+#include "uavobjectutilmanager.h"
+#include <QObject>
+#include <QDebug>
+class smartSaveButton:public QObject
+{
+public:
+    Q_OBJECT
+public:
+    smartSaveButton(QPushButton * update,QPushButton * save);
+    void setObjects(QList<UAVObject *>);
+    void addObject(UAVObject *);
+    void clearObjects();
+signals:
+    void preProcessOperations();
+    void saveSuccessfull();
+    void beginOp();
+    void endOp();
+private slots:
+    void processClick();
+    void transaction_finished(UAVObject* obj, bool result);
+    void saving_finished(int,bool);
+
+private:
+    QPushButton *bupdate;
+    QPushButton *bsave;
+    quint32 current_objectID;
+    UAVObject * current_object;
+    bool up_result;
+    bool sv_result;
+    QEventLoop loop;
+    QList<UAVObject *> objects;
+protected:
+public slots:
+    void enableControls(bool value);
+
+};
+
+
+#endif // SMARTSAVEBUTTON_H
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 120695b96..96c414055 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>639</width>
-    <height>461</height>
+    <height>611</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -15,746 +15,627 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_3">
    <item>
-    <widget class="QFrame" name="piFactors">
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <layout class="QVBoxLayout" name="verticalLayout">
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_3">
-          <item>
-           <widget class="QLabel" name="label_8">
-            <property name="font">
-             <font>
-              <weight>75</weight>
-              <bold>true</bold>
-             </font>
-            </property>
-            <property name="text">
-             <string>Rate Stabilization (inner loop)</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_3">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="label_4">
-            <property name="text">
-             <string>Hint: read the tooltips!</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <widget class="QFrame" name="frame_2">
-          <property name="toolTip">
-           <string>First, work on rate stabilization.</string>
-          </property>
-          <property name="frameShape">
-           <enum>QFrame::StyledPanel</enum>
-          </property>
-          <property name="frameShadow">
-           <enum>QFrame::Raised</enum>
-          </property>
-          <layout class="QGridLayout" name="gridLayout" columnstretch="1,1,2,2,2">
-           <item row="1" column="1">
-            <widget class="QLabel" name="label_10">
-             <property name="text">
-              <string>Roll</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="2">
-            <widget class="QDoubleSpinBox" name="rateRollKp">
-             <property name="toolTip">
-              <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>150</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Rate Stabilization Coefficients (Inner Loop)</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>Kp</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_13">
+        <property name="text">
+         <string>Ki</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="4">
+       <widget class="QLabel" name="label_14">
+        <property name="text">
+         <string>ILimit</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_10">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QDoubleSpinBox" name="rateRollKp">
+        <property name="toolTip">
+         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="1">
-            <widget class="QLabel" name="label_11">
-             <property name="text">
-              <string>Pitch</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="2">
-            <widget class="QDoubleSpinBox" name="ratePitchKp">
-             <property name="toolTip">
-              <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="2">
-            <widget class="QLabel" name="label_12">
-             <property name="text">
-              <string>Kp</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="3">
-            <widget class="QDoubleSpinBox" name="rateRollKi">
-             <property name="toolTip">
-              <string>I factor for rate stabilization is usually very low or even zero.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="3">
-            <widget class="QDoubleSpinBox" name="ratePitchKi">
-             <property name="toolTip">
-              <string>I factor for rate stabilization is usually very low or even zero.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="3">
-            <widget class="QLabel" name="label_13">
-             <property name="text">
-              <string>Ki</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="4">
-            <widget class="QDoubleSpinBox" name="rateRollILimit">
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="4">
-            <widget class="QDoubleSpinBox" name="ratePitchILimit">
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="4">
-            <widget class="QLabel" name="label_14">
-             <property name="text">
-              <string>ILimit</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="0" rowspan="2">
-            <widget class="QCheckBox" name="linkRateRP">
-             <property name="toolTip">
-              <string>If checked, the Roll and Pitch factors will be identical.
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QDoubleSpinBox" name="rateRollKi">
+        <property name="toolTip">
+         <string>I factor for rate stabilization is usually very low or even zero.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="4">
+       <widget class="QDoubleSpinBox" name="rateRollILimit">
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QCheckBox" name="linkRateRP">
+        <property name="toolTip">
+         <string>If checked, the Roll and Pitch factors will be identical.
 When you change one, the other is updated.</string>
-             </property>
-             <property name="text">
-              <string>Link</string>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="1">
-            <widget class="QLabel" name="label_15">
-             <property name="text">
-              <string>Yaw</string>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="2">
-            <widget class="QDoubleSpinBox" name="rateYawKp">
-             <property name="toolTip">
-              <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+        </property>
+        <property name="text">
+         <string>Link</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QDoubleSpinBox" name="ratePitchKp">
+        <property name="toolTip">
+         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QDoubleSpinBox" name="ratePitchKi">
+        <property name="toolTip">
+         <string>I factor for rate stabilization is usually very low or even zero.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="4">
+       <widget class="QDoubleSpinBox" name="ratePitchILimit">
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="label_15">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QDoubleSpinBox" name="rateYawKp">
+        <property name="toolTip">
+         <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.
 
 You can usually go for higher values for Yaw factors.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="3">
-            <widget class="QDoubleSpinBox" name="rateYawKi">
-             <property name="toolTip">
-              <string>As a rule of thumb, you can set YawRate Ki at roughly the same
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QDoubleSpinBox" name="rateYawKi">
+        <property name="toolTip">
+         <string>As a rule of thumb, you can set YawRate Ki at roughly the same
 value as YawRate Kp.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="4">
-            <widget class="QDoubleSpinBox" name="rateYawILimit">
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.000100000000000</double>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout">
-          <item>
-           <widget class="QLabel" name="label_9">
-            <property name="font">
-             <font>
-              <weight>75</weight>
-              <bold>true</bold>
-             </font>
-            </property>
-            <property name="text">
-             <string>Attitude Stabilization (outer loop)</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <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>
-        </item>
-        <item>
-         <widget class="QFrame" name="frame_3">
-          <property name="frameShape">
-           <enum>QFrame::StyledPanel</enum>
-          </property>
-          <property name="frameShadow">
-           <enum>QFrame::Raised</enum>
-          </property>
-          <layout class="QGridLayout" name="gridLayout_2" columnstretch="1,1,2,2,2">
-           <item row="1" column="0" rowspan="2">
-            <widget class="QCheckBox" name="linkAttitudeRP">
-             <property name="toolTip">
-              <string>If checked, the Roll and Pitch factors will be identical.
-When you change one, the other is updated.</string>
-             </property>
-             <property name="text">
-              <string>Link</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QLabel" name="label_16">
-             <property name="text">
-              <string>Roll</string>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="1">
-            <widget class="QLabel" name="label_17">
-             <property name="text">
-              <string>Pitch</string>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="1">
-            <widget class="QLabel" name="label_18">
-             <property name="text">
-              <string>Yaw</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="2">
-            <widget class="QDoubleSpinBox" name="rollKp">
-             <property name="toolTip">
-              <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="2">
-            <widget class="QDoubleSpinBox" name="pitchKp">
-             <property name="toolTip">
-              <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="2">
-            <widget class="QDoubleSpinBox" name="yawKp">
-             <property name="toolTip">
-              <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
-</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="3">
-            <widget class="QDoubleSpinBox" name="rollKi">
-             <property name="toolTip">
-              <string>Ki can usually be almost identical to Kp.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="3">
-            <widget class="QDoubleSpinBox" name="pitchKi">
-             <property name="toolTip">
-              <string>Ki can usually be almost identical to Kp.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="3">
-            <widget class="QDoubleSpinBox" name="yawKi">
-             <property name="toolTip">
-              <string>Ki can usually be almost identical to Kp.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="4">
-            <widget class="QDoubleSpinBox" name="rollILimit">
-             <property name="toolTip">
-              <string>ILimit can be equal to three to four times Ki, but you can adjust
-depending on whether your airframe is well balanced, and your
-flying style.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="2" column="4">
-            <widget class="QDoubleSpinBox" name="pitchILimit">
-             <property name="toolTip">
-              <string>ILimit can be equal to three to four times Ki, but you can adjust
-depending on whether your airframe is well balanced, and your
-flying style.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="4">
-            <widget class="QDoubleSpinBox" name="yawILimit">
-             <property name="toolTip">
-              <string>ILimit can be equal to three to four times Ki, but you can adjust
-depending on whether your airframe is well balanced, and your
-flying style.</string>
-             </property>
-             <property name="decimals">
-              <number>6</number>
-             </property>
-             <property name="singleStep">
-              <double>0.100000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="2">
-            <widget class="QLabel" name="label_19">
-             <property name="text">
-              <string>Kp</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="3">
-            <widget class="QLabel" name="label_20">
-             <property name="text">
-              <string>Ki</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="4">
-            <widget class="QLabel" name="label_21">
-             <property name="text">
-              <string>ILimit</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </widget>
-        </item>
-       </layout>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
       </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_4">
-        <item>
-         <widget class="QLabel" name="label_5">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Angle Limits:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label">
-          <property name="text">
-           <string>RollMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="rollMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_4">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_2">
-          <property name="text">
-           <string>PitchMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="pitchMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_5">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_3">
-          <property name="text">
-           <string>YawMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="yawMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_5">
-        <item>
-         <widget class="QLabel" name="label_6">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Manual rate:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_7">
-          <property name="text">
-           <string>Roll</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualRoll">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_6">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_22">
-          <property name="text">
-           <string>Pitch</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualPitch">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_7">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_23">
-          <property name="text">
-           <string>Yaw</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualYaw">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_6">
-        <item>
-         <widget class="QLabel" name="label_24">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Maximum rate:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_25">
-          <property name="text">
-           <string>Roll</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumRoll">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_8">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_26">
-          <property name="text">
-           <string>Pitch</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumPitch">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_9">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_27">
-          <property name="text">
-           <string>Yaw</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumYaw">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
+      <item row="3" column="4">
+       <widget class="QDoubleSpinBox" name="rateYawILimit">
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.000100000000000</double>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>
    </item>
+   <item>
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>5</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>150</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Attitude Stabization Coefficients (Outer Loop)</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="3" column="2">
+       <widget class="QDoubleSpinBox" name="rollKp">
+        <property name="toolTip">
+         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QDoubleSpinBox" name="rollKi">
+        <property name="toolTip">
+         <string>Ki can usually be almost identical to Kp.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="4">
+       <widget class="QDoubleSpinBox" name="rollILimit">
+        <property name="toolTip">
+         <string>ILimit can be equal to three to four times Ki, but you can adjust
+depending on whether your airframe is well balanced, and your
+flying style.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_19">
+        <property name="text">
+         <string>Kp</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="label_20">
+        <property name="text">
+         <string>Ki</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="4">
+       <widget class="QLabel" name="label_21">
+        <property name="text">
+         <string>ILimit</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="4">
+       <widget class="QDoubleSpinBox" name="yawILimit">
+        <property name="toolTip">
+         <string>ILimit can be equal to three to four times Ki, but you can adjust
+depending on whether your airframe is well balanced, and your
+flying style.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="3">
+       <widget class="QDoubleSpinBox" name="yawKi">
+        <property name="toolTip">
+         <string>Ki can usually be almost identical to Kp.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="2">
+       <widget class="QDoubleSpinBox" name="yawKp">
+        <property name="toolTip">
+         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="2">
+       <widget class="QDoubleSpinBox" name="pitchKp">
+        <property name="toolTip">
+         <string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
+</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="7" column="1">
+       <widget class="QLabel" name="label_18">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="1">
+       <widget class="QLabel" name="label_17">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QLabel" name="label_16">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="3">
+       <widget class="QDoubleSpinBox" name="pitchKi">
+        <property name="toolTip">
+         <string>Ki can usually be almost identical to Kp.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="4">
+       <widget class="QDoubleSpinBox" name="pitchILimit">
+        <property name="toolTip">
+         <string>ILimit can be equal to three to four times Ki, but you can adjust
+depending on whether your airframe is well balanced, and your
+flying style.</string>
+        </property>
+        <property name="decimals">
+         <number>6</number>
+        </property>
+        <property name="singleStep">
+         <double>0.100000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="6" column="0">
+       <widget class="QCheckBox" name="linkAttitudeRP">
+        <property name="toolTip">
+         <string>If checked, the Roll and Pitch factors will be identical.
+When you change one, the other is updated.</string>
+        </property>
+        <property name="text">
+         <string>Link</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>5</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Stick range and limits</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetMinAndMaxSize</enum>
+      </property>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_22">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_23">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="rollMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="pitchMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QSpinBox" name="yawMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Full stick angle (deg)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Full stick rate (deg/s)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSpinBox" name="manualRoll">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSpinBox" name="manualPitch">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QSpinBox" name="manualYaw">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_24">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="toolTip">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Maximum rate in attitude mode (deg/s)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QSpinBox" name="maximumRoll">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QSpinBox" name="maximumPitch">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QSpinBox" name="maximumYaw">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="lowThrottleZeroIntegral">
+     <property name="text">
+      <string>Zero the integral when throttle is low</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <spacer name="verticalSpacer">
      <property name="orientation">
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index 88967b23b..9847730e8 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -1539,6 +1539,50 @@
           <enableVbo>false</enableVbo>
         </data>
       </Hexacopter>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
       <Quadcopter>
         <configInfo>
           <locked>false</locked>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 176263d04..f63c6e7da 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -32,36 +32,33 @@
 #include <coreplugin/iconnection.h>
 #include <extensionsystem/pluginmanager.h>
 
-#include <utils/styledbar.h>
-
-#include "fancytabwidget.h"
-#include "fancyactionbar.h"
 #include "qextserialport/src/qextserialenumerator.h"
 #include "qextserialport/src/qextserialport.h"
 #include <QDebug>
 #include <QLabel>
 #include <QHBoxLayout>
 #include <QComboBox>
-#include <QTimer>
+
 namespace Core {
 
 
-ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, Internal::FancyTabWidget *modeStack) :
+ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack) :
 	QWidget(mainWindow),	// Pip
 	m_availableDevList(0),
     m_connectBtn(0),
-    m_ioDev(NULL),m_mainWindow(mainWindow)
+    m_ioDev(NULL),	
+	m_mainWindow(mainWindow)
 {
  //   Q_UNUSED(mainWindow);
 
-    QVBoxLayout *top = new QVBoxLayout;
+/*    QVBoxLayout *top = new QVBoxLayout;
     top->setSpacing(0);
-    top->setMargin(0);
+    top->setMargin(0);*/
 
     QHBoxLayout *layout = new QHBoxLayout;
-    layout->setSpacing(0);
-    layout->setContentsMargins(5,0,5,0);
-    layout->addWidget(new QLabel("Connections: "));
+    layout->setSpacing(5);
+    layout->setContentsMargins(5,5,5,5);
+    layout->addWidget(new QLabel(tr("Connections:")));
 
     m_availableDevList = new QComboBox;
     //m_availableDevList->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
@@ -70,17 +67,18 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, Internal:
     m_availableDevList->setContextMenuPolicy(Qt::CustomContextMenu);
     layout->addWidget(m_availableDevList);
 
-    m_connectBtn = new QPushButton("Connect");
+    m_connectBtn = new QPushButton(tr("Connect"));
     m_connectBtn->setEnabled(false);
     layout->addWidget(m_connectBtn);
 
-    Utils::StyledBar *bar = new Utils::StyledBar;
+/*    Utils::StyledBar *bar = new Utils::StyledBar;
     bar->setLayout(layout);
 
-    top->addWidget(bar);
-    setLayout(top);
+    top->addWidget(bar);*/
+    setLayout(layout);
 
-    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
+    //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
+    modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
 	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
 }
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 085111700..beb809915 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -40,6 +40,10 @@
 
 #include "core_global.h"
 
+QT_BEGIN_NAMESPACE
+class QTabWidget;
+QT_END_NAMESPACE
+
 namespace Core {
 
     class IConnection;
@@ -65,7 +69,7 @@ class CORE_EXPORT ConnectionManager : public QWidget
     Q_OBJECT
 
 public:
-    ConnectionManager(Internal::MainWindow *mainWindow, Internal::FancyTabWidget *modeStack);
+    ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack);
     virtual ~ConnectionManager();
 
     void init();
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.cpp b/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.cpp
index dd6c3d0bc..b45582628 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.cpp
@@ -187,9 +187,9 @@ void CoreImpl::openFiles(const QStringList &arguments)
     //m_mainwindow->openFiles(arguments);
 }
 
-void CoreImpl::readMainSettings(QSettings* qs)
+void CoreImpl::readMainSettings(QSettings* qs, bool workspaceDiffOnly)
 {
-    m_mainwindow->readSettings(qs);
+    m_mainwindow->readSettings(qs, workspaceDiffOnly);
 }
 
 void CoreImpl::saveMainSettings(QSettings* qs)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.h b/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.h
index eaebdc3d0..cd0dfd928 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreimpl.h
@@ -64,7 +64,7 @@ public:
 
     QSettings *settings(QSettings::Scope scope = QSettings::UserScope) const;
     SettingsDatabase *settingsDatabase() const;
-    void readMainSettings(QSettings* qs);
+    void readMainSettings(QSettings* qs, bool workspaceDiffOnly);
     void saveMainSettings(QSettings* qs);
     void readSettings(IConfigurablePlugin* plugin, QSettings* qs = 0 );
     void saveSettings(IConfigurablePlugin* plugin, QSettings* qs = 0 );
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pri b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pri
index fc5fc7aae..26143cbc1 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pri
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pri
@@ -1,2 +1,2 @@
 include(coreplugin_dependencies.pri)
-LIBS *= -l$$qtLibraryTarget(Core)
+LIBS *= -l$$qtLibraryName(Core)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
index 70ac509e8..8c73b00ef 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
@@ -24,10 +24,8 @@ SOURCES += mainwindow.cpp \
     uniqueidmanager.cpp \
     messagemanager.cpp \
     messageoutputwindow.cpp \
-    viewmanager.cpp \
     versiondialog.cpp \
     iuavgadget.cpp \
-    uavgadgetmode.cpp \
     uavgadgetmanager/uavgadgetmanager.cpp \
     uavgadgetmanager/uavgadgetview.cpp \
     uavgadgetmanager/splitterorview.cpp \
@@ -73,9 +71,7 @@ HEADERS += mainwindow.h \
     uniqueidmanager.h \
     messagemanager.h \
     messageoutputwindow.h \
-    viewmanager.h \
     iuavgadget.h \
-    uavgadgetmode.h \
     iuavgadgetfactory.h \
     uavgadgetmanager/uavgadgetmanager.h \
     uavgadgetmanager/uavgadgetview.h \
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
index e3e2602e8..f0bc7bf4f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
@@ -44,9 +44,10 @@ using namespace Utils;
 using namespace Core::Internal;
 
 GeneralSettings::GeneralSettings():
-    m_dialog(0),
     m_saveSettingsOnExit(true),
-    m_autoConnect(true),m_autoSelect(true)
+    m_dialog(0),
+    m_autoConnect(true),
+    m_autoSelect(true)
 {
 }
 
@@ -119,24 +120,9 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
     m_page->colorButton->setColor(StyleHelper::baseColor());
-#ifdef Q_OS_UNIX
-    m_page->terminalEdit->setText(ConsoleProcess::terminalEmulator(Core::ICore::instance()->settings()));
-#else
-    m_page->terminalLabel->hide();
-    m_page->terminalEdit->hide();
-    m_page->resetTerminalButton->hide();
-#endif
 
     connect(m_page->resetButton, SIGNAL(clicked()),
             this, SLOT(resetInterfaceColor()));
-    connect(m_page->resetEditorButton, SIGNAL(clicked()),
-            this, SLOT(resetExternalEditor()));
-    connect(m_page->helpExternalEditorButton, SIGNAL(clicked()),
-            this, SLOT(showHelpForExternalEditor()));
-#ifdef Q_OS_UNIX
-    connect(m_page->resetTerminalButton, SIGNAL(clicked()),
-            this, SLOT(resetTerminal()));
-#endif
 
     return w;
 }
@@ -151,11 +137,6 @@ void GeneralSettings::apply()
     m_saveSettingsOnExit = m_page->checkBoxSaveOnExit->isChecked();
     m_autoConnect = m_page->checkAutoConnect->isChecked();
     m_autoSelect = m_page->checkAutoSelect->isChecked();
-#ifdef Q_OS_UNIX
-	ConsoleProcess::setTerminalEmulator(Core::ICore::instance()->settings(),
-                                        m_page->terminalEdit->text());
-#endif
-
 }
 
 void GeneralSettings::finish()
@@ -171,7 +152,6 @@ void GeneralSettings::readSettings(QSettings* qs)
     m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
     m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
     qs->endGroup();
-
 }
 
 void GeneralSettings::saveSettings(QSettings* qs)
@@ -194,17 +174,6 @@ void GeneralSettings::resetInterfaceColor()
     m_page->colorButton->setColor(0x666666);
 }
 
-void GeneralSettings::resetExternalEditor()
-{
-}
-
-#ifdef Q_OS_UNIX
-void GeneralSettings::resetTerminal()
-{
-    m_page->terminalEdit->setText(ConsoleProcess::defaultTerminalEmulator() + QLatin1String(" -e"));
-}
-#endif
-
 void GeneralSettings::showHelpForExternalEditor()
 {
     if (m_dialog) {
@@ -238,10 +207,11 @@ QString GeneralSettings::language() const
 
 void GeneralSettings::setLanguage(const QString &locale)
 {
-    if (m_language != locale)
-    {
+    if (m_language != locale) {
+        if (!locale.isEmpty()) {
         QMessageBox::information((QWidget*)Core::ICore::instance()->mainWindow(), tr("Restart required"),
                                  tr("The language change will take effect after a restart of the OpenPilot GCS."));
+        }
         m_language = locale;
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index ad4790578..f70d7c9a9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -61,15 +61,13 @@ public:
     void readSettings(QSettings* qs);
     void saveSettings(QSettings* qs);
 
+signals:
+
 private slots:
     void resetInterfaceColor();
     void resetLanguage();
-    void resetExternalEditor();
     void showHelpForExternalEditor();
     void slotAutoConnect(int);
-#ifdef Q_OS_UNIX
-    void resetTerminal();
-#endif
 
 private:
     void fillLanguageBox() const;
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
index 752ba2bfb..1be8020ce 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
@@ -17,33 +17,6 @@
       <string>General settings</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="2" column="0">
-       <widget class="QLabel" name="terminalLabel">
-        <property name="text">
-         <string>Terminal:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="8" column="0">
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>External editor:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="10" column="0">
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string>When files are externally modified:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLineEdit" name="terminalEdit"/>
-      </item>
       <item row="0" column="0">
        <widget class="QLabel" name="colorLabel">
         <property name="text">
@@ -51,44 +24,6 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="2">
-       <widget class="QToolButton" name="resetTerminalButton">
-        <property name="toolTip">
-         <string>Reset to default</string>
-        </property>
-        <property name="text">
-         <string>R</string>
-        </property>
-        <property name="icon">
-         <iconset resource="core.qrc">
-          <normaloff>:/core/images/reset.png</normaloff>:/core/images/reset.png</iconset>
-        </property>
-       </widget>
-      </item>
-      <item row="8" column="1">
-       <widget class="QLineEdit" name="externalEditorEdit"/>
-      </item>
-      <item row="8" column="2">
-       <widget class="QToolButton" name="resetEditorButton">
-        <property name="toolTip">
-         <string>Reset to default</string>
-        </property>
-        <property name="text">
-         <string>R</string>
-        </property>
-        <property name="icon">
-         <iconset resource="core.qrc">
-          <normaloff>:/core/images/reset.png</normaloff>:/core/images/reset.png</iconset>
-        </property>
-       </widget>
-      </item>
-      <item row="8" column="3">
-       <widget class="QToolButton" name="helpExternalEditorButton">
-        <property name="text">
-         <string>?</string>
-        </property>
-       </widget>
-      </item>
       <item row="0" column="1">
        <widget class="QWidget" name="widget" native="true">
         <layout class="QGridLayout" name="gridLayout_2">
@@ -144,53 +79,12 @@
         </layout>
        </widget>
       </item>
-      <item row="10" column="1">
+      <item row="8" column="1">
        <widget class="QWidget" name="widget_2" native="true">
         <layout class="QGridLayout" name="gridLayout_3">
          <property name="margin">
           <number>0</number>
          </property>
-         <item row="0" column="0">
-          <widget class="QComboBox" name="reloadBehavior">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="currentIndex">
-            <number>0</number>
-           </property>
-           <item>
-            <property name="text">
-             <string>Always ask</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Reload all modified files</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Ignore modifications</string>
-            </property>
-           </item>
-          </widget>
-         </item>
-         <item row="0" column="1">
-          <spacer name="horizontalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>132</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
         </layout>
        </widget>
       </item>
@@ -221,7 +115,7 @@
         </item>
        </layout>
       </item>
-      <item row="11" column="1">
+      <item row="9" column="1">
        <widget class="QCheckBox" name="checkBoxSaveOnExit">
         <property name="text">
          <string/>
@@ -231,27 +125,27 @@
         </property>
        </widget>
       </item>
-      <item row="11" column="0">
+      <item row="9" column="0">
        <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>Save configuration settings on on exit</string>
+         <string>Save configuration settings on exit:</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
-      <item row="12" column="0">
+      <item row="10" column="0">
        <widget class="QLabel" name="label_5">
         <property name="text">
-         <string>Automatically connect an OpenPilot USB device</string>
+         <string>Automatically connect an OpenPilot USB device:</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
-      <item row="12" column="1">
+      <item row="10" column="1">
        <widget class="QCheckBox" name="checkAutoConnect">
         <property name="text">
          <string/>
@@ -261,17 +155,17 @@
         </property>
        </widget>
       </item>
-      <item row="13" column="0">
+      <item row="11" column="0">
        <widget class="QLabel" name="label_6">
         <property name="text">
-         <string>Automatically select an OpenPilot USB device</string>
+         <string>Automatically select an OpenPilot USB device:</string>
         </property>
         <property name="wordWrap">
          <bool>true</bool>
         </property>
        </widget>
       </item>
-      <item row="13" column="1">
+      <item row="11" column="1">
        <widget class="QCheckBox" name="checkAutoSelect">
         <property name="enabled">
          <bool>false</bool>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/icore.h b/ground/openpilotgcs/src/plugins/coreplugin/icore.h
index 6e8110ca1..f06479883 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/icore.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/icore.h
@@ -88,7 +88,7 @@ public:
 
     virtual QSettings *settings(QSettings::Scope scope = QSettings::UserScope) const = 0;
     virtual SettingsDatabase *settingsDatabase() const = 0;
-    virtual void readMainSettings(QSettings* qs) = 0;
+    virtual void readMainSettings(QSettings* qs, bool workspaceDiffOnly = false) = 0;
     virtual void saveMainSettings(QSettings* qs) = 0;
     virtual void readSettings(IConfigurablePlugin* plugin, QSettings* qs = 0) = 0;
     virtual void saveSettings(IConfigurablePlugin* plugin, QSettings* qs = 0) = 0;
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/imode.h b/ground/openpilotgcs/src/plugins/coreplugin/imode.h
index 50d31eba7..f548acd0a 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/imode.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/imode.h
@@ -49,6 +49,7 @@ public:
     virtual QString name() const = 0;
     virtual QIcon icon() const = 0;
     virtual int priority() const = 0;
+    virtual void setPriority(int priority) = 0;
     virtual const char *uniqueModeName() const = 0;
 };
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 25170092e..1849b4e8b 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -33,7 +33,7 @@
 #include "connectionmanager.h"
 #include "coreimpl.h"
 #include "coreconstants.h"
-#include "fancytabwidget.h"
+#include "utils/mytabwidget.h"
 #include "generalsettings.h"
 #include "messagemanager.h"
 #include "modemanager.h"
@@ -43,7 +43,6 @@
 #include "qxtlogger.h"
 #include "qxtbasicstdloggerengine.h"
 #include "shortcutsettings.h"
-#include "uavgadgetmode.h"
 #include "uavgadgetmanager.h"
 #include "uavgadgetinstancemanager.h"
 #include "workspacesettings.h"
@@ -60,7 +59,6 @@
 #include "uniqueidmanager.h"
 #include "variablemanager.h"
 #include "versiondialog.h"
-#include "viewmanager.h"
 
 #include <coreplugin/settingsdatabase.h>
 #include <extensionsystem/pluginmanager.h>
@@ -123,7 +121,6 @@ MainWindow::MainWindow() :
     m_actionManager(new ActionManagerPrivate(this)),
     m_variableManager(new VariableManager(this)),
     m_threadManager(new ThreadManager(this)),
-    m_viewManager(0),
     m_modeManager(0),
     m_connectionManager(0),
     m_mimeDatabase(new MimeDatabase),
@@ -178,17 +175,27 @@ MainWindow::MainWindow() :
     registerDefaultContainers();
     registerDefaultActions();
 
-    m_modeStack = new FancyTabWidget(this);
+    m_modeStack = new MyTabWidget(this);
+    m_modeStack->setIconSize(QSize(24,24));
+    m_modeStack->setTabPosition(QTabWidget::South);
+    m_modeStack->setMovable(false);
+    m_modeStack->setMinimumWidth(512);
+    m_modeStack->setElideMode(Qt::ElideRight);
+#ifndef Q_WS_MAC
+    m_modeStack->setDocumentMode(true);
+#endif
     m_modeManager = new ModeManager(this, m_modeStack);
 
     m_connectionManager = new ConnectionManager(this, m_modeStack);
 
-    m_viewManager = new ViewManager(this);
     m_messageManager = new MessageManager;
     setCentralWidget(m_modeStack);
 
     connect(QApplication::instance(), SIGNAL(focusChanged(QWidget*,QWidget*)),
             this, SLOT(updateFocusWidget(QWidget*,QWidget*)));
+    connect(m_workspaceSettings, SIGNAL(tabBarSettingsApplied(QTabWidget::TabPosition,bool)),
+            this, SLOT(applyTabBarSettings(QTabWidget::TabPosition,bool)));
+    connect(m_modeManager, SIGNAL(newModeOrder(QVector<IMode*>)), m_workspaceSettings, SLOT(newModeOrder(QVector<IMode*>)));
 
 //    setUnifiedTitleAndToolBarOnMac(true);
 #ifdef Q_OS_UNIX
@@ -218,8 +225,8 @@ MainWindow::~MainWindow()
     foreach (QString engine, qxtLog->allLoggerEngines())
         qxtLog->removeLoggerEngine(engine);
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    if (m_uavGadgetModes.count() > 0) {
-        foreach (UAVGadgetMode *mode, m_uavGadgetModes)
+    if (m_uavGadgetManagers.count() > 0) {
+        foreach (UAVGadgetManager *mode, m_uavGadgetManagers)
         {
             pm->removeObject(mode);
             delete mode;
@@ -242,9 +249,6 @@ MainWindow::~MainWindow()
     delete m_uniqueIDManager;
     m_uniqueIDManager = 0;
 
-    delete m_viewManager;
-    m_viewManager = 0;
-
     pm->removeObject(m_coreImpl);
     delete m_coreImpl;
     m_coreImpl = 0;
@@ -264,7 +268,6 @@ bool MainWindow::init(QString *errorMessage)
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     pm->addObject(m_coreImpl);
-    m_viewManager->init();
     m_modeManager->init();
     m_connectionManager->init();
 
@@ -393,7 +396,7 @@ IContext *MainWindow::currentContextObject() const
 
 QStatusBar *MainWindow::statusBar() const
 {
-    return m_modeStack->statusBar();
+    return new QStatusBar();// m_modeStack->statusBar();
 }
 
 void MainWindow::registerDefaultContainers()
@@ -669,6 +672,60 @@ void MainWindow::registerDefaultActions()
     connect(m_toggleFullScreenAction, SIGNAL(triggered(bool)), this, SLOT(setFullScreen(bool)));
 #endif
 
+    /*
+     * UavGadgetManager Actions
+     */
+    const QList<int> uavGadgetManagerContext =
+                QList<int>() << CoreImpl::instance()->uniqueIDManager()->uniqueIdentifier(Constants::C_UAVGADGETMANAGER);
+    //Window menu separators
+    QAction *tmpaction1 = new QAction(this);
+    tmpaction1->setSeparator(true);
+    cmd = am->registerAction(tmpaction1, QLatin1String("OpenPilot.Window.Sep.Split"), uavGadgetManagerContext);
+    mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
+
+    m_showToolbarsAction = new QAction(tr("Edit Gadgets Mode"), this);
+    m_showToolbarsAction->setCheckable(true);
+    cmd = am->registerAction(m_showToolbarsAction, Constants::HIDE_TOOLBARS, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("Ctrl+Shift+F10")));
+    mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
+
+    //Window menu separators
+    QAction *tmpaction2 = new QAction(this);
+    tmpaction2->setSeparator(true);
+    cmd = am->registerAction(tmpaction2, QLatin1String("OpenPilot.Window.Sep.Split2"), uavGadgetManagerContext);
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
+#ifdef Q_WS_MAC
+    QString prefix = tr("Meta+Shift");
+#else
+    QString prefix = tr("Ctrl+Shift");
+#endif
+
+    m_splitAction = new QAction(tr("Split"), this);
+    cmd = am->registerAction(m_splitAction, Constants::SPLIT, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("%1+Down").arg(prefix)));
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
+    m_splitSideBySideAction = new QAction(tr("Split Side by Side"), this);
+    cmd = am->registerAction(m_splitSideBySideAction, Constants::SPLIT_SIDE_BY_SIDE, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("%1+Right").arg(prefix)));
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
+    m_removeCurrentSplitAction = new QAction(tr("Close Current View"), this);
+    cmd = am->registerAction(m_removeCurrentSplitAction, Constants::REMOVE_CURRENT_SPLIT, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("%1+C").arg(prefix)));
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
+    m_removeAllSplitsAction = new QAction(tr("Close All Other Views"), this);
+    cmd = am->registerAction(m_removeAllSplitsAction, Constants::REMOVE_ALL_SPLITS, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("%1+A").arg(prefix)));
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
+    m_gotoOtherSplitAction = new QAction(tr("Goto Next View"), this);
+    cmd = am->registerAction(m_gotoOtherSplitAction, Constants::GOTO_OTHER_SPLIT, uavGadgetManagerContext);
+    cmd->setDefaultKeySequence(QKeySequence(tr("%1+N").arg(prefix)));
+    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+
     //Help Action
     tmpaction = new QAction(QIcon(Constants::ICON_HELP), tr("&Help..."), this);
     cmd = am->registerAction(tmpaction, Constants::G_HELP_HELP, m_globalContext);
@@ -807,6 +864,12 @@ void MainWindow::openFileWith()
 
 }
 
+void MainWindow::applyTabBarSettings(QTabWidget::TabPosition pos, bool movable) {
+    if (m_modeStack->tabPosition() != pos)
+        m_modeStack->setTabPosition(pos);
+    m_modeStack->setMovable(movable);
+}
+
 ActionManager *MainWindow::actionManager() const
 {
     return m_actionManager;
@@ -845,12 +908,6 @@ ConnectionManager *MainWindow::connectionManager() const
     return m_connectionManager;
 }
 
-void MainWindow::addUAVGadgetManager(UAVGadgetManager *manager)
-{
-    if (!m_uavGadgetManagers.contains(manager))
-        m_uavGadgetManagers.append(manager);
-}
-
 QList<UAVGadgetManager*> MainWindow::uavGadgetManagers() const
 {
     return m_uavGadgetManagers;
@@ -986,40 +1043,83 @@ void MainWindow::shutdown()
     uavGadgetInstanceManager()->removeAllGadgets();
 }
 
-void MainWindow::createWorkspaces() {
+/* Enable/disable menus for uavgadgets */
+void MainWindow::showUavGadgetMenus(bool show, bool hasSplitter)
+{
+    m_showToolbarsAction->setChecked(show);
+    m_splitAction->setEnabled(show);
+    m_splitSideBySideAction->setEnabled(show);
+    m_removeCurrentSplitAction->setEnabled(show && hasSplitter);
+    m_removeAllSplitsAction->setEnabled(show && hasSplitter);
+    m_gotoOtherSplitAction->setEnabled(show && hasSplitter);
+}
+
+inline int takeLeastPriorityUavGadgetManager(const QList<Core::UAVGadgetManager*> m_uavGadgetManagers) {
+    int index = 0;
+    int prio = m_uavGadgetManagers.at(0)->priority();
+    for (int i = 0; i < m_uavGadgetManagers.count(); i++) {
+        int prio2 = m_uavGadgetManagers.at(i)->priority();
+        if (prio2 < prio) {
+            prio = prio2;
+            index = i;
+        }
+    }
+    return index;
+}
+
+void MainWindow::createWorkspaces(QSettings* qs, bool diffOnly) {
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 
-    UAVGadgetMode *uavGadgetMode;
     Core::UAVGadgetManager *uavGadgetManager;
 
-    while (!m_uavGadgetModes.isEmpty()){
-        pm->removeObject(m_uavGadgetModes.takeFirst());
-    }
-    while (!m_uavGadgetManagers.isEmpty()){
-        Core::UAVGadgetManager* uavGadgetManager = m_uavGadgetManagers.takeLast();
-        uavGadgetManager->removeAllSplits();
-        // TODO Fixthis: This only happens, when settings are reloaded.
-        //      then the old GadgetManagers should be deleted, but if
-        //      I delete them the GCS segfaults.
-        //delete uavGadgetManager;
-    }
-    m_uavGadgetManagers.clear();
-    m_uavGadgetModes.clear();
-    for (int i = 0; i < m_workspaceSettings->numberOfWorkspaces(); ++i) {
+    // If diffOnly is true, we only add/remove the number of workspaces
+    // that has changed,
+    // otherwise a complete reload of workspaces is done
+    int toRemoveFirst = m_uavGadgetManagers.count();
+    int newWorkspacesNo = m_workspaceSettings->numberOfWorkspaces();
+    if (diffOnly && m_uavGadgetManagers.count() > newWorkspacesNo)
+        toRemoveFirst = m_uavGadgetManagers.count() - newWorkspacesNo;
+    else
+        toRemoveFirst = 0;
+
+    int removed = 0;
+
+    while (!m_uavGadgetManagers.isEmpty() && (toRemoveFirst > removed)) {
+        int index = takeLeastPriorityUavGadgetManager(m_uavGadgetManagers);
+        uavGadgetManager = m_uavGadgetManagers.takeAt(index);
+        uavGadgetManager->removeAllSplits();
+        pm->removeObject(uavGadgetManager);
+        delete uavGadgetManager;
+        removed++;
+    }
+
+    int start = 0;
+    if (diffOnly) {
+        start = m_uavGadgetManagers.count();
+    } else {
+        m_uavGadgetManagers.clear();
+    }
+    for (int i = start; i < newWorkspacesNo; ++i) {
 
-        uavGadgetManager = new Core::UAVGadgetManager(CoreImpl::instance(), this);
-        uavGadgetManager->hide();
         const QString name     = m_workspaceSettings->name(i);
         const QString iconName = m_workspaceSettings->iconName(i);
         const QString modeName = m_workspaceSettings->modeName(i);
+        uavGadgetManager = new Core::UAVGadgetManager(CoreImpl::instance(), name,
+                                                      QIcon(iconName), 90-i+1, modeName, this);
 
-        uavGadgetMode = new UAVGadgetMode(uavGadgetManager, name,
-                                          QIcon(iconName), 90-i+1, modeName);
-        uavGadgetManager->setUAVGadgetMode(uavGadgetMode);
-        m_uavGadgetModes.append(uavGadgetMode);
-        pm->addObject(uavGadgetMode);
-        addUAVGadgetManager(uavGadgetManager);
+        connect(uavGadgetManager, SIGNAL(showUavGadgetMenus(bool, bool)), this, SLOT(showUavGadgetMenus(bool, bool)));
+
+        connect(m_showToolbarsAction, SIGNAL(triggered(bool)), uavGadgetManager, SLOT(showToolbars(bool)));
+        connect(m_splitAction, SIGNAL(triggered()), uavGadgetManager, SLOT(split()));
+        connect(m_splitSideBySideAction, SIGNAL(triggered()), uavGadgetManager, SLOT(splitSideBySide()));
+        connect(m_removeCurrentSplitAction, SIGNAL(triggered()), uavGadgetManager, SLOT(removeCurrentSplit()));
+        connect(m_removeAllSplitsAction, SIGNAL(triggered()), uavGadgetManager, SLOT(removeAllSplits()));
+        connect(m_gotoOtherSplitAction, SIGNAL(triggered()), uavGadgetManager, SLOT(gotoOtherSplit()));
+
+        pm->addObject(uavGadgetManager);
+        m_uavGadgetManagers.append(uavGadgetManager);
+        uavGadgetManager->readSettings(qs);
     }
 }
 
@@ -1028,13 +1128,19 @@ static const char *geometryKey = "Geometry";
 static const char *colorKey = "Color";
 static const char *maxKey = "Maximized";
 static const char *fullScreenKey = "FullScreen";
+static const char *modePriorities = "ModePriorities";
 
-void MainWindow::readSettings(QSettings* qs)
+void MainWindow::readSettings(QSettings* qs, bool workspaceDiffOnly)
 {
     if ( !qs ){
         qs = m_settings;
     }
 
+    if (workspaceDiffOnly) {
+        createWorkspaces(qs, workspaceDiffOnly);
+        return;
+    }
+
     m_generalSettings->readSettings(qs);
     m_actionManager->readSettings(qs);
 
@@ -1056,13 +1162,18 @@ void MainWindow::readSettings(QSettings* qs)
 
     m_workspaceSettings->readSettings(qs);
 
-    createWorkspaces();
+    createWorkspaces(qs);
 
-    foreach (UAVGadgetManager *manager, m_uavGadgetManagers) {
-        manager->readSettings(qs);
+    // Read tab ordering
+    qs->beginGroup(QLatin1String(modePriorities));
+    QStringList modeNames = qs->childKeys();
+    QMap<QString, int> map;
+    foreach (QString modeName, modeNames) {
+        map.insert(modeName, qs->value(modeName).toInt());
     }
+    m_modeManager->reorderModes(map);
 
-    m_viewManager->readSettings(qs);
+    qs->endGroup();
 
 }
 
@@ -1092,11 +1203,18 @@ void MainWindow::saveSettings(QSettings* qs)
 
     qs->endGroup();
 
+    // Write tab ordering
+    qs->beginGroup(QLatin1String(modePriorities));
+    QVector<IMode*> modes = m_modeManager->modes();
+    foreach (IMode *mode, modes) {
+        qs->setValue(QLatin1String(mode->uniqueModeName()), mode->priority());
+    }
+    qs->endGroup();
+
     foreach (UAVGadgetManager *manager, m_uavGadgetManagers) {
         manager->saveSettings(qs);
     }
 
-    m_viewManager->saveSettings(qs);
     m_actionManager->saveSettings(qs);
     m_generalSettings->saveSettings(qs);
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
index d2f7b1977..7d1c61ebc 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
@@ -40,6 +40,7 @@ QT_BEGIN_NAMESPACE
 class QSettings;
 class QShortcut;
 class QToolButton;
+class MyTabWidget;
 QT_END_NAMESPACE
 
 namespace Core {
@@ -73,10 +74,8 @@ class FancyTabWidget;
 class GeneralSettings;
 class ShortcutSettings;
 class WorkspaceSettings;
-class ViewManager;
 class VersionDialog;
 class AuthorsDialog;
-class UAVGadgetMode;
 
 class CORE_EXPORT MainWindow : public EventFilteringMainWindow
 {
@@ -94,7 +93,7 @@ public:
     void addContextObject(IContext *contex);
     void removeContextObject(IContext *contex);
     void resetContext();
-    void readSettings(QSettings* qs = 0);
+    void readSettings(QSettings* qs = 0, bool workspaceDiffOnly = false);
     void saveSettings(QSettings* qs = 0);
     void readSettings(IConfigurablePlugin* plugin, QSettings* qs = 0);
     void saveSettings(IConfigurablePlugin* plugin, QSettings* qs = 0);
@@ -162,14 +161,14 @@ private slots:
     void destroyVersionDialog();
     void destroyAuthorsDialog();
     void modeChanged(Core::IMode *mode);
+    void showUavGadgetMenus(bool show, bool hasSplitter);
+    void applyTabBarSettings(QTabWidget::TabPosition pos, bool movable);
 
 private:
-    void addUAVGadgetManager(Core::UAVGadgetManager *manager);
     void updateContextObject(IContext *context);
     void registerDefaultContainers();
     void registerDefaultActions();
-
-    void createWorkspaces();
+    void createWorkspaces(QSettings* qs, bool diffOnly = false);
 
     CoreImpl *m_coreImpl;
     UniqueIDManager *m_uniqueIDManager;
@@ -183,15 +182,12 @@ private:
     MessageManager *m_messageManager;
     VariableManager *m_variableManager;
     ThreadManager *m_threadManager;
-    ViewManager *m_viewManager;
     ModeManager *m_modeManager;
     QList<UAVGadgetManager*> m_uavGadgetManagers;
-    QList<UAVGadgetMode*> m_uavGadgetModes;
     UAVGadgetInstanceManager *m_uavGadgetInstanceManager;
     ConnectionManager *m_connectionManager;
     MimeDatabase *m_mimeDatabase;
-    FancyTabWidget *m_modeStack;
-//    RightPaneWidget *m_rightPaneWidget;
+    MyTabWidget *m_modeStack;
     Core::BaseView *m_outputView;
     VersionDialog *m_versionDialog;
     AuthorsDialog *m_authorsDialog;
@@ -213,6 +209,14 @@ private:
     QAction *m_exitAction;
     QAction *m_optionsAction;
     QAction *m_toggleFullScreenAction;
+    // UavGadgetManager actions
+    QAction *m_showToolbarsAction;
+    QAction *m_splitAction;
+    QAction *m_splitSideBySideAction;
+    QAction *m_removeCurrentSplitAction;
+    QAction *m_removeAllSplitsAction;
+    QAction *m_gotoOtherSplitAction;
+
 #ifdef Q_WS_MAC
     QAction *m_minimizeAction;
     QAction *m_zoomAction;
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
index 3dc36bbe8..ac3c4c224 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
@@ -30,6 +30,7 @@
 
 #include "fancytabwidget.h"
 #include "fancyactionbar.h"
+#include "utils/mytabwidget.h"
 #include "icore.h"
 #include "mainwindow.h"
 
@@ -59,18 +60,17 @@ using namespace Core::Internal;
 
 ModeManager *ModeManager::m_instance = 0;
 
-ModeManager::ModeManager(Internal::MainWindow *mainWindow, FancyTabWidget *modeStack) :
+ModeManager::ModeManager(Internal::MainWindow *mainWindow, MyTabWidget *modeStack) :
     m_mainWindow(mainWindow),
     m_modeStack(modeStack),
-    m_signalMapper(new QSignalMapper(this))
+    m_signalMapper(new QSignalMapper(this)),
+    m_isReprioritizing(false)
 {
     m_instance = this;
 
-    m_actionBar = new FancyActionBar(modeStack);
-//    m_modeStack->addCornerWidget(m_actionBar);
-
-    connect(m_modeStack, SIGNAL(currentAboutToShow(int)), SLOT(currentTabAboutToChange(int)));
-    connect(m_modeStack, SIGNAL(currentChanged(int)), SLOT(currentTabChanged(int)));
+//    connect((m_modeStack), SIGNAL(currentAboutToShow(int)), SLOT(currentTabAboutToChange(int)));
+    connect(m_modeStack, SIGNAL(currentChanged(int)), this, SLOT(currentTabChanged(int)));
+    connect(m_modeStack, SIGNAL(tabMoved(int,int)), this, SLOT(tabMoved(int,int)));
     connect(m_signalMapper, SIGNAL(mapped(QString)), this, SLOT(activateMode(QString)));
 }
 
@@ -87,7 +87,7 @@ void ModeManager::addWidget(QWidget *widget)
     // We want the actionbar to stay on the bottom
     // so m_modeStack->cornerWidgetCount() -1 inserts it at the position immediately above
     // the actionbar
-    m_modeStack->insertCornerWidget(m_modeStack->cornerWidgetCount() -1, widget);
+//    m_modeStack->insertCornerWidget(m_modeStack->cornerWidgetCount() -1, widget);
 }
 
 IMode *ModeManager::currentMode() const
@@ -150,6 +150,14 @@ void ModeManager::objectAdded(QObject *obj)
 
     m_modeShortcuts.insert(index, cmd);
     connect(cmd, SIGNAL(keySequenceChanged()), this, SLOT(updateModeToolTip()));
+
+    setDefaultKeyshortcuts();
+
+    m_signalMapper->setMapping(shortcut, mode->uniqueModeName());
+    connect(shortcut, SIGNAL(activated()), m_signalMapper, SLOT(map()));
+}
+
+void ModeManager::setDefaultKeyshortcuts() {
     for (int i = 0; i < m_modeShortcuts.size(); ++i) {
         Command *currentCmd = m_modeShortcuts.at(i);
         bool currentlyHasDefaultSequence = (currentCmd->keySequence()
@@ -162,9 +170,6 @@ void ModeManager::objectAdded(QObject *obj)
         if (currentlyHasDefaultSequence)
             currentCmd->setKeySequence(currentCmd->defaultKeySequence());
     }
-
-    m_signalMapper->setMapping(shortcut, mode->uniqueModeName());
-    connect(shortcut, SIGNAL(activated()), m_signalMapper, SLOT(map()));
 }
 
 void ModeManager::updateModeToolTip()
@@ -182,7 +187,8 @@ void ModeManager::updateModeNameIcon(IMode *mode, const QIcon &icon, const QStri
     int index = indexOf(mode->uniqueModeName());
     if (index < 0)
         return;
-    m_modeStack->updateTabNameIcon(index, icon, label);
+    m_modeStack->setTabIcon(index, icon);
+    m_modeStack->setTabText(index, label);
 }
 
 void ModeManager::aboutToRemoveObject(QObject *obj)
@@ -194,7 +200,9 @@ void ModeManager::aboutToRemoveObject(QObject *obj)
     const int index = m_modes.indexOf(mode);
     m_modes.remove(index);
     m_modeShortcuts.remove(index);
+    disconnect(m_modeStack, SIGNAL(currentChanged(int)), this, SLOT(currentTabChanged(int)));
     m_modeStack->removeTab(index);
+    connect(m_modeStack, SIGNAL(currentChanged(int)), this, SLOT(currentTabChanged(int)));
 
     m_mainWindow->removeContextObject(mode);
 }
@@ -209,7 +217,7 @@ void ModeManager::addAction(Command *command, int priority, QMenu *menu)
         if (p > priority)
             ++index;
 
-    m_actionBar->insertAction(index, command->action(), menu);
+//    m_actionBar->insertAction(index, command->action(), menu);
 }
 
 void ModeManager::currentTabAboutToChange(int index)
@@ -223,6 +231,7 @@ void ModeManager::currentTabAboutToChange(int index)
 
 void ModeManager::currentTabChanged(int index)
 {
+//    qDebug() << "Current tab changed " << index;
     // Tab index changes to -1 when there is no tab left.
     if (index >= 0) {
         IMode *mode = m_modes.at(index);
@@ -242,6 +251,53 @@ void ModeManager::currentTabChanged(int index)
     }
 }
 
+void ModeManager::tabMoved(int from, int to)
+{
+    IMode *mode = m_modes.at(from);
+    m_modes.remove(from);
+    m_modes.insert(to, mode);
+    Command *cmd = m_modeShortcuts.at(from);
+    m_modeShortcuts.remove(from);
+    m_modeShortcuts.insert(to, cmd);
+    setDefaultKeyshortcuts();
+    // Reprioritize, high priority means show to the left
+    if (!m_isReprioritizing) {
+        for (int i = 0; i < m_modes.count(); ++i) {
+            m_modes.at(i)->setPriority(100-i);
+        }
+        emit newModeOrder(m_modes);
+    }    
+}
+
+void ModeManager::reorderModes(QMap<QString, int> priorities)
+{
+    foreach (IMode *mode, m_modes)
+        mode->setPriority(priorities.value(QString(QLatin1String(mode->uniqueModeName())), mode->priority()));
+
+    m_isReprioritizing = true;
+    IMode *current = currentMode();
+    // Bubble sort
+    bool swapped = false;
+    do {
+        swapped = false;
+        for (int i = 0; i < m_modes.count()-1; ++i) {
+            IMode *mode1 = m_modes.at(i);
+            IMode *mode2 = m_modes.at(i+1);
+//            qDebug() << "Comparing " << i << " to " << i+1 << " p1 " << mode1->priority() << " p2 " << mode2->priority();
+            if (mode2->priority() > mode1->priority()) {
+                m_modeStack->moveTab(i, i+1);
+//                qDebug() << "Tab moved from " << i << " to " << i+1;
+                swapped = true;
+            }
+        }
+    } while (swapped);
+    m_isReprioritizing = false;
+    m_modeStack->setCurrentIndex(0);
+    activateMode(current->uniqueModeName());
+    emit newModeOrder(m_modes);
+}
+
+
 void ModeManager::setFocusToCurrentMode()
 {
     IMode *mode = currentMode();
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.h b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.h
index 0dbae6a01..687ec0a51 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.h
@@ -40,6 +40,7 @@ QT_BEGIN_NAMESPACE
 class QSignalMapper;
 class QMenu;
 class QIcon;
+class MyTabWidget;
 QT_END_NAMESPACE
 
 namespace Core {
@@ -58,7 +59,7 @@ class CORE_EXPORT ModeManager : public QObject
     Q_OBJECT
 
 public:
-    ModeManager(Internal::MainWindow *mainWindow, Internal::FancyTabWidget *modeStack);
+    ModeManager(Internal::MainWindow *mainWindow, MyTabWidget *modeStack);
 
     void init();
     static ModeManager *instance() { return m_instance; }
@@ -69,10 +70,13 @@ public:
     void addAction(Command *command, int priority, QMenu *menu = 0);
     void addWidget(QWidget *widget);
     void updateModeNameIcon(IMode *mode, const QIcon &icon, const QString &label);
+    QVector<IMode*> modes() const { return m_modes; }
+    void reorderModes(QMap<QString, int> priorities);
 
 signals:
     void currentModeAboutToChange(Core::IMode *mode);
     void currentModeChanged(Core::IMode *mode);
+    void newModeOrder(QVector<IMode*> modes);
 
 public slots:
     void activateMode(const QString &id);
@@ -84,19 +88,22 @@ private slots:
     void currentTabAboutToChange(int index);
     void currentTabChanged(int index);
     void updateModeToolTip();
+    void tabMoved(int from, int to);
 
 private:
     int indexOf(const QString &id) const;
+    void setDefaultKeyshortcuts();
 
     static ModeManager *m_instance;
     Internal::MainWindow *m_mainWindow;
-    Internal::FancyTabWidget *m_modeStack;
-    Internal::FancyActionBar *m_actionBar;
+    MyTabWidget *m_modeStack;
     QMap<Command*, int> m_actions;
     QVector<IMode*> m_modes;
     QVector<Command*> m_modeShortcuts;
     QSignalMapper *m_signalMapper;
     QList<int> m_addedContexts;
+    QList<int> m_tabOrder;
+    bool m_isReprioritizing;
 };
 
 } // namespace Core
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp
index 611f3c0ad..183ffa185 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp
@@ -73,57 +73,6 @@ void SplitterOrView::mousePressEvent(QMouseEvent *e)
     }
 }
 
-//void SplitterOrView::paintEvent(QPaintEvent *event)
-//{
-//    if (m_uavGadgetManager->currentSplitterOrView() != this)
-//        return;
-//
-//    if (!m_view)
-//        return;
-//
-//    if (hasGadget())
-//        return;
-//
-//    if (m_uavGadgetManager->toolbarsShown())
-//        return;
-//
-//    // Discreet indication where an uavGadget would be if there is none
-//    QPainter painter(this);
-//    painter.setRenderHint(QPainter::Antialiasing, true);
-//    painter.setPen(Qt::NoPen);
-//    QColor shadeBrush(Qt::black);
-//    shadeBrush.setAlpha(25);
-//    painter.setBrush(shadeBrush);
-//    const int r = 3;
-//    painter.drawRoundedRect(rect().adjusted(r, r, -r, -r), r * 2, r * 2);
-//
-//#if 0
-//    if (hasFocus()) {
-//#ifdef Q_WS_MAC
-//        // With QMacStyle, we have to draw our own focus rect, since I didn't find
-//        // a way to draw the nice mac focus rect _inside_ this widget
-//        if (qobject_cast<QMacStyle *>(style())) {
-//            painter.setPen(Qt::DotLine);
-//            painter.setBrush(Qt::NoBrush);
-//            painter.setOpacity(0.75);
-//            painter.drawRect(rect());
-//        } else {
-//#endif
-//            QStyleOptionFocusRect option;
-//            option.initFrom(this);
-//            option.backgroundColor = palette().color(QPalette::Background);
-//
-//            // Some styles require a certain state flag in order to draw the focus rect
-//            option.state |= QStyle::State_KeyboardFocusChange;
-//
-//            style()->drawPrimitive(QStyle::PE_FrameFocusRect, &option, &painter);
-//#ifdef Q_WS_MAC
-//        }
-//#endif
-//    }
-//#endif
-//}
-
 /* Contract: return SplitterOrView that is not splitter, or 0 if not found.
  * Implications: must not return SplitterOrView that is splitter.
  */
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
index 71078ffee..c581a052c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
@@ -29,7 +29,6 @@
 #include "uavgadgetmanager.h"
 #include "uavgadgetview.h"
 #include "splitterorview.h"
-#include "uavgadgetmode.h"
 #include "uavgadgetinstancemanager.h"
 #include "iuavgadgetfactory.h"
 #include "iuavgadget.h"
@@ -79,229 +78,76 @@ static inline ExtensionSystem::PluginManager *pluginManager()
 
 //===================UAVGadgetManager=====================
 
-//UAVGadgetManagerPlaceHolder *UAVGadgetManagerPlaceHolder::m_current = 0;
-
-UAVGadgetManagerPlaceHolder::UAVGadgetManagerPlaceHolder(Core::Internal::UAVGadgetMode *mode, QWidget *parent)
-    : QWidget(parent),
-    m_uavGadgetMode(mode),
-    m_current(0)
-{
-    m_mode = dynamic_cast<Core::IMode*>(mode);
-    setLayout(new QVBoxLayout);
-    layout()->setMargin(0);
-    connect(Core::ModeManager::instance(), SIGNAL(currentModeChanged(Core::IMode *)),
-            this, SLOT(currentModeChanged(Core::IMode *)));
-
-    currentModeChanged(Core::ModeManager::instance()->currentMode());
-}
-
-UAVGadgetManagerPlaceHolder::~UAVGadgetManagerPlaceHolder()
-{
-    if (m_current == this) {
-        m_uavGadgetMode->uavGadgetManager()->setParent(0);
-        m_uavGadgetMode->uavGadgetManager()->hide();
-    }
-}
-
-void UAVGadgetManagerPlaceHolder::currentModeChanged(Core::IMode *mode)
-{
-    UAVGadgetManager *gm = m_uavGadgetMode->uavGadgetManager();
-    if (m_current == this) {
-        m_current = 0;
-        gm->setParent(0);
-        gm->hide();
-    }
-    if (m_mode == mode) {
-        m_current = this;
-        layout()->addWidget(gm);
-        gm->showToolbars(gm->toolbarsShown());
-        gm->show();
-    }
-}
-
-// ---------------- UAVGadgetManager
-
-namespace Core {
-
-
-struct UAVGadgetManagerPrivate {
-    explicit UAVGadgetManagerPrivate(ICore *core, QWidget *parent);
-    ~UAVGadgetManagerPrivate();
-
-    // The root splitter or view.
-    QPointer<Internal::SplitterOrView> m_splitterOrView;
-
-    // The gadget which is currently 'active'.
-    QPointer<IUAVGadget> m_currentGadget;
-
-    QPointer<ICore> m_core;
-
-    QPointer<Internal::UAVGadgetClosingCoreListener> m_coreListener;
-
-    // actions
-    static QAction *m_showToolbarsAction;
-    static QAction *m_splitAction;
-    static QAction *m_splitSideBySideAction;
-    static QAction *m_removeCurrentSplitAction;
-    static QAction *m_removeAllSplitsAction;
-    static QAction *m_gotoOtherSplitAction;
-};
-}
-
-QAction *UAVGadgetManagerPrivate::m_showToolbarsAction = 0;
-QAction *UAVGadgetManagerPrivate::m_splitAction = 0;
-QAction *UAVGadgetManagerPrivate::m_splitSideBySideAction = 0;
-QAction *UAVGadgetManagerPrivate::m_removeCurrentSplitAction = 0;
-QAction *UAVGadgetManagerPrivate::m_removeAllSplitsAction = 0;
-QAction *UAVGadgetManagerPrivate::m_gotoOtherSplitAction = 0;
-
-UAVGadgetManagerPrivate::UAVGadgetManagerPrivate(ICore *core, QWidget *parent) :
+UAVGadgetManager::UAVGadgetManager(ICore *core, QString name, QIcon icon, int priority, QString uniqueName, QWidget *parent) :
+    m_showToolbars(true),
     m_splitterOrView(0),
     m_currentGadget(0),
     m_core(core),
-    m_coreListener(0)
-{
-    Q_UNUSED(parent);
-}
-
-UAVGadgetManagerPrivate::~UAVGadgetManagerPrivate()
-{
-}
-
-UAVGadgetManager::UAVGadgetManager(ICore *core, QWidget *parent) :
-    QWidget(parent),
-    m_showToolbars(false),
-    m_d(new UAVGadgetManagerPrivate(core, parent)),
-    m_uavGadgetMode(0)
+    m_name(name),
+    m_icon(icon),
+    m_priority(priority),
+    m_widget(new QWidget(parent))
 {
 
-    connect(m_d->m_core, SIGNAL(contextAboutToChange(Core::IContext *)),
+    // checking that the mode name is unique gives harmless
+    // warnings on the console output
+    ModeManager *modeManager = ModeManager::instance();
+    if (!modeManager->mode(uniqueName)) {
+        m_uniqueName = uniqueName;
+    } else {
+        // this shouldn't happen
+        m_uniqueName = uniqueName + QString::number(quint64(this));
+    }
+    m_uniqueNameBA = m_uniqueName.toLatin1();
+    m_uniqueModeName = m_uniqueNameBA.data();
+
+    connect(m_core, SIGNAL(contextAboutToChange(Core::IContext *)),
             this, SLOT(handleContextChange(Core::IContext *)));
-    const QList<int> uavGadgetManagerContext =
-            QList<int>() << m_d->m_core->uniqueIDManager()->uniqueIdentifier(Constants::C_UAVGADGETMANAGER);
 
-    ActionManager *am = m_d->m_core->actionManager();
-
-    //Window Menu
-    ActionContainer *mwindow = am->actionContainer(Constants::M_WINDOW);
-    Command *cmd;
-
-    // The actions m_d->m_showToolbarsAction etc are common to all instances of UAVGadgetManager
-    // which means that they share the menu items/signals in the Window menu.
-    // That is, they all connect their slots to the same signal and have to check in the slot
-    // if the current mode is their mode, otherwise they just ignore the signal.
-    // The first UAVGadgetManager creates the actions, and the following just use them
-    // (This also implies that they share the same context.)
-    if (m_d->m_showToolbarsAction == 0)
-    {
-        //Window menu separators
-        QAction *tmpaction = new QAction(this);
-        tmpaction->setSeparator(true);
-        cmd = am->registerAction(tmpaction, QLatin1String("OpenPilot.Window.Sep.Split"), uavGadgetManagerContext);
-        mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
-
-        m_d->m_showToolbarsAction = new QAction(tr("Edit Gadgets Mode"), this);
-        m_d->m_showToolbarsAction->setCheckable(true);
-        cmd = am->registerAction(m_d->m_showToolbarsAction, Constants::HIDE_TOOLBARS, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("Ctrl+Shift+F10")));
-        mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
-
-        //Window menu separators
-        QAction *tmpaction2 = new QAction(this);
-        tmpaction2->setSeparator(true);
-        cmd = am->registerAction(tmpaction2, QLatin1String("OpenPilot.Window.Sep.Split2"), uavGadgetManagerContext);
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_showToolbarsAction, SIGNAL(triggered(bool)), this, SLOT(showToolbars(bool)));
-
-#ifdef Q_WS_MAC
-    QString prefix = tr("Meta+Shift");
-#else
-    QString prefix = tr("Ctrl+Shift");
-#endif
-
-    if (m_d->m_splitAction == 0)
-    {
-        m_d->m_splitAction = new QAction(tr("Split"), this);
-        cmd = am->registerAction(m_d->m_splitAction, Constants::SPLIT, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("%1+Down").arg(prefix)));
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_splitAction, SIGNAL(triggered()), this, SLOT(split()));
-
-    if (m_d->m_splitSideBySideAction == 0)
-    {
-        m_d->m_splitSideBySideAction = new QAction(tr("Split Side by Side"), this);
-        cmd = am->registerAction(m_d->m_splitSideBySideAction, Constants::SPLIT_SIDE_BY_SIDE, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("%1+Right").arg(prefix)));
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_splitSideBySideAction, SIGNAL(triggered()), this, SLOT(splitSideBySide()));
-
-    if (m_d->m_removeCurrentSplitAction == 0)
-    {
-        m_d->m_removeCurrentSplitAction = new QAction(tr("Close Current View"), this);
-        cmd = am->registerAction(m_d->m_removeCurrentSplitAction, Constants::REMOVE_CURRENT_SPLIT, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("%1+C").arg(prefix)));
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_removeCurrentSplitAction, SIGNAL(triggered()), this, SLOT(removeCurrentSplit()));
-
-    if (m_d->m_removeAllSplitsAction == 0)
-    {
-        m_d->m_removeAllSplitsAction = new QAction(tr("Close All Other Views"), this);
-        cmd = am->registerAction(m_d->m_removeAllSplitsAction, Constants::REMOVE_ALL_SPLITS, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("%1+A").arg(prefix)));
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_removeAllSplitsAction, SIGNAL(triggered()), this, SLOT(removeAllSplits()));
-
-    if (m_d->m_gotoOtherSplitAction == 0)
-    {
-        m_d->m_gotoOtherSplitAction = new QAction(tr("Goto Next View"), this);
-        cmd = am->registerAction(m_d->m_gotoOtherSplitAction, Constants::GOTO_OTHER_SPLIT, uavGadgetManagerContext);
-        cmd->setDefaultKeySequence(QKeySequence(tr("%1+N").arg(prefix)));
-        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-    }
-    connect(m_d->m_gotoOtherSplitAction, SIGNAL(triggered()), this, SLOT(gotoOtherSplit()));
+    connect(modeManager, SIGNAL(currentModeChanged(Core::IMode*)),
+            this, SLOT(modeChanged(Core::IMode*)));
 
     // other setup
-    m_d->m_splitterOrView = new SplitterOrView(this, 0);
+    m_splitterOrView = new SplitterOrView(this, 0);
+
     // SplitterOrView with 0 as gadget calls our setCurrentGadget, which relies on currentSplitterOrView(),
     // which needs our m_splitterorView to be set, which isn't set yet at that time.
     // So directly set our currentGadget to 0, and do it again.
-    m_d->m_currentGadget = 0;
-    setCurrentGadget(m_d->m_splitterOrView->view()->gadget());
+    m_currentGadget = 0;
+    setCurrentGadget(m_splitterOrView->view()->gadget());
 
-    QHBoxLayout *layout = new QHBoxLayout(this);
+    QHBoxLayout *layout = new QHBoxLayout(m_widget);
     layout->setMargin(0);
     layout->setSpacing(0);
-    layout->addWidget(m_d->m_splitterOrView);
+    layout->addWidget(m_splitterOrView);
 
     showToolbars(m_showToolbars);
-    updateActions();
 }
 
 UAVGadgetManager::~UAVGadgetManager()
 {
-    if (m_d->m_core) {
-        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-        if (m_d->m_coreListener) {
-            pm->removeObject(m_d->m_coreListener);
-            delete m_d->m_coreListener;
-        }
-    }
-    delete m_d;
+}
+
+QList<int> UAVGadgetManager::context() const
+{
+    static QList<int> contexts = QList<int>() <<
+        UniqueIDManager::instance()->uniqueIdentifier(Constants::C_UAVGADGETMANAGER);
+    return contexts;
+}
+
+void UAVGadgetManager::modeChanged(Core::IMode *mode)
+{
+    if (mode != this)
+        return;
+
+    m_currentGadget->widget()->setFocus();
+    showToolbars(toolbarsShown());
 }
 
 void UAVGadgetManager::init()
 {
     QList<int> context;
-    context << m_d->m_core->uniqueIDManager()->uniqueIdentifier("OpenPilot.UAVGadgetManager");
-
-    m_d->m_coreListener = new UAVGadgetClosingCoreListener(this);
-
-    pluginManager()->addObject(m_d->m_coreListener);
+    context << m_core->uniqueIDManager()->uniqueIdentifier("OpenPilot.UAVGadgetManager");
 }
 
 void UAVGadgetManager::handleContextChange(Core::IContext *context)
@@ -311,16 +157,15 @@ void UAVGadgetManager::handleContextChange(Core::IContext *context)
     IUAVGadget *uavGadget = context ? qobject_cast<IUAVGadget*>(context) : 0;
     if (uavGadget)
         setCurrentGadget(uavGadget);
-    updateActions();
 }
 
 void UAVGadgetManager::setCurrentGadget(IUAVGadget *uavGadget)
 {
-    if (m_d->m_currentGadget == uavGadget)
+    if (m_currentGadget == uavGadget)
         return;
 
     SplitterOrView *oldView = currentSplitterOrView();
-    m_d->m_currentGadget = uavGadget;
+    m_currentGadget = uavGadget;
     SplitterOrView *view = currentSplitterOrView();
     if (oldView != view) {
         if (oldView)
@@ -330,8 +175,6 @@ void UAVGadgetManager::setCurrentGadget(IUAVGadget *uavGadget)
     }
     uavGadget->widget()->setFocus();
     emit currentGadgetChanged(uavGadget);
-    updateActions();
-//    emit currentGadgetChanged(uavGadget);
 }
 
 /* Contract: return current SplitterOrView.
@@ -339,17 +182,17 @@ void UAVGadgetManager::setCurrentGadget(IUAVGadget *uavGadget)
  */
 Core::Internal::SplitterOrView *UAVGadgetManager::currentSplitterOrView() const
 {
-    if (!m_d->m_splitterOrView) // this is only for startup
+    if (!m_splitterOrView) // this is only for startup
         return 0;
-    SplitterOrView *view = m_d->m_currentGadget ?
-                           m_d->m_splitterOrView->findView(m_d->m_currentGadget) :
+    SplitterOrView *view = m_currentGadget ?
+                           m_splitterOrView->findView(m_currentGadget) :
                            0;
     return view;
 }
 
 IUAVGadget *UAVGadgetManager::currentGadget() const
 {
-    return m_d->m_currentGadget;
+    return m_currentGadget;
 }
 
 void UAVGadgetManager::emptyView(Core::Internal::UAVGadgetView *view)
@@ -369,10 +212,10 @@ void UAVGadgetManager::closeView(Core::Internal::UAVGadgetView *view)
 {
     if (!view)
         return;
-    SplitterOrView *splitterOrView = m_d->m_splitterOrView->findView(view);
+    SplitterOrView *splitterOrView = m_splitterOrView->findView(view);
     Q_ASSERT(splitterOrView);
     Q_ASSERT(splitterOrView->view() == view);
-    if (splitterOrView == m_d->m_splitterOrView)
+    if (splitterOrView == m_splitterOrView)
         return;
 
     IUAVGadget *gadget = view->gadget();
@@ -380,7 +223,7 @@ void UAVGadgetManager::closeView(Core::Internal::UAVGadgetView *view)
     UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager();
     im->removeGadget(gadget);
 
-    SplitterOrView *splitter = m_d->m_splitterOrView->findSplitter(splitterOrView);
+    SplitterOrView *splitter = m_splitterOrView->findSplitter(splitterOrView);
     Q_ASSERT(splitterOrView->hasGadget() == false);
     Q_ASSERT(splitter->isSplitter() == true);
     splitterOrView->hide();
@@ -398,7 +241,7 @@ void UAVGadgetManager::addGadgetToContext(IUAVGadget *gadget)
 {
     if (!gadget)
         return;
-    m_d->m_core->addContextObject(gadget);
+    m_core->addContextObject(gadget);
 
 //   emit uavGadgetOpened(uavGadget);
 }
@@ -407,27 +250,39 @@ void UAVGadgetManager::removeGadget(IUAVGadget *gadget)
 {
     if (!gadget)
         return;
-    m_d->m_core->removeContextObject(qobject_cast<IContext*>(gadget));
+    m_core->removeContextObject(qobject_cast<IContext*>(gadget));
 }
 
 void UAVGadgetManager::ensureUAVGadgetManagerVisible()
 {
-    if (!isVisible())
-        m_d->m_core->modeManager()->activateMode(m_uavGadgetMode->uniqueModeName());
+    if (!m_widget->isVisible())
+        m_core->modeManager()->activateMode(this->uniqueModeName());
 }
 
-void UAVGadgetManager::updateActions()
+void UAVGadgetManager::showToolbars(bool show)
 {
-    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+    if (m_core->modeManager()->currentMode() != this)
         return;
-    if (!m_d->m_splitterOrView) // this is only for startup
+
+    m_showToolbars = show;
+    SplitterOrView *next = m_splitterOrView->findFirstView();
+    do {
+        next->view()->showToolbar(show);
+        next = m_splitterOrView->findNextView(next);
+    } while (next);
+
+    updateUavGadgetMenus();
+}
+
+void UAVGadgetManager::updateUavGadgetMenus()
+{
+    if (m_core->modeManager()->currentMode() != this)
+        return;
+    if (!m_splitterOrView) // this is only for startup
         return;
     // Splitting is only possible when the toolbars are shown
-    bool shown = m_d->m_showToolbarsAction->isChecked();
-    bool hasSplitter = m_d->m_splitterOrView->isSplitter();
-    m_d->m_removeCurrentSplitAction->setEnabled(shown && hasSplitter);
-    m_d->m_removeAllSplitsAction->setEnabled(shown && hasSplitter);
-    m_d->m_gotoOtherSplitAction->setEnabled(shown && hasSplitter);
+    bool hasSplitter = m_splitterOrView->isSplitter();
+    emit showUavGadgetMenus(m_showToolbars, hasSplitter);
 }
 
 void UAVGadgetManager::saveState(QSettings* qSettings) const
@@ -435,7 +290,7 @@ void UAVGadgetManager::saveState(QSettings* qSettings) const
     qSettings->setValue("version","UAVGadgetManagerV1");
     qSettings->setValue("showToolbars",m_showToolbars);
     qSettings->beginGroup("splitter");
-    m_d->m_splitterOrView->saveState(qSettings);
+    m_splitterOrView->saveState(qSettings);
     qSettings->endGroup();
 }
 
@@ -444,8 +299,8 @@ bool UAVGadgetManager::restoreState(QSettings* qSettings)
     removeAllSplits();
 
     UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager();
-    IUAVGadget *gadget = m_d->m_splitterOrView->view()->gadget();
-    emptyView(m_d->m_splitterOrView->view());
+    IUAVGadget *gadget = m_splitterOrView->view()->gadget();
+    emptyView(m_splitterOrView->view());
     im->removeGadget(gadget);
 
     QString version = qSettings->value("version").toString();
@@ -458,7 +313,7 @@ bool UAVGadgetManager::restoreState(QSettings* qSettings)
     QApplication::setOverrideCursor(Qt::WaitCursor);
 
     qSettings->beginGroup("splitter");
-    m_d->m_splitterOrView->restoreState(qSettings);
+    m_splitterOrView->restoreState(qSettings);
     qSettings->endGroup();
 
     QApplication::restoreOverrideCursor();
@@ -468,7 +323,7 @@ bool UAVGadgetManager::restoreState(QSettings* qSettings)
 void UAVGadgetManager::saveSettings(QSettings *qs)
 {
     qs->beginGroup("UAVGadgetManager");
-    qs->beginGroup(m_uavGadgetMode->uniqueModeName());
+    qs->beginGroup(this->uniqueModeName());
 
     // Make sure the old tree is wiped.
     qs->remove("");
@@ -488,16 +343,15 @@ void UAVGadgetManager::readSettings(QSettings *qs)
     }
     qs->beginGroup(uavGadgetManagerRootKey);
 
-    if(!qs->childGroups().contains(m_uavGadgetMode->uniqueModeName())) {
+    if(!qs->childGroups().contains(uniqueModeName())) {
         qs->endGroup();
         return;
     }
-    qs->beginGroup(m_uavGadgetMode->uniqueModeName());
+    qs->beginGroup(uniqueModeName());
 
     restoreState(qs);
 
     showToolbars(m_showToolbars);
-    updateActions();
 
     qs->endGroup();
     qs->endGroup();
@@ -505,18 +359,19 @@ void UAVGadgetManager::readSettings(QSettings *qs)
 
 void UAVGadgetManager::split(Qt::Orientation orientation)
 {
-    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+    if (m_core->modeManager()->currentMode() != this)
         return;
 
-    IUAVGadget *uavGadget = m_d->m_currentGadget;
+    IUAVGadget *uavGadget = m_currentGadget;
     Q_ASSERT(uavGadget);
     SplitterOrView *view = currentSplitterOrView();
     Q_ASSERT(view);
     view->split(orientation);
 
-    SplitterOrView *sor = m_d->m_splitterOrView->findView(uavGadget);
-    SplitterOrView *next = m_d->m_splitterOrView->findNextView(sor);
+    SplitterOrView *sor = m_splitterOrView->findView(uavGadget);
+    SplitterOrView *next = m_splitterOrView->findNextView(sor);
     setCurrentGadget(next->gadget());
+    updateUavGadgetMenus();
 }
 
 void UAVGadgetManager::split()
@@ -531,37 +386,38 @@ void UAVGadgetManager::splitSideBySide()
 
 void UAVGadgetManager::removeCurrentSplit()
 {
-    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+    if (m_core->modeManager()->currentMode() != this)
         return;
 
     SplitterOrView *viewToClose = currentSplitterOrView();
-    if (viewToClose == m_d->m_splitterOrView)
+    if (viewToClose == m_splitterOrView)
         return;
     closeView(viewToClose->view());
+    updateUavGadgetMenus();
 }
 
 // Removes all gadgets and splits in the workspace, except the current/active gadget.
 void UAVGadgetManager::removeAllSplits()
 {
-    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+    if (m_core->modeManager()->currentMode() != this)
         return;
 
-    if (!m_d->m_splitterOrView->isSplitter())
+    if (!m_splitterOrView->isSplitter())
         return;
 
     // Use a QPointer, just in case we accidently delete the gadget we want to keep.
-    QPointer<IUAVGadget> currentGadget = m_d->m_currentGadget;
+    QPointer<IUAVGadget> currentGadget = m_currentGadget;
 
     Q_ASSERT(currentGadget);
-    QList<IUAVGadget*> gadgets = m_d->m_splitterOrView->gadgets();
+    QList<IUAVGadget*> gadgets = m_splitterOrView->gadgets();
     Q_ASSERT(gadgets.count(currentGadget) == 1);
     gadgets.removeOne(currentGadget);
 
     // Remove all splits and their gadgets, then create a new view with the current gadget.
-    m_d->m_splitterOrView->unsplitAll(currentGadget);
+    m_splitterOrView->unsplitAll(currentGadget);
 
     // Zeroing the current gadget means setCurrentGadget will do something when we call it.
-    m_d->m_currentGadget = 0;
+    m_currentGadget = 0;
     setCurrentGadget(currentGadget);
 
     // Remove all other gadgets from the instance manager.
@@ -569,53 +425,21 @@ void UAVGadgetManager::removeAllSplits()
     foreach (IUAVGadget *g, gadgets) {
         im->removeGadget(g);
     }
+    updateUavGadgetMenus();
 }
 
 void UAVGadgetManager::gotoOtherSplit()
 {
-    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+    if (m_core->modeManager()->currentMode() != this)
         return;
 
-    if (m_d->m_splitterOrView->isSplitter()) {
+    if (m_splitterOrView->isSplitter()) {
         SplitterOrView *currentView = currentSplitterOrView();
-        SplitterOrView *view = m_d->m_splitterOrView->findNextView(currentView);
+        SplitterOrView *view = m_splitterOrView->findNextView(currentView);
         if (!view)
-            view = m_d->m_splitterOrView->findFirstView();
+            view = m_splitterOrView->findFirstView();
         if (view) {
             setCurrentGadget(view->gadget());
         }
     }
 }
-
-void UAVGadgetManager::showToolbars(bool show)
-{
-     if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
-         return;
-
-     m_d->m_showToolbarsAction->setChecked(show);
-     m_showToolbars = show;
-     SplitterOrView *next = m_d->m_splitterOrView->findFirstView();
-     do {
-         next->view()->showToolbar(show);
-         next = m_d->m_splitterOrView->findNextView(next);
-     } while (next);
-
-    m_d->m_splitAction->setEnabled(show);
-    m_d->m_splitSideBySideAction->setEnabled(show);
-    m_d->m_removeCurrentSplitAction->setEnabled(show);
-    m_d->m_removeAllSplitsAction->setEnabled(show);
-    m_d->m_gotoOtherSplitAction->setEnabled(show);
-}
-//===================UAVGadgetClosingCoreListener======================
-
-UAVGadgetClosingCoreListener::UAVGadgetClosingCoreListener(UAVGadgetManager *em)
-        : m_em(em)
-{
-}
-
-bool UAVGadgetClosingCoreListener::coreAboutToClose()
-{
-    // Do not ask for files to save.
-    // MainWindow::closeEvent has already done that.
-    return true;
-}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
index 1eea66b2a..3764fa1fb 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
@@ -32,14 +32,15 @@
 #include "../core_global.h"
 
 #include <coreplugin/icorelistener.h>
+#include <coreplugin/imode.h>
 
 #include <QtGui/QWidget>
 #include <QtCore/QList>
 #include <QtCore/QPointer>
 #include <QtCore/QSettings>
+#include <QtGui/QIcon>
 
 QT_BEGIN_NAMESPACE
-class QSettings;
 class QModelIndex;
 QT_END_NAMESPACE
 
@@ -48,49 +49,33 @@ namespace Core {
 class IContext;
 class ICore;
 class IUAVGadget;
-class IMode;
-
-struct UAVGadgetManagerPrivate;
 
 namespace Internal {
 
-class UAVGadgetMode;
 class UAVGadgetView;
 class SplitterOrView;
 
-class UAVGadgetClosingCoreListener;
-
-
 } // namespace Internal
 
-class CORE_EXPORT UAVGadgetManagerPlaceHolder : public QWidget
-{
-    Q_OBJECT
-public:
-    UAVGadgetManagerPlaceHolder(Core::Internal::UAVGadgetMode *mode, QWidget *parent = 0);
-    ~UAVGadgetManagerPlaceHolder();
-//    static UAVGadgetManagerPlaceHolder* current();
-private slots:
-    void currentModeChanged(Core::IMode *);
-private:
-    Core::IMode *m_mode;
-    Core::Internal::UAVGadgetMode *m_uavGadgetMode;
-    UAVGadgetManagerPlaceHolder* m_current;
-};
-
-
-class CORE_EXPORT UAVGadgetManager : public QWidget
+class CORE_EXPORT UAVGadgetManager : public IMode
 {
     Q_OBJECT
 
 public:
 
-    explicit UAVGadgetManager(ICore *core, QWidget *parent);
+    explicit UAVGadgetManager(ICore *core, QString name, QIcon icon, int priority, QString uniqueName, QWidget *parent);
     virtual ~UAVGadgetManager();
+
+    // IMode
+    QString name() const { return m_name; }
+    QIcon icon() const { return m_icon; }
+    int priority() const { return m_priority; }
+    void setPriority(int priority) { m_priority = priority; }
+    const char *uniqueModeName() const { return m_uniqueModeName; }
+    QList<int> context() const;
+
     void init();
-    // setUAVGadgetMode should be called exactly once
-    // right after the mode has been created, and never thereafter
-    void setUAVGadgetMode(Core::Internal::UAVGadgetMode *mode) { m_uavGadgetMode = mode; }
+    QWidget *widget() { return m_widget; }
 
     void ensureUAVGadgetManagerVisible();
 
@@ -105,10 +90,14 @@ public:
 
 signals:
     void currentGadgetChanged(IUAVGadget *gadget);
+    void showUavGadgetMenus(bool show, bool hasSplitter);
+    void updateSplitMenus(bool hasSplitter);
 
 private slots:
     void handleContextChange(Core::IContext *context);
-    void updateActions();
+    void updateUavGadgetMenus();
+    void modeChanged(Core::IMode *mode);
+
 
 public slots:
     void split(Qt::Orientation orientation);
@@ -120,16 +109,25 @@ public slots:
     void showToolbars(bool show);
 
 private:
+    void setCurrentGadget(IUAVGadget *gadget);
     void addGadgetToContext(IUAVGadget *gadget);
     void removeGadget(IUAVGadget *gadget);
-    void setCurrentGadget(IUAVGadget *gadget);
     void closeView(Core::Internal::UAVGadgetView *view);
     void emptyView(Core::Internal::UAVGadgetView *view);
     Core::Internal::SplitterOrView *currentSplitterOrView() const;
 
     bool m_showToolbars;
-    UAVGadgetManagerPrivate *m_d;
-    Core::Internal::UAVGadgetMode *m_uavGadgetMode;
+    Core::Internal::SplitterOrView *m_splitterOrView;
+    Core::IUAVGadget *m_currentGadget;
+    Core::ICore *m_core;
+
+    QString m_name;
+    QIcon m_icon;
+    int m_priority;
+    QString m_uniqueName;
+    QByteArray m_uniqueNameBA;
+    const char* m_uniqueModeName;
+    QWidget *m_widget;
 
     friend class Core::Internal::SplitterOrView;
     friend class Core::Internal::UAVGadgetView;
@@ -137,26 +135,4 @@ private:
 
 } // namespace Core
 
-
-//===================UAVGadgetClosingCoreListener======================
-
-namespace Core {
-namespace Internal {
-
-class UAVGadgetClosingCoreListener : public ICoreListener
-{
-    Q_OBJECT
-
-public:
-    UAVGadgetClosingCoreListener(UAVGadgetManager *em);
-    bool uavGadgetAboutToClose(IUAVGadget *gadget);
-    bool coreAboutToClose();
-
-private:
-    UAVGadgetManager *m_em;
-};
-
-} // namespace Internal
-} // namespace Core
-
 #endif // UAVGADGETMANAGER_H
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.cpp b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.cpp
deleted file mode 100644
index eeb6df7a3..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.cpp
+++ /dev/null
@@ -1,135 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavgadgetmode.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup CorePlugin Core Plugin
- * @{
- * @brief The Core GCS plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "uavgadgetmode.h"
-#include "uavgadgetmanager.h"
-#include "coreconstants.h"
-#include "modemanager.h"
-#include "uniqueidmanager.h"
-#include "minisplitter.h"
-#include "outputpane.h"
-#include "rightpane.h"
-#include "iuavgadget.h"
-
-#include <QDebug>
-#include <QtCore/QLatin1String>
-#include <QtGui/QHBoxLayout>
-#include <QtGui/QWidget>
-#include <QtGui/QSplitter>
-
-using namespace Core;
-using namespace Core::Internal;
-
-UAVGadgetMode::UAVGadgetMode(UAVGadgetManager *uavGadgetManager, QString name, QIcon icon, int priority, QString uniqueName) :
-    m_uavGadgetManager(uavGadgetManager),
-    m_name(name),
-    m_icon(icon),
-    m_widget(new QWidget),
-    m_priority(priority),
-    m_layout(new QVBoxLayout)
-{
-    m_layout->setSpacing(0);
-    m_layout->setMargin(0);
-    m_widget->setLayout(m_layout);
-    m_layout->insertWidget(0, new Core::UAVGadgetManagerPlaceHolder(this));
-
-    ModeManager *modeManager = ModeManager::instance();
-    // checking that the mode name is unique gives harmless
-    // warnings on the console output
-    if (!modeManager->mode(uniqueName)) {
-        m_uniqueName = uniqueName;
-    } else {
-        // this shouldn't happen
-        m_uniqueName = uniqueName + QString::number(quint64(this));
-    }
-    m_uniqueNameBA = m_uniqueName.toLatin1();
-    m_uniqueNameC = m_uniqueNameBA.data();
-    connect(modeManager, SIGNAL(currentModeChanged(Core::IMode*)),
-            this, SLOT(grabUAVGadgetManager(Core::IMode*)));
-    m_widget->setFocusProxy(m_uavGadgetManager);
-}
-
-UAVGadgetMode::~UAVGadgetMode()
-{
-    // TODO: see if this leftover from Qt Creator still applies
-    // Make sure the uavGadget manager does not get deleted
-    m_uavGadgetManager->setParent(0);
-    delete m_widget;
-}
-
-QString UAVGadgetMode::name() const
-{
-    return m_name;
-}
-
-void UAVGadgetMode::setName(QString name)
-{
-    m_name = name;
-}
-
-QIcon UAVGadgetMode::icon() const
-{
-    return m_icon;
-}
-
-void UAVGadgetMode::setIcon(QIcon icon)
-{
-    m_icon = icon;
-}
-
-int UAVGadgetMode::priority() const
-{
-    return m_priority;
-}
-
-QWidget* UAVGadgetMode::widget()
-{
-    return m_widget;
-}
-
-const char* UAVGadgetMode::uniqueModeName() const
-{
-    return m_uniqueNameC;
-}
-
-QList<int> UAVGadgetMode::context() const
-{
-    static QList<int> contexts = QList<int>() <<
-        UniqueIDManager::instance()->uniqueIdentifier(Constants::C_UAVGADGET_MODE) <<
-        UniqueIDManager::instance()->uniqueIdentifier(Constants::C_UAVGADGETMANAGER);
-    return contexts;
-}
-
-void UAVGadgetMode::grabUAVGadgetManager(Core::IMode *mode)
-{
-    if (mode != this)
-        return;
-
-    if (m_uavGadgetManager->currentGadget())
-        m_uavGadgetManager->currentGadget()->widget()->setFocus();
-}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.h b/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.h
deleted file mode 100644
index 5aac09221..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmode.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavgadgetmode.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup CorePlugin Core Plugin
- * @{
- * @brief The Core GCS plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef UAVGADGETMODE_H
-#define UAVGADGETMODE_H
-
-#include <coreplugin/imode.h>
-
-#include <QtCore/QObject>
-#include <QtGui/QIcon>
-
-QT_BEGIN_NAMESPACE
-class QSplitter;
-class QWidget;
-class QIcon;
-class QVBoxLayout;
-QT_END_NAMESPACE
-
-namespace Core {
-
-class UAVGadgetManager;
-
-namespace Internal {
-
-class UAVGadgetMode : public Core::IMode
-{
-    Q_OBJECT
-
-public:
-    UAVGadgetMode(UAVGadgetManager *uavGadgetManager, QString name, QIcon icon, int priority, QString uniqueName);
-    ~UAVGadgetMode();
-
-    // IMode
-    QString name() const;
-    QIcon icon() const;
-    int priority() const;
-    QWidget* widget();
-    const char* uniqueModeName() const;
-    QList<int> context() const;
-    UAVGadgetManager* uavGadgetManager() const { return m_uavGadgetManager; }
-    void setName(QString name);
-    void setIcon(QIcon icon);
-
-private slots:
-    void grabUAVGadgetManager(Core::IMode *mode);
-
-private:
-    UAVGadgetManager *m_uavGadgetManager;
-    QString m_name;
-    QIcon m_icon;
-    QWidget *m_widget;
-    int m_priority;
-    QVBoxLayout *m_layout;
-    QString m_uniqueName;
-    QByteArray m_uniqueNameBA;
-    const char *m_uniqueNameC;
-};
-
-} // namespace Internal
-} // namespace Core
-
-#endif // UAVGADGETMODE_H
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.cpp
deleted file mode 100644
index 4acc08683..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       viewmanager.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup CorePlugin Core Plugin
- * @{
- * @brief The Core GCS plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "viewmanager.h"
-
-#include "coreconstants.h"
-#include "mainwindow.h"
-#include "uniqueidmanager.h"
-#include "iview.h"
-
-#include <coreplugin/actionmanager/actionmanager.h>
-#include <coreplugin/actionmanager/command.h>
-#include <aggregation/aggregate.h>
-#include <extensionsystem/pluginmanager.h>
-
-#include <QtCore/QSettings>
-#include <QtGui/QHBoxLayout>
-#include <QtGui/QLabel>
-#include <QtGui/QStatusBar>
-
-using namespace Core;
-using namespace Core::Internal;
-
-ViewManager::ViewManager(MainWindow *mainWnd)
-  : QObject(mainWnd),
-    m_mainWnd(mainWnd)
-{
-    for (int i = 0; i < 3; ++i) {
-        QWidget *w = new QWidget();
-        m_mainWnd->statusBar()->insertPermanentWidget(i, w);
-        w->setLayout(new QHBoxLayout);
-        w->setVisible(true);
-        w->layout()->setMargin(0);
-        m_statusBarWidgets.append(w);
-    }
-    QLabel *l = new QLabel();
-    m_mainWnd->statusBar()->insertPermanentWidget(3, l, 1);
-}
-
-ViewManager::~ViewManager()
-{
-}
-
-void ViewManager::init()
-{
-    connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)),
-            this, SLOT(objectAdded(QObject*)));
-    connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)),
-            this, SLOT(aboutToRemoveObject(QObject*)));
-}
-
-void ViewManager::objectAdded(QObject *obj)
-{
-    IView *view = Aggregation::query<IView>(obj);
-    if (!view)
-        return;
-
-    QWidget *viewWidget = 0;
-    viewWidget = view->widget();
-    m_statusBarWidgets.at(view->defaultPosition())->layout()->addWidget(viewWidget);
-
-    m_viewMap.insert(view, viewWidget);
-    viewWidget->setObjectName(view->uniqueViewName());
-    m_mainWnd->addContextObject(view);
-}
-
-void ViewManager::aboutToRemoveObject(QObject *obj)
-{
-    IView *view = Aggregation::query<IView>(obj);
-    if (!view)
-        return;
-    m_mainWnd->removeContextObject(view);
-}
-
-void ViewManager::readSettings(QSettings *settings)
-{
-    m_mainWnd->restoreState(settings->value(QLatin1String("ViewGroup_Default"), QByteArray()).toByteArray());
-}
-
-void ViewManager::saveSettings(QSettings *settings)
-{
-    settings->setValue(QLatin1String("ViewGroup_Default"), m_mainWnd->saveState());
-}
-
-IView *ViewManager::view(const QString &id)
-{
-    QList<IView *> list =
-        ExtensionSystem::PluginManager::instance()->getObjects<IView>();
-    foreach (IView *view, list) {
-        if (view->uniqueViewName() == id)
-            return view;
-    }
-    return 0;
-}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.h
deleted file mode 100644
index 6d6dee120..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/viewmanager.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       viewmanager.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup CorePlugin Core Plugin
- * @{
- * @brief The Core GCS plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify 
- * it under the terms of the GNU General Public License as published by 
- * the Free Software Foundation; either version 3 of the License, or 
- * (at your option) any later version.
- * 
- * This program is distributed in the hope that it will be useful, but 
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
- * for more details.
- * 
- * You should have received a copy of the GNU General Public License along 
- * with this program; if not, write to the Free Software Foundation, Inc., 
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef VIEWMANAGER_H
-#define VIEWMANAGER_H
-
-#include <QtCore/QMap>
-#include <QtGui/QWidget>
-
-QT_BEGIN_NAMESPACE
-class QAction;
-class QSettings;
-class QMainWindow;
-class QComboBox;
-class QStackedWidget;
-QT_END_NAMESPACE
-
-namespace Core {
-
-class IView;
-
-namespace Internal {
-
-class MainWindow;
-class NavigationWidget;
-
-class ViewManager : public QObject
-{
-    Q_OBJECT
-
-public:
-    ViewManager(MainWindow *mainWnd);
-    ~ViewManager();
-
-    void init();
-    void readSettings(QSettings *settings);
-    void saveSettings(QSettings *settings);
-
-    IView * view(const QString & id);
-private slots:
-    void objectAdded(QObject *obj);
-    void aboutToRemoveObject(QObject *obj);
-
-private:
-    QMap<Core::IView *, QWidget *> m_viewMap;
-
-    MainWindow *m_mainWnd;
-    QList<QWidget *> m_statusBarWidgets;
-};
-
-} // namespace Internal
-} // namespace Core
-
-#endif // VIEWMANAGER_H
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.cpp
index 367a8af20..6bc2dc20c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.cpp
@@ -28,7 +28,7 @@
 #include "workspacesettings.h"
 #include <coreplugin/icore.h>
 #include <coreplugin/modemanager.h>
-#include <coreplugin/uavgadgetmode.h>
+#include <coreplugin/uavgadgetmanager/uavgadgetmanager.h>
 #include <QtCore/QSettings>
 
 #include "ui_workspacesettings.h"
@@ -95,26 +95,37 @@ QWidget *WorkspaceSettings::createPage(QWidget *parent)
     m_currentIndex = 0;
     selectWorkspace(m_currentIndex);
 
+    if (0 <= m_tabBarPlacementIndex && m_tabBarPlacementIndex < m_page->comboBoxTabBarPlacement->count())
+        m_page->comboBoxTabBarPlacement->setCurrentIndex(m_tabBarPlacementIndex);
+    m_page->checkBoxAllowTabMovement->setChecked(m_allowTabBarMovement);
+
     return w;
 }
 
 void WorkspaceSettings::readSettings(QSettings* qs)
 {
-    m_iconNames.clear();
     m_names.clear();
+    m_iconNames.clear();
+    m_modeNames.clear();
 
     qs->beginGroup(QLatin1String("Workspace"));
     m_numberOfWorkspaces = qs->value(QLatin1String("NumberOfWorkspaces"), 2).toInt();
+    m_previousNumberOfWorkspaces = m_numberOfWorkspaces;
     for (int i = 1; i <= MAX_WORKSPACES; ++i) {
         QString numberString = QString::number(i);
         QString defaultName = "Workspace" + numberString;
         QString defaultIconName = "Icon" + numberString;
-        const QString name = qs->value(defaultName, defaultName).toString();
-        const QString iconName = qs->value(defaultIconName, ":/core/images/openpilot_logo_64.png").toString();
-        m_iconNames.append(iconName);
+        QString name = qs->value(defaultName, defaultName).toString();
+        QString iconName = qs->value(defaultIconName, ":/core/images/openpilot_logo_64.png").toString();
         m_names.append(name);
+        m_iconNames.append(iconName);
+        m_modeNames.append(QString("Mode")+ QString::number(i));
     }
+    m_tabBarPlacementIndex = qs->value(QLatin1String("TabBarPlacementIndex"), 1).toInt(); // 1 == "Bottom"
+    m_allowTabBarMovement = qs->value(QLatin1String("AllowTabBarMovement"), false).toBool();
     qs->endGroup();
+    QTabWidget::TabPosition pos = m_tabBarPlacementIndex == 0 ? QTabWidget::North : QTabWidget::South;
+    emit tabBarSettingsApplied(pos, m_allowTabBarMovement);
 }
 
 void WorkspaceSettings::saveSettings(QSettings* qs)
@@ -122,12 +133,16 @@ void WorkspaceSettings::saveSettings(QSettings* qs)
     qs->beginGroup(QLatin1String("Workspace"));
     qs->setValue(QLatin1String("NumberOfWorkspaces"), m_numberOfWorkspaces);
     for (int i = 0; i < MAX_WORKSPACES; ++i) {
+        QString mode = QString("Mode")+ QString::number(i+1);
+        int j = m_modeNames.indexOf(mode);
         QString numberString = QString::number(i+1);
         QString defaultName = "Workspace" + numberString;
         QString defaultIconName = "Icon" + numberString;
-        qs->setValue(defaultName, m_names.at(i));
-        qs->setValue(defaultIconName, m_iconNames.at(i));
+        qs->setValue(defaultName, m_names.at(j));
+        qs->setValue(defaultIconName, m_iconNames.at(j));
     }
+    qs->setValue(QLatin1String("TabBarPlacementIndex"), m_tabBarPlacementIndex);
+    qs->setValue(QLatin1String("AllowTabBarMovement"), m_allowTabBarMovement);
     qs->endGroup();
 }
 
@@ -137,15 +152,23 @@ void WorkspaceSettings::apply()
 
     saveSettings(Core::ICore::instance()->settings());
 
+    if (m_numberOfWorkspaces != m_previousNumberOfWorkspaces) {
+        Core::ICore::instance()->readMainSettings(Core::ICore::instance()->settings(), true);
+        m_previousNumberOfWorkspaces = m_numberOfWorkspaces;
+    }
+
     ModeManager* modeManager = Core::ICore::instance()->modeManager();
     for (int i = 0; i < MAX_WORKSPACES; ++i) {
-        Core::Internal::UAVGadgetMode *mode =
-                qobject_cast<Core::Internal::UAVGadgetMode*>(modeManager->mode(modeName(i)));
+        IMode *baseMode = modeManager->mode(modeName(i));
+        Core::UAVGadgetManager *mode = qobject_cast<Core::UAVGadgetManager*>(baseMode);
         if (mode) {
             modeManager->updateModeNameIcon(mode, QIcon(iconName(i)), name(i));
         }
     }
-
+    m_tabBarPlacementIndex = m_page->comboBoxTabBarPlacement->currentIndex();
+    m_allowTabBarMovement = m_page->checkBoxAllowTabMovement->isChecked();
+    QTabWidget::TabPosition pos = m_tabBarPlacementIndex == 0 ? QTabWidget::North : QTabWidget::South;
+    emit tabBarSettingsApplied(pos, m_allowTabBarMovement);
 }
 
 void WorkspaceSettings::finish()
@@ -186,8 +209,8 @@ void WorkspaceSettings::selectWorkspace(int index, bool store)
         // write old values of workspace not shown anymore
         m_iconNames.replace(m_currentIndex, m_page->iconPathChooser->path());
         m_names.replace(m_currentIndex, m_page->nameEdit->text());
-        m_page->workspaceComboBox->setItemIcon(m_currentIndex, QIcon(m_page->iconPathChooser->path()));
-        m_page->workspaceComboBox->setItemText(m_currentIndex, m_page->nameEdit->text());
+        m_page->workspaceComboBox->setItemIcon(m_currentIndex, QIcon(m_iconNames.at(m_currentIndex)));
+        m_page->workspaceComboBox->setItemText(m_currentIndex, m_names.at(m_currentIndex));
     }
 
     // display current workspace   
@@ -196,3 +219,34 @@ void WorkspaceSettings::selectWorkspace(int index, bool store)
     m_page->nameEdit->setText(m_names.at(index));
     m_currentIndex = index;
 }
+
+void WorkspaceSettings::newModeOrder(QVector<IMode*> modes)
+{
+    QList<int> priorities;
+    QStringList modeNames;
+    for (int i = 0; i < modes.count(); ++i) {
+        Core::UAVGadgetManager *mode = qobject_cast<Core::UAVGadgetManager*>(modes.at(i));
+        if (mode) {
+            priorities.append(mode->priority());
+            modeNames.append(mode->uniqueModeName());
+        }
+    }
+    // Bubble sort
+    bool swapped = false;
+    do {
+        swapped = false;
+        for (int i = 0; i < m_names.count()-1; ++i) {
+            int j = i+1;
+            int p = modeNames.indexOf(m_modeNames.at(i));
+            int q = modeNames.indexOf(m_modeNames.at(j));
+            bool nonShowingMode = (p == -1 && q >=0);
+            bool pqBothFound = (p >= 0 && q >= 0);
+            if (nonShowingMode || (pqBothFound && (priorities.at(q) > priorities.at(p)))) {
+                m_names.swap(i, j);
+                m_iconNames.swap(i, j);
+                m_modeNames.swap(i, j);
+                swapped = true;
+            }
+        }
+    } while (swapped);
+}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.h b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.h
index 15a98eaf2..ba790de56 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.h
@@ -31,12 +31,14 @@
 #include <coreplugin/dialogs/ioptionspage.h>
 #include <QtCore/QObject>
 #include <QtCore/QStringList>
+#include <QtGui/QTabWidget>
 
 class QSettings;
 
 namespace Core {
 
     class ModeManager;
+    class IMode;
 
 namespace Internal {
 
@@ -65,24 +67,29 @@ public:
     int numberOfWorkspaces() const { return m_numberOfWorkspaces;}
     QString iconName(int i) const { return m_iconNames.at(i);}
     QString name(int i) const { return m_names.at(i);}
-    QString modeName(int i) const { return QString("Mode")+ QString::number(i+1);}
+    QString modeName(int i) const { return m_modeNames.at(i);}
 
 signals:
+    void tabBarSettingsApplied(QTabWidget::TabPosition pos, bool movable);
 
 public slots:
     void selectWorkspace(int index, bool store = false);
     void numberOfWorkspacesChanged(int value);
     void textEdited(QString string);
     void iconChanged();
+    void newModeOrder(QVector<IMode*> modes);
+
 private:
     Ui::WorkspaceSettings *m_page;
     QStringList m_iconNames;
     QStringList m_names;
+    QStringList m_modeNames;
     int m_currentIndex;
+    int m_previousNumberOfWorkspaces;
     int m_numberOfWorkspaces;
+    int m_tabBarPlacementIndex;
+    bool m_allowTabBarMovement;
     static const int MAX_WORKSPACES;
-
-
 };
 
 } // namespace Internal
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.ui
index 8e19687df..1c646b693 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/workspacesettings.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
+    <width>414</width>
     <height>320</height>
    </rect>
   </property>
@@ -145,11 +145,71 @@ p, li { white-space: pre-wrap; }
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note:&lt;/span&gt; A restart is needed for changes to number of workspaces to take effect.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
         </property>
         <property name="text">
-         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Note:&lt;/span&gt; A restart is needed for changes to number of workspaces to take effect.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Workspace panel</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Placement:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="QComboBox" name="comboBoxTabBarPlacement">
+          <property name="currentIndex">
+           <number>1</number>
+          </property>
+          <item>
+           <property name="text">
+            <string>Top</string>
+           </property>
+          </item>
+          <item>
+           <property name="text">
+            <string>Bottom</string>
+           </property>
+          </item>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer_3">
+          <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>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>Allow reordering:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QCheckBox" name="checkBoxAllowTabMovement">
+        <property name="text">
+         <string/>
         </property>
        </widget>
       </item>
diff --git a/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
index a3bdebe42..ba6f35f19 100644
--- a/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
@@ -478,13 +478,13 @@ void DialGadgetWidget::setDialFont(QString fontProps)
 // this enables smooth rotation in rotateNeedles below
 void DialGadgetWidget::setNeedle1(double value) {
     if (rotateN1) {
-        needle1Target = 360*(value*n1Factor-n1MinValue)/(n1MaxValue-n1MinValue);
+        needle1Target = 360*(value*n1Factor)/(n1MaxValue-n1MinValue);
     }
     if (horizN1) {
-        needle1Target = (value*n1Factor-n1MinValue)/(n1MaxValue-n1MinValue);
+        needle1Target = (value*n1Factor)/(n1MaxValue-n1MinValue);
     }
     if (vertN1) {
-        needle1Target = (value*n1Factor-n1MinValue)/(n1MaxValue-n1MinValue);
+        needle1Target = (value*n1Factor)/(n1MaxValue-n1MinValue);
     }
     if (!dialTimer.isActive())
         dialTimer.start();
@@ -497,13 +497,13 @@ void DialGadgetWidget::setNeedle1(double value) {
 
 void DialGadgetWidget::setNeedle2(double value) {
     if (rotateN2) {
-        needle2Target = 360*(value*n2Factor-n2MinValue)/(n2MaxValue-n2MinValue);
+        needle2Target = 360*(value*n2Factor)/(n2MaxValue-n2MinValue);
     }
     if (horizN2) {
-        needle2Target = (value*n2Factor-n2MinValue)/(n2MaxValue-n2MinValue);
+        needle2Target = (value*n2Factor)/(n2MaxValue-n2MinValue);
     }
     if (vertN2) {
-        needle2Target = (value*n2Factor-n2MinValue)/(n2MaxValue-n2MinValue);
+        needle2Target = (value*n2Factor)/(n2MaxValue-n2MinValue);
     }
     if (!dialTimer.isActive())
         dialTimer.start();
@@ -517,13 +517,13 @@ void DialGadgetWidget::setNeedle2(double value) {
 
 void DialGadgetWidget::setNeedle3(double value) {
     if (rotateN3) {
-        needle3Target = 360*(value*n3Factor-n3MinValue)/(n3MaxValue-n3MinValue);
+        needle3Target = 360*(value*n3Factor)/(n3MaxValue-n3MinValue);
     }
     if (horizN3) {
-        needle3Target = (value*n3Factor-n3MinValue)/(n3MaxValue-n3MinValue);
+        needle3Target = (value*n3Factor)/(n3MaxValue-n3MinValue);
     }
     if (vertN3) {
-        needle3Target = (value*n3Factor-n3MinValue)/(n3MaxValue-n3MinValue);
+        needle3Target = (value*n3Factor)/(n3MaxValue-n3MinValue);
     }
     if (!dialTimer.isActive())
         dialTimer.start();
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
index 9480d789e..3c00987f7 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
@@ -283,8 +283,8 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 void GCSControlGadget::axesValues(QListInt16 values)
 {
     int chMax = values.length();
-    if (rollChannel > chMax || pitchChannel > chMax ||
-            yawChannel > chMax || throttleChannel > chMax ) {
+    if (rollChannel >= chMax || pitchChannel >= chMax ||
+            yawChannel >= chMax || throttleChannel >= chMax ) {
         qDebug() << "GCSControl: configuration is inconsistent with current joystick! Aborting update.";
         return;
     }
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
index 1678e64a5..f965b5ad3 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
@@ -46,23 +46,23 @@ HITLWidget::HITLWidget(QWidget *parent)
 	: QWidget(parent),
 	simulator(0)
 {
-    widget = new Ui_HITLWidget();
-    widget->setupUi(this);
+	widget = new Ui_HITLWidget();
+	widget->setupUi(this);
 	widget->startButton->setEnabled(true);
 	widget->stopButton->setEnabled(false);
 
 	greenColor = "rgb(35, 221, 35)";
 
-	strAutopilotDisconnected = " Autopilot disconnected ";
-	strSimulatorDisconnected = " Simulator disconnected ";
-	strAutopilotConnected = " Autopilot connected ";
-	strSimulatorConnected = " Simulator connected ";
+	strAutopilotDisconnected = " Autopilot OFF ";
+	strSimulatorDisconnected = " Simulator OFF ";
+	strAutopilotConnected = " Autopilot ON ";
+	strSimulatorConnected = " Simulator ON ";
 
 	widget->apLabel->setText(strAutopilotDisconnected);
 	widget->simLabel->setText(strSimulatorDisconnected);
 
-    connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
-    connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
+	connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
+	connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
 	connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked()));
 
 }
@@ -188,10 +188,9 @@ void HITLWidget::buttonClearLogClicked()
 
 void HITLWidget::onAutopilotConnect()
 {
-	widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
-
+	widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
 	widget->apLabel->setText(strAutopilotConnected);
-    qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
+	qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
 }
 
 void HITLWidget::onAutopilotDisconnect()
@@ -214,5 +213,3 @@ void HITLWidget::onSimulatorDisconnect()
 	widget->simLabel->setText(" " + simulator->Name() +" disconnected ");
 	qxtLog->info(QString("HITL: %1 disconnected").arg(simulator->Name()));
 }
-
-
diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp
index 350e1a3ff..6e1d4d2c3 100644
--- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.cpp
@@ -37,6 +37,7 @@
 #include <QSettings>
 #include <QMessageBox>
 #include <QFileInfo>
+#include <QFileDialog>
 #include <QDesktopServices>
 #include <QUrl>
 #include <QDir>
@@ -47,10 +48,8 @@ ImportExportGadgetWidget::ImportExportGadgetWidget(QWidget *parent) :
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     ui->setupUi(this);
-    ui->configFile->setExpectedKind(Utils::PathChooser::File);
-    ui->configFile->setPromptDialogFilter(tr("XML file (*.xml)"));
-    ui->configFile->setPromptDialogTitle(tr("Choose configuration file"));
 
+	filename = "";
 }
 
 ImportExportGadgetWidget::~ImportExportGadgetWidget()
@@ -72,35 +71,21 @@ void ImportExportGadgetWidget::changeEvent(QEvent *e)
 
 void ImportExportGadgetWidget::on_exportButton_clicked()
 {
-    QString file = ui->configFile->path();
-    if (file.isEmpty()) {
-        QMessageBox msgBox;
-        msgBox.setText(tr("Empty File name."));
-        msgBox.setInformativeText(tr("Please choose an export file name."));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        return;
-    }
-    // Add a "XML" extension to the file in case it does not exist:
-    if (!file.endsWith(".xml"))
+	QString file = filename;
+	QString filter = tr("GCS Settings file (*.xml)");
+	file = QFileDialog::getSaveFileName(this, tr("Save GCS Settings too file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed();
+	if (file.isEmpty()) {
+		return;
+	}
+
+	// Add a "XML" extension to the file in case it does not exist:
+	if (!file.toLower().endsWith(".xml"))
         file.append(".xml");
 
+	filename = file;
+
     qDebug() << "Export pressed! Write to file " << QFileInfo(file).absoluteFilePath();
 
-    if ( QFileInfo(file).exists() ){
-        QMessageBox msgBox;
-        msgBox.setText(tr("File already exists."));
-        msgBox.setInformativeText(tr("Do you want to overwrite the existing file?"));
-        msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        if ( msgBox.exec() == QMessageBox::Ok ){
-            QFileInfo(file).absoluteDir().remove(QFileInfo(file).fileName());
-        }
-        else{
-            qDebug() << "Export canceled!";
-            return;
-        }
-    }
     QMessageBox msgBox;
     QDir dir = QFileInfo(file).absoluteDir();
     if (! dir.exists()) {
@@ -163,8 +148,17 @@ void ImportExportGadgetWidget::writeError(const QString& msg) const
 
 void ImportExportGadgetWidget::on_importButton_clicked()
 {
-    QString file = ui->configFile->path();
+	QString file = filename;
+	QString filter = tr("GCS Settings file (*.xml)");
+	file = QFileDialog::getOpenFileName(this, tr("Load GCS Settings from file .."), QFileInfo(file).absoluteFilePath(), filter).trimmed();
+	if (file.isEmpty()) {
+		return;
+	}
+
+	filename = file;
+
     qDebug() << "Import pressed! Read from file " << QFileInfo(file).absoluteFilePath();
+
     QMessageBox msgBox;
     if (! QFileInfo(file).isReadable()) {
         msgBox.setText(tr("Can't read file ") + QFileInfo(file).absoluteFilePath());
diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h
index ced46a059..bb6d46aa3 100644
--- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.h
@@ -41,8 +41,10 @@ private:
     void importConfiguration(const QString& fileName);
     QList<Core::IConfigurablePlugin*> getConfigurables();
 
+	QString filename;
+
 private slots:
-    void on_resetButton_clicked();
+	void on_resetButton_clicked();
     void on_helpButton_clicked();
     void on_importButton_clicked();
     void on_exportButton_clicked();
diff --git a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui
index c29461d5c..a4631aba0 100644
--- a/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui
+++ b/ground/openpilotgcs/src/plugins/importexport/importexportgadgetwidget.ui
@@ -7,162 +7,118 @@
     <x>0</x>
     <y>0</y>
     <width>483</width>
-    <height>271</height>
+    <height>174</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="0" colspan="2">
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
+  <layout class="QHBoxLayout" name="horizontalLayout_2">
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_2">
      <item>
-      <widget class="QLabel" name="label">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>Config File</string>
+      <widget class="QGroupBox" name="groupBoxItems">
+       <property name="title">
+        <string>Items</string>
        </property>
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <widget class="QCheckBox" name="checkBoxGeneral">
+          <property name="text">
+           <string>General (Workspace, Key-Bindings)</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="checkBoxAllGadgets">
+          <property name="text">
+           <string>All Gadgets</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QCheckBox" name="checkBoxPlugins">
+          <property name="text">
+           <string>Plugins</string>
+          </property>
+          <property name="checked">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
       </widget>
      </item>
      <item>
-      <widget class="Utils::PathChooser" name="configFile" native="true">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBoxItems">
-     <property name="title">
-      <string>Items</string>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
-      <item>
-       <widget class="QCheckBox" name="checkBoxGeneral">
-        <property name="text">
-         <string>General (Workspace, Key-Bindings)</string>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QCheckBox" name="checkBoxAllGadgets">
-        <property name="text">
-         <string>All Gadgets</string>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QCheckBox" name="checkBoxPlugins">
-        <property name="text">
-         <string>Plugins</string>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="2" column="0" colspan="2">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <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>
-     <item>
-      <widget class="QPushButton" name="helpButton">
-       <property name="maximumSize">
-        <size>
-         <width>32</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>32</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="exportButton">
-       <property name="toolTip">
-        <string>Export the GCS settings selected in the checkboxes above.</string>
-       </property>
-       <property name="text">
-        <string>Export</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="importButton">
-       <property name="toolTip">
-        <string>Import settings from the config file, only for the items checked above.</string>
-       </property>
-       <property name="text">
-        <string>Import</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="resetButton">
-       <property name="toolTip">
-        <string>Resets your GCS configuration to its default configuration.</string>
-       </property>
-       <property name="text">
-        <string>Reset Config</string>
-       </property>
-      </widget>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QPushButton" name="helpButton">
+         <property name="maximumSize">
+          <size>
+           <width>32</width>
+           <height>32</height>
+          </size>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="icon">
+          <iconset resource="../coreplugin/core.qrc">
+           <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>32</width>
+           <height>32</height>
+          </size>
+         </property>
+         <property name="flat">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="exportButton">
+         <property name="toolTip">
+          <string>Export the GCS settings selected in the checkboxes above.</string>
+         </property>
+         <property name="text">
+          <string>Export...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="importButton">
+         <property name="toolTip">
+          <string>Import settings from the config file, only for the items checked above.</string>
+         </property>
+         <property name="text">
+          <string>Import...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="resetButton">
+         <property name="toolTip">
+          <string>Resets your GCS configuration to its default configuration.</string>
+         </property>
+         <property name="text">
+          <string>Reset Config</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
- <customwidgets>
-  <customwidget>
-   <class>Utils::PathChooser</class>
-   <extends>QWidget</extends>
-   <header>utils/pathchooser.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
  <resources>
   <include location="../coreplugin/core.qrc"/>
  </resources>
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnection.pri b/ground/openpilotgcs/src/plugins/ipconnection/ipconnection.pri
index fc15b3efc..74f3f4380 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnection.pri
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnection.pri
@@ -1,3 +1,3 @@
 include(ipconnection_dependencies.pri)
 
-LIBS *= -l$$qtLibraryTarget(IPconnection)
+LIBS *= -l$$qtLibraryName(IPconnection)
diff --git a/ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp b/ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp
index d5e85ccae..6333c4e98 100644
--- a/ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp
@@ -76,11 +76,10 @@ QIODevice* LoggingConnection::openDevice(const QString &deviceName)
     if (logFile.isOpen()){
         logFile.close();
     }
-    QFileDialog * fd = new QFileDialog();
-    fd->setAcceptMode(QFileDialog::AcceptOpen);
-    fd->setNameFilter("OpenPilot Log (*.opl)");
-    connect(fd, SIGNAL(fileSelected(QString)), this, SLOT(startReplay(QString)));
-    fd->exec();
+    QString fileName = QFileDialog::getOpenFileName(NULL, tr("Open file"), QString(""), tr("OpenPilot Log (*.opl)"));
+    if (!fileName.isNull()) {
+        startReplay(fileName);
+    }
     return &logFile;
 }
 
diff --git a/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp
index 09ffafd5a..6e1b2858d 100644
--- a/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/modelview/modelviewgadgetwidget.cpp
@@ -291,16 +291,12 @@ void ModelViewGadgetWidget::updateAttitude()
 {
     AttitudeActual::DataFields data = attActual->getData(); // get attitude data
     GLC_StructOccurence* rootObject= m_World.rootOccurence(); // get the full 3D model
-    // create quaternions rotations for each axis
-    QQuaternion qX= QQuaternion::fromAxisAndAngle(QVector3D(1,0,0),data.Pitch);
-    QQuaternion qY= QQuaternion::fromAxisAndAngle(QVector3D(0,1,0),data.Roll);
-    QQuaternion qZ= QQuaternion::fromAxisAndAngle(QVector3D(0,0,1),data.Yaw);
-    QQuaternion quat= qX * qY * qZ; // create the quaternion of all the rotations
-    // pass values to simpler variables
-    double x= quat.vector().x();
-    double y= quat.vector().y();
-    double z= quat.vector().z();
-    double w= quat.scalar();
+    double x= data.q3;
+    double y= data.q2;
+    double z= data.q4;
+    double w= data.q1;
+    if (w == 0.0)
+        w = 1.0;
     // create and gives the product of 2 4x4 matrices to get the rotation of the 3D model's matrix
     QMatrix4x4 m1;
     m1.setRow(0, QVector4D(w,z,-y,x));
diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui
index 3d6d77045..b3f48432a 100644
--- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui
+++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui
@@ -31,7 +31,7 @@
    <property name="title">
     <string>Sound Collection</string>
    </property>
-   <widget class="QWidget" name="layoutWidget">
+   <widget class="QWidget" name="layoutWidget_2">
     <property name="geometry">
      <rect>
       <x>10</x>
diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index e58608301..7a86f53be 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -64,12 +64,20 @@ plugin_uavobjectbrowser.depends = plugin_coreplugin
 plugin_uavobjectbrowser.depends += plugin_uavobjects
 SUBDIRS += plugin_uavobjectbrowser
 
+!contains(QT_VERSION, ^4\\.8\\..*) {
 # ModelView UAVGadget
 plugin_modelview.subdir = modelview
 plugin_modelview.depends = plugin_coreplugin
 plugin_modelview.depends += plugin_uavobjects
 SUBDIRS += plugin_modelview
 
+#Notify gadget
+plugin_notify.subdir = notify
+plugin_notify.depends = plugin_coreplugin
+plugin_notify.depends += plugin_uavobjects
+SUBDIRS += plugin_notify
+}
+
 #Uploader gadget
 plugin_uploader.subdir = uploader
 plugin_uploader.depends = plugin_coreplugin
@@ -95,12 +103,6 @@ plugin_systemhealth.depends = plugin_coreplugin
 plugin_systemhealth.depends += plugin_uavobjects
 SUBDIRS += plugin_systemhealth
 
-#Notify gadget
-plugin_notify.subdir = notify
-plugin_notify.depends = plugin_coreplugin
-plugin_notify.depends += plugin_uavobjects
-SUBDIRS += plugin_notify
-
 #Config gadget
 plugin_config.subdir = config
 plugin_config.depends = plugin_coreplugin
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.pri b/ground/openpilotgcs/src/plugins/rawhid/rawhid.pri
index 2761db5be..4982d3408 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.pri
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.pri
@@ -1,3 +1,3 @@
 include(rawhid_dependencies.pri)
 
-LIBS *= -l$$qtLibraryTarget(RawHID)
+LIBS *= -l$$qtLibraryName(RawHID)
diff --git a/ground/openpilotgcs/src/plugins/scope/scope.pri b/ground/openpilotgcs/src/plugins/scope/scope.pri
index 99588122d..31dea2f41 100644
--- a/ground/openpilotgcs/src/plugins/scope/scope.pri
+++ b/ground/openpilotgcs/src/plugins/scope/scope.pri
@@ -1,3 +1,3 @@
-include(scope_dependencies.pri)
-
-LIBS *= -l$$qtLibraryTarget(ScopeGadget)
+include(scope_dependencies.pri)
+
+LIBS *= -l$$qtLibraryName(ScopeGadget)
diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serial.pri b/ground/openpilotgcs/src/plugins/serialconnection/serial.pri
index d14f80e74..2b5291336 100644
--- a/ground/openpilotgcs/src/plugins/serialconnection/serial.pri
+++ b/ground/openpilotgcs/src/plugins/serialconnection/serial.pri
@@ -1,3 +1,3 @@
 include(serial_dependencies.pri)
 
-LIBS *= -l$$qtLibraryTarget(Serial)
+LIBS *= -l$$qtLibraryName(Serial)
diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
index 408b9e1ae..e62afb44a 100644
--- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
@@ -165,8 +165,7 @@ void SerialConnection::closeDevice(const QString &deviceName)
     Q_UNUSED(deviceName);
     //we have to delete the serial connection we created
     if (serialHandle){
-        serialHandle->close ();
-        delete(serialHandle);
+        serialHandle->deleteLater();
         serialHandle = NULL;
         m_deviceOpened = false;
     }
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pri b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pri
index a6a378a1d..dbe866573 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pri
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pri
@@ -1,6 +1,6 @@
-include(uavobjects_dependencies.pri)
-
-# Add the include path to the built-in uavobject include files.
-INCLUDEPATH += $$PWD
-
-LIBS *= -l$$qtLibraryTarget(UAVObjects)
+include(uavobjects_dependencies.pri)
+
+# Add the include path to the built-in uavobject include files.
+INCLUDEPATH += $$PWD
+
+LIBS *= -l$$qtLibraryName(UAVObjects)
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 8bd7420be..9c6188fad 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -68,6 +68,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/nedaccel.h \
     $$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
     $$UAVOBJECT_SYNTHETICS/flightstatus.h \
+    $$UAVOBJECT_SYNTHETICS/hwsettings.h \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.h
 
 SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
@@ -116,4 +117,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \
     $$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
     $$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
+    $$UAVOBJECT_SYNTHETICS/hwsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
new file mode 100644
index 000000000..c44fb73c0
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -0,0 +1,36 @@
+#ifndef DEVICEDESCRIPTORSTRUCT_H
+#define DEVICEDESCRIPTORSTRUCT_H
+
+#include <QString>
+struct deviceDescriptorStruct
+{
+public:
+       QString gitTag;
+       QString buildDate;
+       QString description;
+       int boardType;
+       int boardRevision;
+       static QString idToBoardName(int id)
+       {
+           switch (id | 0x0011) {
+           case 0x0111://MB
+               return QString("OpenPilot MainBoard");
+               break;
+           case 0x0311://PipX
+               return QString("PipXtreame");
+               break;
+           case 0x0411://Coptercontrol
+               return QString("CopterControl");
+               break;
+           case 0x0211://INS
+               return QString("OpenPilot INS");
+               break;
+           default:
+               return QString("");
+               break;
+           }
+       }
+        deviceDescriptorStruct(){}
+};
+
+#endif // DEVICEDESCRIPTORSTRUCT_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pri b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pri
index fde2f6de0..3890b284a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pri
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pri
@@ -1,6 +1,6 @@
-include(uavobjectutil_dependencies.pri)
-
-# Add the include path to the built-in uavobject include files.
-INCLUDEPATH += $$PWD
-
-LIBS *= -l$$qtLibraryTarget(UAVObjectUtil)
+include(uavobjectutil_dependencies.pri)
+
+# Add the include path to the built-in uavobject include files.
+INCLUDEPATH += $$PWD
+
+LIBS *= -l$$qtLibraryName(UAVObjectUtil)
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pro b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pro
index 2776a2d25..92e490542 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pro
@@ -6,7 +6,8 @@ include(uavobjectutil_dependencies.pri)
 
 HEADERS += uavobjectutil_global.h \
 	uavobjectutilmanager.h \
-    uavobjectutilplugin.h
+    uavobjectutilplugin.h \
+   devicedescriptorstruct.h
 
 SOURCES += uavobjectutilmanager.cpp \
     uavobjectutilplugin.cpp
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index e86d4794b..b5070c269 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -261,18 +261,45 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial()
     loop.exec();
 
     UAVObjectField* cpuField = obj->getField("CPUSerial");
-    for (int i = 0; i < cpuField->getNumElements(); ++i) {
+    for (uint i = 0; i < cpuField->getNumElements(); ++i) {
         cpuSerial.append(cpuField->getValue(i).toUInt());
     }
     return cpuSerial;
 }
 
+quint32 UAVObjectUtilManager::getFirmwareCRC()
+{
+    quint32 fwCRC;
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    if (!pm)
+        return 0;
+    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    if (!om)
+        return 0;
+
+    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
+    obj->getField("crc")->setValue(0);
+    obj->updated();
+    // The code below will ask for the object update and wait for the updated to be received,
+    // or the timeout of the timer, set to 1 second.
+    QEventLoop loop;
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
+    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
+    obj->requestUpdate();
+    loop.exec();
+
+    UAVObjectField* fwCRCField = obj->getField("crc");
+
+    fwCRC=(quint32)fwCRCField->getValue().toLongLong();
+    return fwCRC;
+}
+
 /**
   * Get the UAV Board Description, for anyone interested.
   */
-QString UAVObjectUtilManager::getBoardDescription()
+QByteArray UAVObjectUtilManager::getBoardDescription()
 {
-    QString description;
+    QByteArray ret;
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     if (!pm)
         return 0;
@@ -291,10 +318,10 @@ QString UAVObjectUtilManager::getBoardDescription()
 
     UAVObjectField* descriptionField = obj->getField("Description");
     // Description starts with an offset of
-    for (int i = 14; i < descriptionField->getNumElements(); ++i) {
-        description.append(descriptionField->getValue(i).toChar());
+    for (uint i = 0; i < descriptionField->getNumElements(); ++i) {
+        ret.append(descriptionField->getValue(i).toInt());
     }
-    return description;
+    return ret;
 }
 
 
@@ -625,4 +652,51 @@ int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
 	return 0;	// OK
 }
 
+deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
+{
+    deviceDescriptorStruct ret;
+    descriptionToStructure(getBoardDescription(),&ret);
+    return ret;
+}
+
+bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
+{
+       if (desc.startsWith("OpFw")) {
+           // This looks like a binary with a description at the end
+           /*
+            #  4 bytes: header: "OpFw"
+            #  4 bytes: GIT commit tag (short version of SHA1)
+            #  4 bytes: Unix timestamp of compile time
+            #  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
+            #  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
+            #   ---- 40 bytes limit ---
+            #  20 bytes: SHA1 sum of the firmware.
+            #  40 bytes: free for now.
+            */
+
+           // Note: the ARM binary is big-endian:
+           quint32 gitCommitTag = desc.at(7)&0xFF;
+           for (int i=1;i<4;i++) {
+               gitCommitTag = gitCommitTag<<8;
+               gitCommitTag += desc.at(7-i) & 0xFF;
+           }
+           struc->gitTag=QString::number(gitCommitTag,16);
+           quint32 buildDate = desc.at(11)&0xFF;
+           for (int i=1;i<4;i++) {
+               buildDate = buildDate<<8;
+               buildDate += desc.at(11-i) & 0xFF;
+           }
+           struc->buildDate= QDateTime::fromTime_t(buildDate).toUTC().toString("yyyyMMdd HH:mm");
+           QByteArray targetPlatform = desc.mid(12,2);
+           // TODO: check platform compatibility
+           QString dscText = QString(desc.mid(14,26));
+           struc->boardType=(int)targetPlatform.at(0);
+           struc->boardRevision=(int)targetPlatform.at(1);
+           struc->description=dscText;
+           return true;
+       }
+       return false;
+
+}
+
 // ******************************
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
index de61068ca..6c7782b25 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
@@ -35,14 +35,14 @@
 #include "uavobjectmanager.h"
 #include "uavobject.h"
 #include "objectpersistence.h"
-
+#include "devicedescriptorstruct.h"
 #include <QtGlobal>
 #include <QObject>
 #include <QTimer>
 #include <QMutex>
 #include <QQueue>
 #include <QComboBox>
-
+#include <QDateTime>
 class UAVOBJECTUTIL_EXPORT UAVObjectUtilManager: public QObject
 {
     Q_OBJECT
@@ -63,7 +63,10 @@ public:
 
         int getBoardModel();
         QByteArray getBoardCPUSerial();
-        QString getBoardDescription();
+        quint32 getFirmwareCRC();
+        QByteArray getBoardDescription();
+        deviceDescriptorStruct getBoardDescriptionStruct();
+        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
         UAVObjectManager* getObjectManager();
         void saveObjectToSD(UAVObject *obj);
 
diff --git a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp
index f3c48c969..342b845e9 100644
--- a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp
+++ b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.cpp
@@ -86,7 +86,15 @@ bool UAVSettingsImportExportPlugin::initialize(const QStringList& args, QString
     ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
     connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(importUAVSettings()));
 
-   return true; 
+    cmd = am->registerAction(new QAction(this),
+                             "UAVSettingsImportExportPlugin.UAVDataExport",
+                             QList<int>() <<
+                             Core::Constants::C_GLOBAL_ID);
+    cmd->action()->setText(tr("Export UAV Data..."));
+    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
+    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
+
+    return true;
 } 
 
 void UAVSettingsImportExportPlugin::extensionsInitialized() 
@@ -199,40 +207,35 @@ void UAVSettingsImportExportPlugin::importUAVSettings()
 
 }
 
-// Slot called by the menu manager on user action
-void UAVSettingsImportExportPlugin::exportUAVSettings()
+// Create an XML document from UAVObject database
+QString UAVSettingsImportExportPlugin::createXMLDocument(
+        const QString docName, const bool isSettings, const bool fullExport)
 {
-    // ask for file name
-    QString fileName;
-    QString filters = tr("UAVSettings XML files (*.uav)");
-
-    fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
-    if (fileName.isEmpty()) {
-        return;
-    }
-
-    bool fullExport = false;
-    // If the filename ends with .xml, we will do a full export, otherwise, a simple export
-    if (fileName.endsWith(".xml")) {
-        fullExport = true;
-    } else if (!fileName.endsWith(".uav")) {
-        fileName.append(".uav");
-    }
-
     // generate an XML first (used for all export formats as a formatted data source)
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
-    QDomDocument doc("UAVSettings");
-    QDomElement root = doc.createElement("settings");
+    QDomDocument doc(docName);
+    QDomElement root = doc.createElement(isSettings ? "settings" : "data");
     doc.appendChild(root);
+    QDomElement versionInfo =doc.createElement("versionInfo");
+    root.appendChild(versionInfo);
+    QDomElement fw=doc.createElement("Embedded");
+    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
 
+    fw.setAttribute("gitcommittag",utilMngr->getBoardDescriptionStruct().gitTag);
+    fw.setAttribute("fwtag",utilMngr->getBoardDescriptionStruct().description);
+    fw.setAttribute("cpuSerial",QString(utilMngr->getBoardCPUSerial().toHex()));
+
+    versionInfo.appendChild(fw);
+    QDomElement gcs=doc.createElement("GCS");
+    gcs.setAttribute("revision",QString::fromLatin1(Core::Constants::GCS_REVISION_STR));
+    versionInfo.appendChild(gcs);
     // iterate over settings objects
     QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
-
     foreach (QList<UAVDataObject*> list, objList) {
         foreach (UAVDataObject* obj, list) {
-            if (obj->isSettings()) {
+            if (obj->isSettings() == isSettings) {
 
                 // add each object to the XML
                 QDomElement o = doc.createElement("object");
@@ -275,10 +278,37 @@ void UAVSettingsImportExportPlugin::exportUAVSettings()
             }
         }
     }
+
+    return doc.toString(4);
+}
+
+// Slot called by the menu manager on user action
+void UAVSettingsImportExportPlugin::exportUAVSettings()
+{
+    // ask for file name
+    QString fileName;
+    QString filters = tr("UAVSettings XML files (*.uav)");
+
+    fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Settings File As"), "", filters);
+    if (fileName.isEmpty()) {
+        return;
+    }
+
+    bool fullExport = false;
+    // If the filename ends with .xml, we will do a full export, otherwise, a simple export
+    if (fileName.endsWith(".xml")) {
+        fullExport = true;
+    } else if (!fileName.endsWith(".uav")) {
+        fileName.append(".uav");
+    }
+
+    // generate an XML first (used for all export formats as a formatted data source)
+    QString xml = createXMLDocument("UAVSettings", true, fullExport);
+
     // save file
     QFile file(fileName);
     if (file.open(QIODevice::WriteOnly) &&
-            (file.write(doc.toString(4).toAscii()) != -1)) {
+            (file.write(xml.toAscii()) != -1)) {
         file.close();
     } else {
         QMessageBox::critical(0,
@@ -294,7 +324,58 @@ void UAVSettingsImportExportPlugin::exportUAVSettings()
     msgBox.exec();
 }
 
-void UAVSettingsImportExportPlugin::shutdown() 
+// Slot called by the menu manager on user action
+void UAVSettingsImportExportPlugin::exportUAVData()
+{
+    if (QMessageBox::question(0, tr("Are you sure?"),
+        tr("This option is only useful for passing your current "
+           "system data to the technical support staff. "
+           "Do you really want to export?"),
+           QMessageBox::Ok | QMessageBox::Cancel,
+           QMessageBox::Ok) != QMessageBox::Ok) {
+        return;
+    }
+
+    // ask for file name
+    QString fileName;
+    QString filters = tr("UAVData XML files (*.uav)");
+
+    fileName = QFileDialog::getSaveFileName(0, tr("Save UAV Data File As"), "", filters);
+    if (fileName.isEmpty()) {
+        return;
+    }
+
+    bool fullExport = false;
+    // If the filename ends with .xml, we will do a full export, otherwise, a simple export
+    if (fileName.endsWith(".xml")) {
+        fullExport = true;
+    } else if (!fileName.endsWith(".uav")) {
+        fileName.append(".uav");
+    }
+
+    // generate an XML first (used for all export formats as a formatted data source)
+    QString xml = createXMLDocument("UAVData", false, fullExport);
+
+    // save file
+    QFile file(fileName);
+    if (file.open(QIODevice::WriteOnly) &&
+            (file.write(xml.toAscii()) != -1)) {
+        file.close();
+    } else {
+        QMessageBox::critical(0,
+                              tr("UAV Data Export"),
+                              tr("Unable to save data: ") + fileName,
+                              QMessageBox::Ok);
+        return;
+    }
+
+    QMessageBox msgBox;
+    msgBox.setText(tr("Data saved."));
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.exec();
+}
+
+void UAVSettingsImportExportPlugin::shutdown()
 { 
    // Do nothing 
 }
diff --git a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h
index 17804326a..ff8972227 100644
--- a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h
+++ b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.h
@@ -30,7 +30,7 @@
 #include <extensionsystem/iplugin.h> 
 #include "uavobjectutil/uavobjectutilmanager.h"
 #include "importsummary.h"
-
+#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
 class UAVSettingsImportExportPlugin : public ExtensionSystem::IPlugin 
 { 
     Q_OBJECT
@@ -43,9 +43,15 @@ public:
    bool initialize(const QStringList & arguments, QString * errorString); 
    void shutdown(); 
 
+private:
+   QString createXMLDocument(const QString docName,
+                             const bool isSettings,
+                             const bool fullExport);
+
 private slots:
    void importUAVSettings();
    void exportUAVSettings();
+   void exportUAVData();
 
 }; 
 
diff --git a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro
index b653864ed..fcdc11ae6 100644
--- a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro
+++ b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexport.pro
@@ -6,7 +6,7 @@ TARGET = UAVSettingsImportExport
  
 include(../../openpilotgcsplugin.pri)
 include(uavsettingsimportexport_dependencies.pri)
- 
+
 HEADERS += uavsettingsimportexport.h \
     importsummary.h
 SOURCES += uavsettingsimportexport.cpp \
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pri b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pri
index addc16a2a..aeb4173aa 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pri
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pri
@@ -1,3 +1,3 @@
-include(uavtalk_dependencies.pri)
-
-LIBS *= -l$$qtLibraryTarget(UAVTalk)
+include(uavtalk_dependencies.pri)
+
+LIBS *= -l$$qtLibraryName(UAVTalk)
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index a5c68e252..e2300bdcd 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -34,16 +34,18 @@ deviceWidget::deviceWidget(QWidget *parent) :
     devicePic = NULL; // Initialize pointer to null
 
     // Initialization of the Device icon display
-    myDevice->devicePicture->setScene(new QGraphicsScene(this));
-
-    connect(myDevice->verifyButton, SIGNAL(clicked()), this, SLOT(verifyFirmware()));
+    myDevice->verticalGroupBox_loaded->setVisible(false);
+    myDevice->groupCustom->setVisible(false);
+    myDevice->youdont->setVisible(false);
+    myDevice->gVDevice->setScene(new QGraphicsScene(this));
     connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware()));
     connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware()));
-
+    connect(myDevice->pbLoad, SIGNAL(clicked()), this, SLOT(loadFirmware()));
+    connect(myDevice->youdont, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
     QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
     myDevice->statusIcon->setPixmap(pix);
 
-    myDevice->certifiedFW->setText("");
+    myDevice->lblCertified->setText("");
 }
 
 
@@ -54,14 +56,16 @@ void deviceWidget::showEvent(QShowEvent *event)
     // widget is shown, otherwise it cannot compute its values and
     // the result is usually a ahrsbargraph that is way too small.
     if (devicePic)
-       myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
+    {
+        myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
+    }
 }
 
 void deviceWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
     if (devicePic)
-        myDevice->devicePicture->fitInView(devicePic, Qt::KeepAspectRatio);
+        myDevice->gVDevice->fitInView(devicePic, Qt::KeepAspectRatio);
 }
 
 
@@ -74,21 +78,43 @@ void deviceWidget::setDfu(DFUObject *dfu)
     m_dfu = dfu;
 }
 
+QString deviceWidget::idToBoardName(int id)
+{
+    switch (id | 0x0011) {
+    case 0x0111://MB
+        return QString("OpenPilot MainBoard");
+        break;
+    case 0x0311://PipX
+        return QString("PipXtreme");
+        break;
+    case 0x0411://Coptercontrol
+        return QString("CopterControl");
+        break;
+    case 0x0211://INS
+        return QString("OpenPilot INS");
+        break;
+    default:
+        return QString("");
+        break;
+    }
+}
+
 /**
   Fills the various fields for the device
   */
 void deviceWidget::populate()
 {
+
     int id = m_dfu->devices[deviceID].ID;
-    myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16));
+    myDevice->lbldevID->setText(QString("Device ID: ") + QString::number(id, 16));
     // DeviceID tells us what sort of HW we have detected:
     // display a nice icon:
-    myDevice->devicePicture->scene()->clear();
-    if (devicePic)
-        delete devicePic;
+    myDevice->gVDevice->scene()->clear();
+    myDevice->lblDevName->setText(deviceDescriptorStruct::idToBoardName(id));
+    myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16));
+
     devicePic = new QGraphicsSvgItem();
     devicePic->setSharedRenderer(new QSvgRenderer());
-
     switch (id) {
     case 0x0101:
         devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg"));
@@ -106,35 +132,35 @@ void deviceWidget::populate()
         break;
     }
     devicePic->setElementId("device");
-    myDevice->devicePicture->scene()->addItem(devicePic);
-    myDevice->devicePicture->setSceneRect(devicePic->boundingRect());
-    myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
+    myDevice->gVDevice->scene()->addItem(devicePic);
+    myDevice->gVDevice->setSceneRect(devicePic->boundingRect());
+    myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
 
     bool r = m_dfu->devices[deviceID].Readable;
     bool w = m_dfu->devices[deviceID].Writable;
-    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));
 
+    myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
+    myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
+    myDevice->lblCRC->setText(QString::number(m_dfu->devices[deviceID].FW_CRC));
+    myDevice->lblBLVer->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);
     QByteArray desc = m_dfu->DownloadDescriptionAsBA(size);
-    if (! populateStructuredDescription(desc)) {
+
+    if (! populateBoardStructuredDescription(desc)) {
+        //TODO
         // desc was not a structured description
         QString str = m_dfu->DownloadDescription(size);
-        myDevice->description->setMaxLength(size);
-        myDevice->description->setText(str.left(str.indexOf(QChar(255))));
-        QPixmap pix = QPixmap(QString(":uploader/images/gtk-info.svg"));
-        myDevice->certifiedFW->setPixmap(pix);
-        myDevice->certifiedFW->setToolTip(tr("Custom Firmware Build"));
-        myDevice->buildDate->setText("Warning: development firmware");
-        myDevice->commitTag->setText("");
+        myDevice->lblDescription->setText(QString("Firmware custom description: ")+str.left(str.indexOf(QChar(255))));
+        QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
+        myDevice->lblCertified->setPixmap(pix);
+        myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
+        myDevice->lblBuildDate->setText("Warning: development firmware");
+        myDevice->lblGitTag->setText("");
+        myDevice->lblBrdName->setText("");
     }
 
-
     status("Ready...", STATUSICON_INFO);
-
 }
 
 /**
@@ -143,61 +169,75 @@ void deviceWidget::populate()
   */
 void deviceWidget::freeze()
 {
-   myDevice->description->setEnabled(false);
-   myDevice->updateButton->setEnabled(false);
-   myDevice->verifyButton->setEnabled(false);
-   myDevice->retrieveButton->setEnabled(false);
+    myDevice->description->setEnabled(false);
+    myDevice->updateButton->setEnabled(false);
+    myDevice->retrieveButton->setEnabled(false);
 }
 
-
 /**
   Populates the widget field with the description in case
   it is structured properly
   */
-bool deviceWidget::populateStructuredDescription(QByteArray desc)
+bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
 {
-    if (desc.startsWith("OpFw")) {
-        // This looks like a binary with a description at the end
-        /*
-        #  4 bytes: header: "OpFw"
-        #  4 bytes: GIT commit tag (short version of SHA1)
-        #  4 bytes: Unix timestamp of compile time
-        #  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
-        #  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
-        #   ---- 40 bytes limit ---
-        #  20 bytes: SHA1 sum of the firmware.
-        #  40 bytes: free for now.
-        */
+    if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescrition))
+    {
+        myDevice->lblGitTag->setText(onBoardDescrition.gitTag);
+        myDevice->lblBuildDate->setText(onBoardDescrition.buildDate);
+        if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive))
+        {
+            myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
+            myDevice->lblCertified->setPixmap(pix);
+            myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
 
-        // Note: the ARM binary is big-endian:
-        quint32 gitCommitTag = desc.at(7)&0xFF;
-        for (int i=1;i<4;i++) {
-            gitCommitTag = gitCommitTag<<8;
-            gitCommitTag += desc.at(7-i) & 0xFF;
         }
-        myDevice->commitTag->setText("GIT tag 0x" + QString::number(gitCommitTag,16));
-        quint32 buildDate = desc.at(11)&0xFF;
-        for (int i=1;i<4;i++) {
-            buildDate = buildDate<<8;
-            buildDate += desc.at(11-i) & 0xFF;
+        else
+        {
+            myDevice->lblDescription->setText(onBoardDescrition.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
+            myDevice->lblCertified->setPixmap(pix);
+            myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
         }
 
-        myDevice->buildDate->setText(QString("Build time: ") + QDateTime::fromTime_t(buildDate).toString());
-        QByteArray targetPlatform = desc.mid(12,2);
-        // TODO: check platform compatibility
-        QString dscText = QString(desc.mid(14,26));
-        myDevice->description->setText(dscText);
+        myDevice->lblBrdName->setText(idToBoardName(onBoardDescrition.boardType<<8));
 
-        QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
-        myDevice->certifiedFW->setPixmap(pix);
-        myDevice->certifiedFW->setToolTip(tr("Official Firmware Build"));
         return true;
     }
 
     return false;
 
 }
+bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
+{
+    if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescrition))
+    {
+        myDevice->lblGitTagL->setText(LoadedDescrition.gitTag);
+        myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate);
+        if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
+        {
+            myDevice->lblDescritpionL->setText(LoadedDescrition.description);
+            myDevice->description->setText(LoadedDescrition.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
+            myDevice->lblCertifiedL->setPixmap(pix);
+            myDevice->lblCertifiedL->setToolTip(tr("Tagged officially released firmware build"));
+        }
+        else
+        {
+            myDevice->lblDescritpionL->setText(LoadedDescrition.description);
+            myDevice->description->setText(LoadedDescrition.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
+            myDevice->lblCertifiedL->setPixmap(pix);
+            myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build"));
+        }
+        myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescrition.boardType<<8));
 
+        return true;
+    }
+
+    return false;
+
+}
 /**
   Updates status message for messages coming from DFU
   */
@@ -206,6 +246,16 @@ void deviceWidget::dfuStatus(QString str)
     status(str, STATUSICON_RUNNING);
 }
 
+void deviceWidget::confirmCB(int value)
+{
+    if(value==Qt::Checked)
+    {
+        myDevice->updateButton->setEnabled(true);
+    }
+    else
+        myDevice->updateButton->setEnabled(false);
+}
+
 /**
   Updates status message
   */
@@ -229,11 +279,74 @@ void deviceWidget::status(QString str, StatusIcon ic)
     myDevice->statusIcon->setPixmap(px);
 }
 
-/**
-  Verifies the firmware CRC
-  */
-void deviceWidget::verifyFirmware()
+
+void deviceWidget::loadFirmware()
 {
+    myDevice->verticalGroupBox_loaded->setVisible(false);
+    myDevice->groupCustom->setVisible(false);
+
+    filename = setOpenFileName();
+
+    if (filename.isEmpty()) {
+        status("Empty filename", STATUSICON_FAIL);
+        return;
+    }
+
+    QFile file(filename);
+    if (!file.open(QIODevice::ReadOnly)) {
+        status("Can't open file", STATUSICON_FAIL);
+        return;
+    }
+
+    loadedFW = file.readAll();
+    myDevice->youdont->setVisible(false);
+    myDevice->youdont->setChecked(false);
+    QByteArray desc = loadedFW.right(100);
+    QPixmap px;
+    myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
+    //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
+    if (populateLoadedStructuredDescription(desc))
+    {
+        myDevice->youdont->setChecked(true);
+        myDevice->verticalGroupBox_loaded->setVisible(true);
+        myDevice->groupCustom->setVisible(false);
+        if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
+        {
+            myDevice->statusLabel->setText(tr("The board has the same firmware as loaded. No need to update"));
+            px.load(QString(":/uploader/images/warning.svg"));
+        }
+        else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
+        {
+            myDevice->statusLabel->setText(tr("WARNING: the loaded firmware is for different hardware. Do not update!"));
+            px.load(QString(":/uploader/images/error.svg"));
+        }
+        else if(QDateTime::fromString(onBoardDescrition.buildDate)>QDateTime::fromString(LoadedDescrition.buildDate))
+        {
+            myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
+            px.load(QString(":/uploader/images/warning.svg"));
+        }
+        else if(!LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
+        {
+            myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)"));
+            px.load(QString(":/uploader/images/warning.svg"));
+        }
+        else
+        {
+            myDevice->statusLabel->setText(tr("This is the tagged officially released OpenPilot firmware"));
+            px.load(QString(":/uploader/images/gtk-info.svg"));
+        }
+    }
+    else
+    {
+        myDevice->statusLabel->setText(tr("WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing"));
+        px.load(QString(":/uploader/images/error.svg"));
+        myDevice->youdont->setChecked(false);
+        myDevice->youdont->setVisible(true);
+        myDevice->verticalGroupBox_loaded->setVisible(false);
+        myDevice->groupCustom->setVisible(true);
+    }
+    myDevice->statusIcon->setPixmap(px);
+    //myDevice->updateButton->setEnabled(true);
 
 }
 
@@ -253,22 +366,8 @@ void deviceWidget::uploadFirmware()
         verify = true;
      */
 
-    QString filename = setOpenFileName();
-
-    if (filename.isEmpty()) {
-        status("Empty filename", STATUSICON_FAIL);
-        return;
-    }
-
-    QFile file(filename);
-    if (!file.open(QIODevice::ReadOnly)) {
-        status("Can't open file", STATUSICON_FAIL);
-        return;
-    }
-
-    QByteArray arr = file.readAll();
-    QByteArray desc = arr.right(100);
-    if (populateStructuredDescription(desc)) {
+    QByteArray desc = loadedFW.right(100);
+    if (desc.startsWith("OpFw")) {
         descriptionArray = desc;
         // Now do sanity checking:
         // - Check whether board type matches firmware:
@@ -280,7 +379,7 @@ void deviceWidget::uploadFirmware()
         }
         // Check the firmware embedded in the file:
         QByteArray firmwareHash = desc.mid(40,20);
-        QByteArray fileHash = QCryptographicHash::hash(arr.left(arr.length()-100), QCryptographicHash::Sha1);
+        QByteArray fileHash = QCryptographicHash::hash(loadedFW.left(loadedFW.length()-100), QCryptographicHash::Sha1);
         if (firmwareHash != fileHash) {
             status("Error: firmware file corrupt", STATUSICON_FAIL);
             return;
@@ -307,7 +406,7 @@ void deviceWidget::uploadFirmware()
     connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
     connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString)));
     connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
-    bool retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID);
+    bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID);
     if(!retstatus ) {
         status("Could not start upload", STATUSICON_FAIL);
         return;
@@ -370,27 +469,27 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
         status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
         return;
     } else
-    if (!descriptionArray.isEmpty()) {
-        // We have a structured array to save
-        status(QString("Updating description"), STATUSICON_RUNNING);
-        repaint(); // Make sure the text above shows right away
-        retstatus = m_dfu->UploadDescription(descriptionArray);
-        if( retstatus != OP_DFU::Last_operation_Success) {
-            status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
-            return;
+        if (!descriptionArray.isEmpty()) {
+            // We have a structured array to save
+            status(QString("Updating description"), STATUSICON_RUNNING);
+            repaint(); // Make sure the text above shows right away
+            retstatus = m_dfu->UploadDescription(descriptionArray);
+            if( retstatus != OP_DFU::Last_operation_Success) {
+                status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
+                return;
+            }
+
+        } else if (!myDevice->description->text().isEmpty()) {
+            // Fallback: we save the description field:
+            status(QString("Updating description"), STATUSICON_RUNNING);
+            repaint(); // Make sure the text above shows right away
+            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(), STATUSICON_FAIL);
+                return;
+            }
         }
-
-    } else if (!myDevice->description->text().isEmpty()) {
-       // Fallback: we save the description field:
-       status(QString("Updating description"), STATUSICON_RUNNING);
-       repaint(); // Make sure the text above shows right away
-       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(), STATUSICON_FAIL);
-           return;
-       }
-    }
-
+    populate();
     status("Upload successful", STATUSICON_OK);
 
 }
@@ -415,7 +514,7 @@ QString deviceWidget::setOpenFileName()
     QString fileName = QFileDialog::getOpenFileName(this,
                                                     tr("Select firmware file"),
                                                     "",
-                                                    tr("Firmware Files (*.bin *.opfw)"),
+                                                    tr("Firmware Files (*.opfw *.bin)"),
                                                     &selectedFilter,
                                                     options);
     return fileName;
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
index 68905c0c2..772216e3b 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
@@ -38,9 +38,9 @@
 #include <QtSvg/QGraphicsSvgItem>
 #include <QtSvg/QSvgRenderer>
 #include <QCryptographicHash>
-
+#include "uavobjectutilmanager.h"
+#include "devicedescriptorstruct.h"
 using namespace OP_DFU;
-
 class deviceWidget : public QWidget
 {
     Q_OBJECT
@@ -54,6 +54,10 @@ public:
     QString setOpenFileName();
     QString setSaveFileName();
 private:
+    deviceDescriptorStruct onBoardDescrition;
+    deviceDescriptorStruct LoadedDescrition;
+    QByteArray loadedFW;
+    QString idToBoardName(int id);
     Ui_deviceWidget *myDevice;
     int deviceID;
     DFUObject *m_dfu;
@@ -62,19 +66,20 @@ private:
     QGraphicsSvgItem *devicePic;
     QByteArray descriptionArray;
     void status(QString str, StatusIcon ic);
-    bool populateStructuredDescription(QByteArray arr);
-
+    bool populateBoardStructuredDescription(QByteArray arr);
+    bool populateLoadedStructuredDescription(QByteArray arr);
 
 signals:
 
 public slots:
-    void verifyFirmware();
     void uploadFirmware();
+    void loadFirmware();
     void downloadFirmware();
     void setProgress(int);
     void downloadFinished();
     void uploadFinished(OP_DFU::Status);
     void dfuStatus(QString);
+    void confirmCB(int);
 
 protected:
     void showEvent(QShowEvent *event);
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
index ec45f52df..c5c7a807e 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>516</width>
-    <height>253</height>
+    <width>576</width>
+    <height>500</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -15,165 +15,394 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <layout class="QGridLayout" name="gridLayout">
-     <item row="2" column="0" colspan="3">
-      <widget class="QLineEdit" name="description">
-       <property name="readOnly">
+    <widget class="QGroupBox" name="verticalGroupBox_4">
+     <property name="title">
+      <string>Device Information</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_7">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_6">
+        <item>
+         <widget class="QGraphicsView" name="gVDevice">
+          <property name="maximumSize">
+           <size>
+            <width>160</width>
+            <height>160</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background: transparent</string>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::NoFrame</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_10">
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_7">
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <item>
+               <widget class="QLabel" name="lblDevName">
+                <property name="text">
+                 <string>lblDevName</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="lbldevID">
+                <property name="text">
+                 <string>DeviceID</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="lblHWRev">
+                <property name="text">
+                 <string>lblHWRev</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="lblAccess">
+                <property name="text">
+                 <string>RW</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="lblBLVer">
+                <property name="text">
+                 <string>BL Version</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="lblMaxCode">
+                <property name="text">
+                 <string>MaxCodeSize</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout_6">
+              <item>
+               <widget class="QPushButton" name="pbLoad">
+                <property name="toolTip">
+                 <string>Open a file with new firmware image to be flashed</string>
+                </property>
+                <property name="text">
+                 <string>Open...</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="youdont">
+                <property name="text">
+                 <string>I know what I'm doing</string>
+                </property>
+                <property name="checked">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="updateButton">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="toolTip">
+                 <string>Write loaded firmware image to the board</string>
+                </property>
+                <property name="text">
+                 <string>Flash</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="retrieveButton">
+                <property name="toolTip">
+                 <string>Read and save current board firmware to a file</string>
+                </property>
+                <property name="text">
+                 <string>Retrieve...</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QProgressBar" name="progressBar">
+            <property name="value">
+             <number>0</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QLabel" name="statusIcon">
+          <property name="text">
+           <string>ic</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="statusLabel">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="font">
+           <font>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Status</string>
+          </property>
+          <property name="wordWrap">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_4">
+     <item>
+      <widget class="QGroupBox" name="groupBox">
+       <property name="title">
+        <string>Firmware:</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_9">
+        <item>
+         <widget class="QLabel" name="label_2">
+          <property name="text">
+           <string>Board name:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>Description:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_4">
+          <property name="text">
+           <string>Build date:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_3">
+          <property name="text">
+           <string>Git tag:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label">
+          <property name="text">
+           <string>CRC:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <widget class="QGroupBox" name="verticalGroupBox_3">
+       <property name="title">
+        <string>On Device</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_5">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_8">
+            <item>
+             <widget class="QLabel" name="lblBrdName">
+              <property name="text">
+               <string>lblBrdName</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblDescription">
+              <property name="text">
+               <string>lblDescription</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblBuildDate">
+              <property name="text">
+               <string>lblBuildDate</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblGitTag">
+              <property name="text">
+               <string>lblGitTag</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblCRC">
+              <property name="text">
+               <string>lblCRC</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QLabel" name="lblCertified">
+            <property name="text">
+             <string>lblCertified</string>
+            </property>
+            <property name="scaledContents">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <widget class="QGroupBox" name="verticalGroupBox_loaded">
+       <property name="enabled">
         <bool>true</bool>
        </property>
-      </widget>
-     </item>
-     <item row="4" column="0">
-      <widget class="QLabel" name="deviceID">
-       <property name="text">
-        <string>DeviceID</string>
+       <property name="title">
+        <string>Loaded</string>
        </property>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_3">
+            <item>
+             <widget class="QLabel" name="lblBrdNameL">
+              <property name="text">
+               <string>lblBrdName</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblDescritpionL">
+              <property name="text">
+               <string>lblDescritpionL</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblBuildDateL">
+              <property name="text">
+               <string>lblBuildDate</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblGitTagL">
+              <property name="text">
+               <string>lblGitTag</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="lblCRCL">
+              <property name="text">
+               <string>lblCRC</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="QLabel" name="lblCertifiedL">
+            <property name="text">
+             <string>lblCertifiedL</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
       </widget>
      </item>
-     <item row="8" column="0" colspan="2">
-      <widget class="QProgressBar" name="progressBar">
-       <property name="value">
-        <number>0</number>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
        </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QLabel" name="deviceACL">
-       <property name="text">
-        <string>ReadWrite</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="2" rowspan="3">
-      <widget class="QGraphicsView" name="devicePicture">
-       <property name="maximumSize">
+       <property name="sizeHint" stdset="0">
         <size>
-         <width>160</width>
-         <height>160</height>
+         <width>40</width>
+         <height>20</height>
         </size>
        </property>
-       <property name="styleSheet">
-        <string notr="true">background: transparent</string>
-       </property>
-       <property name="frameShape">
-        <enum>QFrame::NoFrame</enum>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="2">
-      <widget class="QPushButton" name="verifyButton">
-       <property name="enabled">
-        <bool>false</bool>
-       </property>
-       <property name="text">
-        <string>Verify...</string>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="2">
-      <widget class="QPushButton" name="updateButton">
-       <property name="toolTip">
-        <string>Update the firmware on this board.</string>
-       </property>
-       <property name="text">
-        <string>Update...</string>
-       </property>
-      </widget>
-     </item>
-     <item row="8" column="2">
-      <widget class="QPushButton" name="retrieveButton">
-       <property name="toolTip">
-        <string>Download the current board firmware to your computer</string>
-       </property>
-       <property name="text">
-        <string>Retrieve...</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="1">
-      <widget class="QLabel" name="BLVersion">
-       <property name="text">
-        <string>BootLoaderVersion</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="0">
-      <widget class="QLabel" name="fwCRC">
-       <property name="text">
-        <string>fwCRC</string>
-       </property>
-      </widget>
-     </item>
-     <item row="6" column="1">
-      <widget class="QLabel" name="maxCodeSize">
-       <property name="text">
-        <string>MaxCodeSize</string>
-       </property>
-      </widget>
-     </item>
-     <item row="7" column="0" colspan="2">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="statusIcon">
-         <property name="text">
-          <string>ic</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="statusLabel">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string>Status</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="6" column="0">
-      <widget class="QLabel" name="commitTag">
-       <property name="text">
-        <string>Commit tag</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="0" colspan="2">
-      <layout class="QHBoxLayout" name="horizontalLayout_2">
-       <item>
-        <widget class="QLabel" name="certifiedFW">
-         <property name="text">
-          <string>certified</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="buildDate">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="text">
-          <string>buildDate</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
+      </spacer>
      </item>
     </layout>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupCustom">
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <item>
+       <widget class="QLabel" name="lblX">
+        <property name="text">
+         <string>Custom description:</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="description"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/ground/openpilotgcs/src/plugins/uploader/images/error.svg b/ground/openpilotgcs/src/plugins/uploader/images/error.svg
new file mode 100644
index 000000000..8de454769
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uploader/images/error.svg
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg3247" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.0" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs id="defs3249">
+  <linearGradient id="linearGradient2411" y2="5.4676" gradientUnits="userSpaceOnUse" x2="63.397" gradientTransform="matrix(2.1154 0 0 2.1153 -107.58 32.427)" y1="-12.489" x1="63.397">
+   <stop id="stop4875" style="stop-color:#fff" offset="0"/>
+   <stop id="stop4877" style="stop-color:#fff;stop-opacity:0" offset="1"/>
+  </linearGradient>
+  <linearGradient id="linearGradient2416" y2="3.0816" gradientUnits="userSpaceOnUse" x2="18.379" gradientTransform="matrix(.95844 0 0 .95844 .99752 1.9975)" y1="44.98" x1="18.379">
+   <stop id="stop2492" style="stop-color:#791235" offset="0"/>
+   <stop id="stop2494" style="stop-color:#dd3b27" offset="1"/>
+  </linearGradient>
+  <radialGradient id="radialGradient2414" gradientUnits="userSpaceOnUse" cy="3.99" cx="23.896" gradientTransform="matrix(0 2.2875 -3.0194 0 36.047 -50.63)" r="20.397">
+   <stop id="stop3244" style="stop-color:#f8b17e" offset="0"/>
+   <stop id="stop3246" style="stop-color:#e35d4f" offset=".26238"/>
+   <stop id="stop3248" style="stop-color:#c6262e" offset=".66094"/>
+   <stop id="stop3250" style="stop-color:#690b54" offset="1"/>
+  </radialGradient>
+  <radialGradient id="radialGradient2419" gradientUnits="userSpaceOnUse" cy="4.625" cx="62.625" gradientTransform="matrix(2.1647 0 0 .75294 -111.56 36.518)" r="10.625">
+   <stop id="stop8840" offset="0"/>
+   <stop id="stop8842" style="stop-opacity:0" offset="1"/>
+  </radialGradient>
+ </defs>
+ <g id="layer1">
+  <g id="g3275">
+   <path id="path8836" style="opacity:.3;fill-rule:evenodd;fill:url(#radialGradient2419)" d="m47 40c0 4.418-10.297 8-23 8s-23-3.582-23-8 10.297-8 23-8 23 3.582 23 8z"/>
+   <path id="path2555" style="stroke-linejoin:round;stroke:url(#linearGradient2416);stroke-linecap:round;stroke-width:1.0037;fill:url(#radialGradient2414)" d="m24 5.5018c-10.758 0-19.498 8.7402-19.498 19.498-0.0002 10.758 8.74 19.498 19.498 19.498s19.498-8.74 19.498-19.498-8.74-19.498-19.498-19.498z"/>
+   <path id="path8655" style="opacity:.4;stroke:url(#linearGradient2411);fill:none" d="m42.5 24.999c0 10.218-8.283 18.501-18.5 18.501s-18.5-8.283-18.5-18.501c0-10.217 8.283-18.499 18.5-18.499s18.5 8.282 18.5 18.499z"/>
+  </g>
+  <g id="g3243" transform="translate(51.075 .56862)">
+   <path id="path3295" style="opacity:.2" d="m-29.451 12.554c0.563 5.5 1.208 10.961 1.687 16.482h1.53c0.397-5.302 1.038-10.571 1.501-15.867 0.236-1.254-0.408-2.742-1.732-3.047-1.308-0.3824-2.77 0.565-2.944 1.918-0.029 0.17-0.042 0.342-0.042 0.514zm-0.167 22.359c-0.059 1.637 1.742 2.92 3.28 2.401 1.489-0.38 2.274-2.252 1.51-3.583-0.683-1.375-2.687-1.829-3.84-0.776-0.582 0.479-0.968 1.194-0.95 1.958z"/>
+   <path id="text2315" style="fill:#fff" d="m-29.451 13.555c0.563 5.499 1.208 10.96 1.687 16.481h1.53c0.397-5.301 1.038-10.571 1.501-15.866 0.236-1.254-0.408-2.743-1.732-3.048-1.308-0.382-2.77 0.565-2.944 1.918-0.029 0.17-0.042 0.342-0.042 0.515zm-0.167 22.358c-0.059 1.637 1.742 2.921 3.28 2.402 1.489-0.381 2.274-2.253 1.51-3.584-0.683-1.375-2.687-1.828-3.84-0.776-0.582 0.479-0.968 1.194-0.95 1.958z"/>
+  </g>
+ </g>
+</svg>
diff --git a/ground/openpilotgcs/src/plugins/uploader/images/warning.svg b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg
new file mode 100644
index 000000000..697b80a56
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uploader/images/warning.svg
@@ -0,0 +1,290 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="48"
+   height="48"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.48.1 "
+   sodipodi:docname="warning.svg">
+  <defs
+     id="defs4">
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient2850">
+      <stop
+         style="stop-color:#eeeeee;stop-opacity:1;"
+         offset="0"
+         id="stop2852" />
+      <stop
+         style="stop-color:#eeeeee;stop-opacity:0;"
+         offset="1"
+         id="stop2854" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient3657">
+      <stop
+         style="stop-color:#986601;stop-opacity:1;"
+         offset="0"
+         id="stop3659" />
+      <stop
+         id="stop3665"
+         offset="0.33080238"
+         style="stop-color:#fdca01;stop-opacity:1" />
+      <stop
+         style="stop-color:#ffff99;stop-opacity:1"
+         offset="1"
+         id="stop3661" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient3632">
+      <stop
+         style="stop-color:#999999;stop-opacity:0"
+         offset="0"
+         id="stop3634" />
+      <stop
+         id="stop3640"
+         offset="0.50655138"
+         style="stop-color:#e6e6e6;stop-opacity:1" />
+      <stop
+         style="stop-color:#999999;stop-opacity:0;"
+         offset="1"
+         id="stop3636" />
+    </linearGradient>
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 526.18109 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="744.09448 : 526.18109 : 1"
+       inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
+       id="perspective10" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3632"
+       id="linearGradient3638"
+       x1="19.10717"
+       y1="127.34224"
+       x2="260.11157"
+       y2="127.34224"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.19402788,0,0,0.19376669,5.5464026,989.71412)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3632"
+       id="linearGradient3644"
+       gradientUnits="userSpaceOnUse"
+       x1="2.3978782"
+       y1="121.40089"
+       x2="260.11157"
+       y2="127.34224"
+       gradientTransform="matrix(-0.09701394,0.16780688,-0.16803307,-0.09688335,73.208116,1013.465)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3632"
+       id="linearGradient3648"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.09701394,0.16780688,0.16803307,-0.09688335,-8.1841884,1014.9031)"
+       x1="19.10717"
+       y1="127.34224"
+       x2="260.11157"
+       y2="127.34224" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3657"
+       id="linearGradient3680"
+       gradientUnits="userSpaceOnUse"
+       x1="112.5"
+       y1="275.40689"
+       x2="112.5"
+       y2="-4.2200408"
+       gradientTransform="matrix(0.19402788,0,0,0.19376669,5.5464026,989.71412)" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3657"
+       id="linearGradient2847"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.45813096,0,0,0.45751424,0.67535737,1.90895)"
+       x1="112.5"
+       y1="275.40689"
+       x2="112.5"
+       y2="-4.2200408" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient2850"
+       id="linearGradient2856"
+       x1="63.993164"
+       y1="8.8525076"
+       x2="63.993164"
+       y2="91.242332"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.42352056,0,0,0.42352056,5.2603749,988.90564)" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1"
+     inkscape:cx="-46.02894"
+     inkscape:cy="-0.138668"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     showguides="true"
+     inkscape:guide-bbox="true"
+     inkscape:window-width="1400"
+     inkscape:window-height="1003"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
+     inkscape:window-maximized="1"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+        <cc:license
+           rdf:resource="" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-9.125,-988.32372)">
+    <g
+       id="g2975"
+       transform="matrix(0.42352056,0,0,0.42352056,3.9898132,596.57221)">
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 15.5625,1033.9688 c 35.520833,-1e-4 71.041667,0 106.5625,0 -17.76042,-30.7084 -35.520833,-61.41672 -53.28125,-92.12505 -17.760417,30.70833 -35.520833,61.41665 -53.28125,92.12505 z"
+         id="path2874"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 15.03125,1034.2812 c 35.875,0 71.75,1e-4 107.625,0 -17.9375,-31.0312 -35.875,-62.06245 -53.8125,-93.0937 -17.9375,31.03125 -35.875,62.0625 -53.8125,93.0937 z"
+         id="path2878"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="M 68.78125,940.65625 C 50.914197,971.92452 32.089324,1003.5095 14.75,1034.5625 c 36.091043,-0.084 72.452585,0.167 108.375,-0.125 -18.12273,-31.2282 -36.179858,-62.71402 -54.34375,-93.78125 z"
+         id="path2882"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.71875,940.34375 c -18.21641,31.323 -36.515662,62.85885 -54.46875,94.28125 3.741727,0.6849 8.400562,0.01 12.437499,0.25 32.199492,-0.1047 64.634624,0.2091 96.687501,-0.1562 -2.01836,-4.5363 -5.32611,-9.2498 -7.78102,-13.8467 -15.605622,-26.8084 -31.035873,-53.9715 -46.75023,-80.5596 -0.04179,0.009 -0.102865,-0.0245 -0.125,0.0312 z"
+         id="path2886"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.625,940.0625 c -1.898442,2.49808 -3.28205,5.61534 -4.997045,8.33338 -16.533965,28.68448 -33.220463,57.33752 -49.659205,86.04162 0.03222,1.4296 2.384617,0.414 3.325,0.7187 35.335267,-0.021 70.705057,0.042 106.01875,-0.031 1.22525,-0.6532 -0.7388,-2.314 -1.00779,-3.2436 -17.6836,-30.5632 -35.377677,-61.22113 -53.05471,-91.72515 -0.17511,-0.11773 -0.421252,-0.17697 -0.625,-0.0937 z"
+         id="path2890"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.59375,939.65625 c -0.849146,0.26354 -1.046037,1.3532 -1.557052,2.02713 -17.793483,30.78262 -35.586965,61.56522 -53.380448,92.34782 -0.382416,0.719 0.174709,1.5807 0.975,1.5313 36.175,0 72.35,0 108.525,0 0.89258,-0.022 1.26685,-1.0887 0.72476,-1.7909 -18.05408,-31.2051 -36.108172,-62.41024 -54.16226,-93.61535 -0.138442,-0.39413 -0.699141,-0.63415 -1.125,-0.5 z"
+         id="path2894"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.5625,939.4375 c -1.590286,0.85105 -1.905887,3.12983 -3.033256,4.48971 -17.3826,30.12088 -34.865418,60.21889 -52.185494,90.35399 -0.26697,1.59 1.857007,1.73 2.9875,1.5 35.676932,-0.021 71.388394,0.042 107.04375,-0.031 1.49785,-0.393 0.95277,-2.2528 0.0615,-3.1109 -17.9457,-30.9718 -35.823978,-62.04135 -53.8115,-92.9518 -0.298373,-0.1963 -0.695976,-0.36722 -1.0625,-0.25 z"
+         id="path2898"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.4375,939.1875 c -2.665517,1.85677 -3.376329,5.93312 -5.441511,8.47941 -16.5968,28.90914 -33.570754,57.68499 -49.933489,86.67689 0.03767,3.0044 4.461608,1.2959 6.268751,1.7187 34.807311,-0.1049 69.688836,0.2093 104.449999,-0.1563 2.48477,-1.8446 -1.4715,-4.7803 -2.01675,-6.799 -17.3631,-29.87443 -34.529605,-59.95355 -52.0145,-89.70095 -0.363201,-0.23912 -0.899825,-0.38311 -1.3125,-0.21875 z"
+         id="path2902"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.28125,938.90625 c -4.241668,4.50666 -6.418986,11.25217 -10.039272,16.42758 -15.094516,26.42114 -30.798679,52.67447 -45.523228,79.19737 0.973486,3.9884 7.091213,0.8607 9.912501,1.8438 33.766663,-0.1709 67.711681,0.339 101.368749,-0.25 3.02785,-2.6896 -2.75748,-6.5679 -3.33688,-9.4803 -17.04167,-29.14204 -33.624067,-58.76297 -50.94437,-87.61345 -0.446728,-0.17465 -0.976209,-0.34944 -1.4375,-0.125 z"
+         id="path2906"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.25,938.625 c -4.248341,3.6207 -5.799608,10.30836 -9.257129,14.82104 -15.417424,27.05725 -31.592719,53.89936 -46.555371,81.08516 0.983203,4.5373 7.950662,1.0268 11.09375,2.125 33.518304,-0.1928 67.217157,0.3823 100.625,-0.2812 3.39168,-3.0568 -2.98383,-7.3811 -3.69406,-10.6654 C 103.54587,996.81337 87.118698,967.38512 69.90625,938.8125 69.430976,938.55208 68.767472,938.4102 68.25,938.625 z"
+         id="path2910"
+         inkscape:connector-curvature="0" />
+      <path
+         style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.02999998;color:#000000;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+         d="m 68.15625,938.3125 c -4.44705,3.59724 -5.907996,10.41675 -9.444629,14.97729 -15.460635,27.02312 -31.4413,53.84841 -46.586621,80.99141 0.504744,5.1808 8.151862,1.69 11.40625,2.6876 33.572728,-0.2149 67.307606,0.4253 100.78125,-0.3126 3.72904,-3.2084 -2.74749,-7.7207 -3.56937,-11.1027 C 103.77,996.62017 87.401308,967.12253 70.0625,938.53125 c -0.585006,-0.29694 -1.280735,-0.43981 -1.90625,-0.21875 z"
+         id="path2914"
+         inkscape:connector-curvature="0" />
+    </g>
+    <path
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:#999999;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 32.613292,994.11625 a 0.38809457,0.38757213 0 0 0 -0.315295,0.19377 L 9.3056929,1034.0806 a 0.38809457,0.38757213 0 0 0 0.3334856,0.5814 l 45.9906705,0 a 0.38809457,0.38757213 0 0 0 0.333488,-0.5814 L 32.971031,994.31002 a 0.38809457,0.38757213 0 0 0 -0.357739,-0.19377 z"
+       id="path3618"
+       inkscape:connector-curvature="0" />
+    <path
+       id="path3630"
+       d="m 33.062615,1020.8425 -23.7569221,13.2381 c -0.1349863,0.2336 0.06345,0.5795 0.3334856,0.5814 l 45.9906705,0 c 0.270037,0 0.468473,-0.3478 0.333488,-0.5814 -22.912236,-13.1428 -22.926544,-13.255 -22.900722,-13.2381 z"
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:url(#linearGradient3638);fill-opacity:1;stroke:none;stroke-width:4;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       sodipodi:nodetypes="cccccc"
+       inkscape:connector-curvature="0" />
+    <path
+       sodipodi:nodetypes="cccccc"
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:url(#linearGradient3644);fill-opacity:1;stroke:none;stroke-width:4;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 32.854149,994.53305 c -0.135055,-0.23353 -0.534234,-0.23485 -0.670841,-0.002 L 9.1879715,1034.3063 c -0.1335054,0.2344 0.067312,0.579 0.3373558,0.5791 5.9693077,-5.4781 19.5453407,-12.2128 23.6767387,-14.9216 l -0.347917,-25.43075 z"
+       id="path3642"
+       inkscape:connector-curvature="0" />
+    <path
+       id="path3646"
+       d="m 32.169778,995.97114 c 0.135055,-0.23353 0.534234,-0.23485 0.670842,-0.002 l 22.995335,39.77546 c 0.133507,0.2344 -0.06731,0.5791 -0.337355,0.5791 0.102661,-0.049 -22.526131,-13.897 -22.536175,-13.8982 l -0.792647,-26.45412 z"
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:url(#linearGradient3648);fill-opacity:1;stroke:none;stroke-width:4;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       sodipodi:nodetypes="cccccc"
+       inkscape:connector-curvature="0" />
+    <path
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:url(#linearGradient3680);fill-opacity:1;stroke:none;stroke-width:4;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 12.313125,1032.7243 c 13.547593,0 27.095185,0 40.64278,0 -6.772788,-11.7128 -13.545573,-23.4256 -20.318359,-35.13841 -6.774808,11.71281 -13.549614,23.42561 -20.324421,35.13841 z"
+       id="path2838"
+       inkscape:connector-curvature="0" />
+    <path
+       style="fill:#000000;stroke:#333333;stroke-width:0.42352057;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 29.60586,1009.936 1.212675,13.8059 3.104446,0 1.649237,-13.8059 -5.966358,0 z"
+       id="path3682"
+       sodipodi:nodetypes="ccccc"
+       inkscape:connector-curvature="0" />
+    <path
+       style="fill:#000000;stroke:#333333;stroke-width:0.42352057;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       d="m 34.747599,1027.8352 c 0,1.3243 -1.075008,2.3979 -2.401095,2.3979 -1.326087,0 -2.401095,-1.0736 -2.401095,-2.3979 0,-1.3243 1.075008,-2.3978 2.401095,-2.3978 1.326087,0 2.401095,1.0735 2.401095,2.3978 z"
+       id="path3684"
+       inkscape:connector-curvature="0" />
+    <path
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.5;color:#000000;fill:#eeeeee;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 32.577451,994.12023 a 0.38809457,0.38757213 0 0 0 -0.277935,0.18529 L 9.3102902,1034.0767 a 0.38809457,0.38757213 0 0 0 0.3308755,0.5824 l 0.3176404,0 22.3407099,-38.65949 a 0.38809457,0.38757213 0 0 1 0.31764,-0.18529 0.38809457,0.38757213 0 0 1 0.357346,0.18529 l 22.340709,38.65949 0.317641,0 a 0.38809457,0.38757213 0 0 0 0.330875,-0.5824 L 32.974502,994.30552 a 0.38809457,0.38757213 0 0 0 -0.357346,-0.18529 0.38809457,0.38757213 0 0 0 -0.0397,0 z"
+       id="path2833"
+       inkscape:connector-curvature="0" />
+    <path
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;opacity:0.4;color:#000000;fill:#eeeeee;fill-opacity:1;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 9.4823455,1033.7856 -0.1720553,0.2911 a 0.38809457,0.38757213 0 0 0 0.3308755,0.5824 l 45.9916863,0 a 0.38809457,0.38757213 0 0 0 0.330875,-0.5824 l -0.172055,-0.2911 a 0.38809457,0.38757213 0 0 1 -0.15882,0.026 l -45.9916863,0 a 0.38809457,0.38757213 0 0 1 -0.1588202,-0.026 z"
+       id="path2839"
+       inkscape:connector-curvature="0" />
+    <path
+       style="font-size:medium;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-indent:0;text-align:start;text-decoration:none;line-height:normal;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;text-anchor:start;color:#000000;fill:url(#linearGradient2856);fill-opacity:1;stroke:none;stroke-width:4;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate;font-family:Bitstream Vera Sans;-inkscape-font-specification:Bitstream Vera Sans"
+       d="m 32.643626,997.58781 -12.890907,22.27449 c 4.381105,-2.304 10.146879,-3.6925 16.464362,-3.6925 2.639259,0 5.184404,0.2491 7.57043,0.7014 L 32.643626,997.58781 z"
+       id="path2843"
+       inkscape:connector-curvature="0" />
+  </g>
+</svg>
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index a3fe178c6..8a9045233 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -718,7 +718,7 @@ OP_DFU::Status DFUObject::UploadFirmwareT(const QString &sfile, const bool &veri
         return OP_DFU::abort;;
     }
 
-    quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode);
+    quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode);
     if (debug)
         qDebug() << "NEW FIRMWARE CRC=" << crc;
 
@@ -817,7 +817,7 @@ OP_DFU::Status DFUObject::CompareFirmware(const QString &sfile, const CompareTyp
     }
     if(type==OP_DFU::crccompare)
     {
-         quint32 crc=CRCFromQBArray(arr,devices[device].SizeOfCode);
+        quint32 crc=DFUObject::CRCFromQBArray(arr,devices[device].SizeOfCode);
          if(crc==devices[device].FW_CRC)
          {
              cout<<"Compare Successfull CRC MATCH!\n";
@@ -971,7 +971,7 @@ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size)
         aux+=(char)array[x*4+0]&0xFF;
         t[x]=aux;
     }
-    return CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t);
+    return DFUObject::CRC32WideFast(0xFFFFFFFF,Size/4,(quint32*)t);
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
index c58621f67..420e0a3ea 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h
@@ -108,7 +108,7 @@ namespace OP_DFU {
         Q_OBJECT;
 
         public:
-
+        static quint32 CRCFromQBArray(QByteArray array, quint32 Size);
         //DFUObject(bool debug);
         DFUObject(bool debug,bool use_serial,QString port);
 
@@ -152,7 +152,7 @@ namespace OP_DFU {
 
         // Helper functions:
         QString StatusToString(OP_DFU::Status  const & status);
-        quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
+        static quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
 
 
 
@@ -179,7 +179,7 @@ namespace OP_DFU {
         // USB Bootloader:
         pjrc_rawhid hidHandle;
         int setStartBit(int command){ return command|0x20; }
-        quint32 CRCFromQBArray(QByteArray array, quint32 Size);
+
         void CopyWords(char * source, char* destination, int count);
         void printProgBar( int const & percent,QString const& label);
         bool StartUpload(qint32  const &numberOfBytes, TransferTypes const & type,quint32 crc);
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index f1511e746..2cb513344 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -25,7 +25,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "runningdevicewidget.h"
-
+#include "devicedescriptorstruct.h"
+#include "uploadergadgetwidget.h"
 runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
     QWidget(parent)
 {
@@ -36,8 +37,10 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
     // Initialization of the Device icon display
     myDevice->devicePicture->setScene(new QGraphicsScene(this));
 
+    /*
     QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
     myDevice->statusIcon->setPixmap(pix);
+    */
 }
 
 
@@ -68,8 +71,11 @@ void runningDeviceWidget::populate()
     UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
     int id = utilMngr->getBoardModel();
 
-    myDevice->deviceID->setText(QString("Device ID: ") + QString::number(id, 16));
-
+    myDevice->lblDeviceID->setText(QString("Device ID: ") + QString::number(id, 16));
+    myDevice->lblBoardName->setText(deviceDescriptorStruct::idToBoardName(id));
+    myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x0011, 16));
+    qDebug()<<"CRC"<<utilMngr->getFirmwareCRC();
+    myDevice->lblCRC->setText(QString(tr("Firmware CRC: "))+QVariant(utilMngr->getFirmwareCRC()).toString());
     // DeviceID tells us what sort of HW we have detected:
     // display a nice icon:
     myDevice->devicePicture->scene()->clear();
@@ -100,19 +106,48 @@ void runningDeviceWidget::populate()
     myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
 
     QString serial = utilMngr->getBoardCPUSerial().toHex();
-    myDevice->cpuSerial->setText(serial);
+     myDevice->CPUSerial->setText(serial);
 
-    QString description = utilMngr->getBoardDescription();
-    myDevice->description->setText(description);
+    QByteArray description = utilMngr->getBoardDescription();
+    deviceDescriptorStruct devDesc;
+    if(UAVObjectUtilManager::descriptionToStructure(description,&devDesc))
+    {
+        if(devDesc.description.startsWith("release",Qt::CaseInsensitive))
+        {
+            myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
+            myDevice->lblCertified->setPixmap(pix);
+            myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
 
-    status("Ready...", STATUSICON_INFO);
+        }
+        else
+        {
+            myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description);
+            QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
+            myDevice->lblCertified->setPixmap(pix);
+            myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
+        }
+        myDevice->lblGitCommitTag->setText("Git commit tag: "+devDesc.gitTag);
+        myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.buildDate);
+    }
+    else
+    {
 
+        myDevice->lblFWTag->setText(QString("Firmware tag: ")+QString(description).left(QString(description).indexOf(QChar(255))));
+        myDevice->lblGitCommitTag->setText("Git commit tag: Unknown");
+        myDevice->lblFWDate->setText(QString("Firmware date: Unknown"));
+        QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
+        myDevice->lblCertified->setPixmap(pix);
+        myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
+    }
+    //status("Ready...", STATUSICON_INFO);
 }
 
 
 /**
   Updates status message
   */
+/*
 void runningDeviceWidget::status(QString str, StatusIcon ic)
 {
     QPixmap px;
@@ -132,3 +167,4 @@ void runningDeviceWidget::status(QString str, StatusIcon ic)
     }
     myDevice->statusIcon->setPixmap(px);
 }
+*/
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
index 413a406fd..05dd7f0dc 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
@@ -29,7 +29,7 @@
 #define RUNNINGDEVICEWIDGET_H
 
 #include "ui_runningdevicewidget.h"
-#include "uploadergadgetwidget.h"
+
 #include <QWidget>
 #include <QErrorMessage>
 #include <QtSvg/QGraphicsSvgItem>
@@ -55,7 +55,7 @@ private:
     Ui_runningDeviceWidget *myDevice;
     int deviceID;
     QGraphicsSvgItem *devicePic;
-    void status(QString str, StatusIcon ic);
+    //void status(QString str, StatusIcon ic);
 
 
 signals:
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
index 4a730c509..c01332629 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>516</width>
-    <height>253</height>
+    <height>299</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -15,82 +15,129 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <layout class="QGridLayout" name="gridLayout">
-     <item row="6" column="0" colspan="2">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="statusIcon">
-         <property name="text">
-          <string>ic</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="statusLabel">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string>Status</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="5" column="0">
-      <widget class="QLabel" name="deviceID">
-       <property name="text">
-        <string>DeviceID</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="0">
-      <widget class="QLabel" name="cpuSerialLabel">
-       <property name="text">
-        <string>CPU Serial:</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="2" rowspan="2">
-      <widget class="QGraphicsView" name="devicePicture">
-       <property name="maximumSize">
-        <size>
-         <width>160</width>
-         <height>160</height>
-        </size>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">background: transparent</string>
-       </property>
-       <property name="frameShape">
-        <enum>QFrame::NoFrame</enum>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="0" colspan="3">
-      <widget class="QLineEdit" name="description">
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QLineEdit" name="cpuSerial">
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
+    <widget class="QGroupBox" name="horizontalGroupBox">
+     <property name="title">
+      <string>Device Information</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <item>
+       <widget class="QGraphicsView" name="devicePicture">
+        <property name="maximumSize">
+         <size>
+          <width>160</width>
+          <height>160</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">background: transparent</string>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::NoFrame</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Plain</enum>
+        </property>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QLabel" name="lblBoardName">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lblDeviceID">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lblHWRev">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout">
+          <item>
+           <widget class="QLabel" name="lblCPU">
+            <property name="text">
+             <string>CPU Serial:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="CPUSerial">
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="horizontalGroupBox">
+     <property name="title">
+      <string>Firmware Information</string>
+     </property>
+     <layout class="QHBoxLayout" name="_2">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_3">
+        <item>
+         <widget class="QLabel" name="lblFWTag">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lblFWDate">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lblGitCommitTag">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="lblCRC">
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QLabel" name="lblCertified">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
index 1008ef3ba..7d2677927 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
@@ -10,5 +10,7 @@
         <file>images/deviceID-0201.svg</file>
         <file>images/deviceID-0101.svg</file>
         <file>images/application-certificate.svg</file>
+        <file>images/warning.svg</file>
+        <file>images/error.svg</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
index 8fb167a82..075dc18a0 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
@@ -52,15 +52,17 @@
 #include <QThread>
 #include <QMessageBox>
 #include <QTimer>
-
+#include "devicedescriptorstruct.h"
 #include <QProgressDialog>
 
 using namespace OP_DFU;
 
+
 class UploaderGadgetWidget : public QWidget
 {
     Q_OBJECT
 
+
 public:
     UploaderGadgetWidget(QWidget *parent = 0);
    ~UploaderGadgetWidget();
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcome.pri b/ground/openpilotgcs/src/plugins/welcome/welcome.pri
index 2edd8a4df..41e3d85b1 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcome.pri
+++ b/ground/openpilotgcs/src/plugins/welcome/welcome.pri
@@ -1,3 +1,3 @@
 include(welcome_dependencies.pri)
 
-LIBS *= -l$$qtLibraryTarget(Welcome)
+LIBS *= -l$$qtLibraryName(Welcome)
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp b/ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp
index c5f67a5c8..8da08ba35 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp
+++ b/ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp
@@ -77,7 +77,8 @@ WelcomeModePrivate::WelcomeModePrivate()
 
 // ---  WelcomeMode
 WelcomeMode::WelcomeMode() :
-    m_d(new WelcomeModePrivate)
+    m_d(new WelcomeModePrivate),
+    m_priority(Core::Constants::P_MODE_WELCOME)
 {
     m_d->m_widget = new QWidget;
     QVBoxLayout *l = new QVBoxLayout(m_d->m_widget);
@@ -122,7 +123,7 @@ QIcon WelcomeMode::icon() const
 
 int WelcomeMode::priority() const
 {
-    return Core::Constants::P_MODE_WELCOME;
+    return m_priority;
 }
 
 QWidget* WelcomeMode::widget()
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcomemode.h b/ground/openpilotgcs/src/plugins/welcome/welcomemode.h
index 8898e7cee..33c6a1ab5 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcomemode.h
+++ b/ground/openpilotgcs/src/plugins/welcome/welcomemode.h
@@ -61,6 +61,7 @@ public:
     void activated();
     QString contextHelpId() const { return QLatin1String("OpenPilot GCS"); }
     void initPlugins();
+    void setPriority(int priority) { m_priority = priority; }
 
 private slots:
     void slotFeedback();
@@ -69,6 +70,7 @@ private slots:
 
 private:
     WelcomeModePrivate *m_d;
+    int m_priority;
 };
 
 } // namespace Welcome
diff --git a/ground/uavobjgenerator/uavobjectparser.cpp b/ground/uavobjgenerator/uavobjectparser.cpp
index 2ab246ae8..cba02f8ee 100644
--- a/ground/uavobjgenerator/uavobjectparser.cpp
+++ b/ground/uavobjgenerator/uavobjectparser.cpp
@@ -43,7 +43,7 @@ UAVObjectParser::UAVObjectParser()
                         int(4) << int(1);
 
     accessModeStrXML << "readwrite" << "readonly";
-
+
 }
 
 /**
@@ -228,7 +228,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
         node = node.nextSibling();
     }
 
-    all_units.removeDuplicates();
+    all_units.removeDuplicates();
     // Done, return null string
     return QString();
 }
@@ -251,6 +251,11 @@ void UAVObjectParser::calculateID(ObjectInfo* info)
         hash = updateHash(info->fields[n]->name, hash);
         hash = updateHash(info->fields[n]->numElements, hash);
         hash = updateHash(info->fields[n]->type, hash);
+        if(info->fields[n]->type == FIELDTYPE_ENUM) {
+            QStringList options = info->fields[n]->options;
+            for (int m = 0; m < options.length(); m++)
+                hash = updateHash(options[m], hash);
+        }
     }
     // Done
     info->id = hash & 0xFFFFFFFE;
@@ -377,7 +382,7 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
         return QString("Object:field:units attribute is missing");
 
     field->units = elemAttr.nodeValue();
-    all_units << field->units;
+    all_units << field->units;
 
     // Get type attribute
     elemAttr = elemAttributes.namedItem("type");
@@ -385,14 +390,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
         return QString("Object:field:type attribute is missing");
 
     int index = fieldTypeStrXML.indexOf(elemAttr.nodeValue());
-    if (index >= 0) {
+    if (index >= 0) {
         field->type = (FieldType)index;
         field->numBytes = fieldTypeNumBytes[index];
-    }  
-    else {
+    }  
+    else {
         return QString("Object:field:type attribute value is invalid");
-    }
-
+    }
+
     // Get numelements or elementnames attribute
     elemAttr = elemAttributes.namedItem("elementnames");
     if ( !elemAttr.isNull() ) {
diff --git a/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Bottom.pdf b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Bottom.pdf
new file mode 100644
index 000000000..c070f6433
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Bottom.pdf differ
diff --git a/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Top.pdf b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Top.pdf
new file mode 100644
index 000000000..f20a1c230
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter 3D Top.pdf differ
diff --git a/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter Assembly.pdf b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter Assembly.pdf
new file mode 100644
index 000000000..9ceef7d5b
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Assembly/Spektrum Adapter Assembly.pdf differ
diff --git a/hardware/Production/CC Spektrum Adapter/BOM/Spektrum Adapter BOM.xls b/hardware/Production/CC Spektrum Adapter/BOM/Spektrum Adapter BOM.xls
new file mode 100644
index 000000000..546c66343
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/BOM/Spektrum Adapter BOM.xls differ
diff --git a/hardware/Production/CC Spektrum Adapter/Gerbers/Gerbers for Spektrum Adapter - outline inc.zip b/hardware/Production/CC Spektrum Adapter/Gerbers/Gerbers for Spektrum Adapter - outline inc.zip
new file mode 100644
index 000000000..55504cf78
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Gerbers/Gerbers for Spektrum Adapter - outline inc.zip differ
diff --git a/hardware/Production/CC Spektrum Adapter/Spektrum Adapter Schematic.pdf b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter Schematic.pdf
new file mode 100644
index 000000000..8438016fe
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter Schematic.pdf differ
diff --git a/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PcbDoc b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PcbDoc
new file mode 100644
index 000000000..b7abfdc41
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PcbDoc differ
diff --git a/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PrjPCB b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PrjPCB
new file mode 100644
index 000000000..933d16783
--- /dev/null
+++ b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.PrjPCB	
@@ -0,0 +1,890 @@
+[Design]
+Version=1.0
+HierarchyMode=0
+ChannelRoomNamingStyle=0
+OutputPath=Project Outputs for Spektrum Adapter
+LogFolderPath=
+ChannelDesignatorFormatString=$Component_$RoomName
+ChannelRoomLevelSeperator=_
+OpenOutputs=1
+ArchiveProject=0
+TimestampOutput=0
+SeparateFolders=0
+PinSwapBy_Netlabel=1
+PinSwapBy_Pin=1
+AllowPortNetNames=0
+AllowSheetEntryNetNames=1
+AppendSheetNumberToLocalNets=0
+NetlistSinglePinNets=0
+DefaultConfiguration=
+UserID=0xFFFFFFFF
+DefaultPcbProtel=1
+DefaultPcbPcad=0
+ReorderDocumentsOnCompile=1
+NameNetsHierarchically=0
+PowerPortNamesTakePriority=0
+PushECOToAnnotationFile=1
+DItemRevisionGUID=
+
+[Document1]
+DocumentPath=..\Altium\OpenPilot.SchLib
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document2]
+DocumentPath=..\Altium\OpenPilot.PcbLib
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document3]
+DocumentPath=Spektrum Adapter.SchDoc
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=0
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[Document4]
+DocumentPath=Spektrum Adapter.PcbDoc
+AnnotationEnabled=1
+AnnotateStartValue=1
+AnnotationIndexControlEnabled=0
+AnnotateSuffix=
+AnnotateScope=All
+AnnotateOrder=-1
+DoLibraryUpdate=1
+DoDatabaseUpdate=1
+ClassGenCCAutoEnabled=1
+ClassGenCCAutoRoomEnabled=1
+ClassGenNCAutoScope=None
+DItemRevisionGUID=
+
+[OutputGroup1]
+Name=Netlist Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=CadnetixNetlist
+OutputName1=Cadnetix Netlist
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=CalayNetlist
+OutputName2=Calay Netlist
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=EDIF
+OutputName3=EDIF for PCB
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+OutputType4=EESofNetlist
+OutputName4=EESof Netlist
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+OutputType5=IntergraphNetlist
+OutputName5=Intergraph Netlist
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+OutputType6=MentorBoardStationNetlist
+OutputName6=Mentor BoardStation Netlist
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+OutputType7=MultiWire
+OutputName7=MultiWire
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+OutputType8=OrCadPCB2Netlist
+OutputName8=Orcad/PCB2 Netlist
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+OutputType9=PADSNetlist
+OutputName9=PADS ASCII Netlist
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+OutputType10=Pcad
+OutputName10=Pcad for PCB
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+OutputType11=PCADNetlist
+OutputName11=PCAD Netlist
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+OutputType12=PCADnltNetlist
+OutputName12=PCADnlt Netlist
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+OutputType13=Protel2Netlist
+OutputName13=Protel2 Netlist
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+OutputType14=ProtelNetlist
+OutputName14=Protel
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+OutputType15=RacalNetlist
+OutputName15=Racal Netlist
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+OutputType16=RINFNetlist
+OutputName16=RINF Netlist
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+OutputType17=SciCardsNetlist
+OutputName17=SciCards Netlist
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+OutputType18=SIMetrixNetlist
+OutputName18=SIMetrix
+OutputDocumentPath18=
+OutputVariantName18=
+OutputDefault18=0
+OutputType19=SIMPLISNetlist
+OutputName19=SIMPLIS
+OutputDocumentPath19=
+OutputVariantName19=
+OutputDefault19=0
+OutputType20=TangoNetlist
+OutputName20=Tango Netlist
+OutputDocumentPath20=
+OutputVariantName20=
+OutputDefault20=0
+OutputType21=TelesisNetlist
+OutputName21=Telesis Netlist
+OutputDocumentPath21=
+OutputVariantName21=
+OutputDefault21=0
+OutputType22=Verilog
+OutputName22=Verilog File
+OutputDocumentPath22=
+OutputVariantName22=
+OutputDefault22=0
+OutputType23=VHDL
+OutputName23=VHDL File
+OutputDocumentPath23=
+OutputVariantName23=
+OutputDefault23=0
+OutputType24=WireListNetlist
+OutputName24=WireList Netlist
+OutputDocumentPath24=
+OutputVariantName24=
+OutputDefault24=0
+OutputType25=XSpiceNetlist
+OutputName25=XSpice Netlist
+OutputDocumentPath25=
+OutputVariantName25=
+OutputDefault25=0
+
+[OutputGroup2]
+Name=Simulator Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=AdvSimNetlist
+OutputName1=Mixed Sim
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=SIMetrix_Sim
+OutputName2=SIMetrix
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=SIMPLIS_Sim
+OutputName3=SIMPLIS
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+
+[OutputGroup3]
+Name=Documentation Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Composite
+OutputName1=Composite Drawing
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType2=Logic Analyser Print
+OutputName2=Logic Analyser Prints
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType3=OpenBus Print
+OutputName3=OpenBus Prints
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType4=PCB 3D Print
+OutputName4=PCB 3D Prints
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=PCB Print
+OutputName5=PCB Prints
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Schematic Print
+OutputName6=Schematic Prints
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType7=SimView Print
+OutputName7=SimView Prints
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Wave Print
+OutputName8=Wave Prints
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=WaveSim Print
+OutputName9=WaveSim Prints
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
+[OutputGroup4]
+Name=Assembly Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Assembly
+OutputName1=Assembly Drawings
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType2=Pick Place
+OutputName2=Generates pick and place files
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=Test Points For Assembly
+OutputName3=Test Point Report
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+
+[OutputGroup5]
+Name=Fabrication Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=ODB
+OutputName1=ODB++ Files
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+OutputType2=NC Drill
+OutputName2=NC Drill Files
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+Configuration2_Name1=OutputConfigurationParameter1
+Configuration2_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateSeparatePlatedNonPlatedFiles=False|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes
+OutputType3=Test Points
+OutputName3=Test Point Report
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+OutputType4=Plane
+OutputName4=Power-Plane Prints
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=Mask
+OutputName5=Solder/Paste Mask Prints
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Drill
+OutputName6=Drill Drawing/Guides
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType7=CompositeDrill
+OutputName7=Composite Drill Drawing
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Final
+OutputName8=Final Artwork Prints
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=Gerber
+OutputName9=Gerber Files
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+Configuration9_Name1=OutputConfigurationParameter1
+Configuration9_Item1=AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16908293~1|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=False|LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973830~1,16973832~1,16973834~1,16777217~1,16842751~1,16973835~1,16973833~1,16973831~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False
+
+[OutputGroup6]
+Name=Report Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=BOM_PartType
+OutputName1=Bill of Materials
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+Configuration1_Name1=Filter
+Configuration1_Item1=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000
+Configuration1_Name2=General
+Configuration1_Item2=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM OpenPilot.xlt|BatchMode=5|FormWidth=1226|FormHeight=598|SupplierProdQty=1|SupplierAutoQty=True|SupplierUseCachedPricing=False|SupplierCurrency=<none>
+Configuration1_Name3=GroupOrder
+Configuration1_Item3=Comment=True|Footprint=True
+Configuration1_Name4=OutputConfigurationParameter1
+Configuration1_Item4=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False
+Configuration1_Name5=SortOrder
+Configuration1_Item5=Designator=Up|Comment=Up|Footprint=Up
+Configuration1_Name6=VisibleOrder
+Configuration1_Item6=Comment=100|Description=100|Designator=100|Value=100|Footprint=100|LibRef=100|Quantity=100|Supplier 1=100|Supplier Part Number 1=100|Supplier Stock 1=100|Supplier Unit Price 1=100|Supplier Order Qty 1=100|Supplier Subtotal 1=100|Manufacturer 1=100|Manufacturer Part Number 1=100
+OutputType2=ComponentCrossReference
+OutputName2=Component Cross Reference Report
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+OutputType3=Design Rules Check
+OutputName3=Design Rules Check
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType4=Electrical Rules Check
+OutputName4=Electrical Rules Check
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=ReportHierarchy
+OutputName5=Report Project Hierarchy
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+OutputType6=Script
+OutputName6=Script Output
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+OutputType7=SimpleBOM
+OutputName7=Simple BOM
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+OutputType8=SinglePinNetReporter
+OutputName8=Report Single Pin Nets
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+
+[OutputGroup7]
+Name=Other Outputs
+Description=
+TargetPrinter=Microsoft XPS Document Writer
+PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
+OutputType1=Text Print
+OutputName1=Text Print
+OutputDocumentPath1=
+OutputVariantName1=
+OutputDefault1=0
+PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType2=Text Print
+OutputName2=Text Print
+OutputDocumentPath2=
+OutputVariantName2=
+OutputDefault2=0
+PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType3=Text Print
+OutputName3=Text Print
+OutputDocumentPath3=
+OutputVariantName3=
+OutputDefault3=0
+PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType4=Text Print
+OutputName4=Text Print
+OutputDocumentPath4=
+OutputVariantName4=
+OutputDefault4=0
+PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType5=Text Print
+OutputName5=Text Print
+OutputDocumentPath5=
+OutputVariantName5=
+OutputDefault5=0
+PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType6=Text Print
+OutputName6=Text Print
+OutputDocumentPath6=
+OutputVariantName6=
+OutputDefault6=0
+PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType7=Text Print
+OutputName7=Text Print
+OutputDocumentPath7=
+OutputVariantName7=
+OutputDefault7=0
+PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType8=Text Print
+OutputName8=Text Print
+OutputDocumentPath8=
+OutputVariantName8=
+OutputDefault8=0
+PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType9=Text Print
+OutputName9=Text Print
+OutputDocumentPath9=
+OutputVariantName9=
+OutputDefault9=0
+PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType10=Text Print
+OutputName10=Text Print
+OutputDocumentPath10=
+OutputVariantName10=
+OutputDefault10=0
+PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType11=Text Print
+OutputName11=Text Print
+OutputDocumentPath11=
+OutputVariantName11=
+OutputDefault11=0
+PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType12=Text Print
+OutputName12=Text Print
+OutputDocumentPath12=
+OutputVariantName12=
+OutputDefault12=0
+PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType13=Text Print
+OutputName13=Text Print
+OutputDocumentPath13=
+OutputVariantName13=
+OutputDefault13=0
+PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType14=Text Print
+OutputName14=Text Print
+OutputDocumentPath14=
+OutputVariantName14=
+OutputDefault14=0
+PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType15=Text Print
+OutputName15=Text Print
+OutputDocumentPath15=
+OutputVariantName15=
+OutputDefault15=0
+PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType16=Text Print
+OutputName16=Text Print
+OutputDocumentPath16=
+OutputVariantName16=
+OutputDefault16=0
+PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType17=Text Print
+OutputName17=Text Print
+OutputDocumentPath17=
+OutputVariantName17=
+OutputDefault17=0
+PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType18=Text Print
+OutputName18=Text Print
+OutputDocumentPath18=
+OutputVariantName18=
+OutputDefault18=0
+PageOptions18=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType19=Text Print
+OutputName19=Text Print
+OutputDocumentPath19=
+OutputVariantName19=
+OutputDefault19=0
+PageOptions19=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType20=Text Print
+OutputName20=Text Print
+OutputDocumentPath20=
+OutputVariantName20=
+OutputDefault20=0
+PageOptions20=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType21=Text Print
+OutputName21=Text Print
+OutputDocumentPath21=
+OutputVariantName21=
+OutputDefault21=0
+PageOptions21=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType22=Text Print
+OutputName22=Text Print
+OutputDocumentPath22=
+OutputVariantName22=
+OutputDefault22=0
+PageOptions22=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType23=Text Print
+OutputName23=Text Print
+OutputDocumentPath23=
+OutputVariantName23=
+OutputDefault23=0
+PageOptions23=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType24=Text Print
+OutputName24=Text Print
+OutputDocumentPath24=
+OutputVariantName24=
+OutputDefault24=0
+PageOptions24=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType25=Text Print
+OutputName25=Text Print
+OutputDocumentPath25=
+OutputVariantName25=
+OutputDefault25=0
+PageOptions25=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType26=Text Print
+OutputName26=Text Print
+OutputDocumentPath26=
+OutputVariantName26=
+OutputDefault26=0
+PageOptions26=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType27=Text Print
+OutputName27=Text Print
+OutputDocumentPath27=
+OutputVariantName27=
+OutputDefault27=0
+PageOptions27=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+OutputType28=Text Print
+OutputName28=Text Print
+OutputDocumentPath28=
+OutputVariantName28=
+OutputDefault28=0
+PageOptions28=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
+[Modification Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+Type37=1
+Type38=1
+Type39=1
+Type40=1
+Type41=1
+Type42=1
+Type43=1
+Type44=1
+Type45=1
+Type46=1
+Type47=1
+Type48=1
+Type49=1
+Type50=1
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=1
+Type57=1
+Type58=1
+Type59=1
+Type60=1
+Type61=1
+Type62=1
+Type63=1
+Type64=1
+Type65=1
+Type66=1
+Type67=1
+Type68=1
+
+[Difference Levels]
+Type1=1
+Type2=1
+Type3=1
+Type4=1
+Type5=1
+Type6=1
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=1
+Type12=1
+Type13=1
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=1
+Type26=1
+Type27=1
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=1
+Type33=1
+Type34=1
+Type35=1
+Type36=1
+
+[Electrical Rules Check]
+Type1=1
+Type2=1
+Type3=2
+Type4=1
+Type5=2
+Type6=2
+Type7=1
+Type8=1
+Type9=1
+Type10=1
+Type11=2
+Type12=2
+Type13=2
+Type14=1
+Type15=1
+Type16=1
+Type17=1
+Type18=1
+Type19=1
+Type20=1
+Type21=1
+Type22=1
+Type23=1
+Type24=1
+Type25=2
+Type26=2
+Type27=2
+Type28=1
+Type29=1
+Type30=1
+Type31=1
+Type32=2
+Type33=2
+Type34=2
+Type35=1
+Type36=2
+Type37=1
+Type38=2
+Type39=2
+Type40=2
+Type41=0
+Type42=2
+Type43=1
+Type44=1
+Type45=2
+Type46=1
+Type47=2
+Type48=2
+Type49=1
+Type50=2
+Type51=1
+Type52=1
+Type53=1
+Type54=1
+Type55=1
+Type56=2
+Type57=1
+Type58=1
+Type59=0
+Type60=1
+Type61=2
+Type62=2
+Type63=1
+Type64=0
+Type65=2
+Type66=3
+Type67=2
+Type68=2
+Type69=1
+Type70=2
+Type71=2
+Type72=2
+Type73=2
+Type74=1
+Type75=2
+Type76=1
+Type77=1
+Type78=1
+Type79=1
+Type80=2
+Type81=3
+Type82=3
+Type83=3
+Type84=3
+Type85=3
+Type86=2
+Type87=2
+Type88=2
+Type89=1
+Type90=1
+Type91=3
+Type92=3
+Type93=2
+Type94=2
+Type95=2
+Type96=2
+Type97=2
+Type98=0
+
+[ERC Connection Matrix]
+L1=NNNNNNNNNNNWNNNWW
+L2=NNWNNNNWWWNWNWNWN
+L3=NWEENEEEENEWNEEWN
+L4=NNENNNWEENNWNENWN
+L5=NNNNNNNNNNNNNNNNN
+L6=NNENNNNEENNWNENWN
+L7=NNEWNNWEENNWNENWN
+L8=NWEENEENEEENNEENN
+L9=NWEENEEEENEWNEEWW
+L10=NWNNNNNENNEWNNEWN
+L11=NNENNNNEEENWNENWN
+L12=WWWWNWWNWWWNWWWNN
+L13=NNNNNNNNNNNWNNNWW
+L14=NWEENEEEENEWNEEWW
+L15=NNENNNNEEENWNENWW
+L16=WWWWNWWNWWWNWWWNW
+L17=WNNNNNNNWNNNWWWWN
+
+[Annotate]
+SortOrder=3
+MatchParameter1=Comment
+MatchStrictly1=1
+MatchParameter2=Library Reference
+MatchStrictly2=1
+PhysicalNamingFormat=$Component_$RoomName
+GlobalIndexSortOrder=3
+
+[PrjClassGen]
+CompClassManualEnabled=0
+CompClassManualRoomEnabled=0
+NetClassAutoBusEnabled=1
+NetClassAutoCompEnabled=0
+NetClassAutoNamedHarnessEnabled=0
+NetClassManualEnabled=1
+
+[LibraryUpdateOptions]
+SelectedOnly=0
+PartTypes=0
+FullReplace=1
+UpdateDesignatorLock=1
+UpdatePartIDLock=1
+DoGraphics=1
+DoParameters=1
+DoModels=1
+AddParameters=0
+RemoveParameters=0
+AddModels=1
+RemoveModels=1
+UpdateCurrentModels=1
+
+[DatabaseUpdateOptions]
+SelectedOnly=0
+PartTypes=0
+
+[Comparison Options]
+ComparisonOptions0=Kind=Net|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions1=Kind=Net Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions2=Kind=Component Class|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions3=Kind=Rule|MinPercent=75|MinMatch=3|ShowMatch=-1|Confirm=-1|UseName=-1|InclAllRules=0
+ComparisonOptions4=Kind=Differential Pair|MinPercent=50|MinMatch=1|ShowMatch=0|Confirm=0|UseName=0|InclAllRules=0
+
+[SmartPDF]
+PageOptions=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
+
diff --git a/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.SchDoc b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.SchDoc
new file mode 100644
index 000000000..bf4b6f6cd
Binary files /dev/null and b/hardware/Production/CC Spektrum Adapter/Spektrum Adapter.SchDoc differ
diff --git a/make/boards/coptercontrol/board-info.mk b/make/boards/coptercontrol/board-info.mk
index 8d3f5d196..012c6ef16 100644
--- a/make/boards/coptercontrol/board-info.mk
+++ b/make/boards/coptercontrol/board-info.mk
@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x04
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x00
+BOOTLOADER_VERSION  := 0x01
 HW_TYPE             := 0x01
 
 MCU                 := cortex-m3
diff --git a/package/Makefile b/package/Makefile
index 1b27755e8..0a197844a 100644
--- a/package/Makefile
+++ b/package/Makefile
@@ -19,30 +19,21 @@ PACKAGE_DIR  := $(BUILD_DIR)/package-$(PACKAGE_LBL)
 FW_DIR       := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
 BL_DIR       := $(FW_DIR)/bootloaders
 BU_DIR       := $(FW_DIR)/bootloader-updaters
-FE_DIR       := $(FW_DIR)/flash-erase-tools
 
 # Clean build options (recommended for package testing only)
 ifeq ($(CLEAN_BUILD), NO)
 CLEAN_GROUND := NO
-CLEAN_FLIGHT := YES
-else ifeq ($(CLEAN_BUILD), NEVER)
-CLEAN_GROUND := NO
 CLEAN_FLIGHT := NO
 else
 CLEAN_GROUND := YES
 CLEAN_FLIGHT := YES
 endif
 
-# Set up targets
-FW_STEMS_COMMON   := ahrs pipxtreme
-FW_STEMS_INPUT    := coptercontrol openpilot
-FW_STEMS_TOOLS    := coptercontrol
-FW_STEMS_ALL      := $(FW_STEMS_COMMON) $(FW_STEMS_INPUT)
-FW_TARGETS_COMMON := $(addprefix fw_, $(FW_STEMS_COMMON))
-FW_TARGETS_INPUT  := $(addprefix fw_, $(FW_STEMS_INPUT))
-FW_TARGETS_TOOLS  := $(addprefix fw_, $(FW_STEMS_TOOLS))
-BL_TARGETS        := $(addprefix bl_, $(FW_STEMS_ALL))
-BU_TARGETS        := $(addprefix bu_, $(FW_STEMS_ALL))
+# Set up targets (PPM target seems to be broken at the moment)
+FW_TARGETS        := $(addprefix fw_, ahrs pipxtreme coptercontrol openpilot)
+FW_TARGETS_TOOLS  := $(addprefix fw_, coptercontrol)
+BL_TARGETS        := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme)
+BU_TARGETS        := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme)
 
 help:
 	@echo
@@ -58,16 +49,9 @@ help:
 	@echo "   Notes:"
 	@echo "     - package will be placed in $(PACKAGE_DIR)"
 	@echo
-	@echo "     - the build directory will be removed first on every run unless one"
-	@echo "       of CLEAN_BUILD=NO or CLEAN_BUILD=NEVER options is defined."
-	@echo
-	@echo "       CLEAN_BUILD=NO means no clean before build except for multi-input"
-	@echo "       firmware binaries like CopterControl or OpenPilot. This usually is"
-	@echo "       safe."
-	@echo
-	@echo "       CLEAN_BUILD=NEVER means no clean will be done at all. This will,"
-	@echo "       probably, give invalid multi-input firmware and is recommended"
-	@echo "       for package testing only. Do not use for release builds."
+	@echo "     - the build directory will be removed first on every run unless"
+	@echo "       CLEAN_BUILD=NO is defined. It means no clean before build."
+	@echo "       This usually is safe."
 	@echo
 
 # Clean and build uavobjects since all parts depend on them
@@ -100,11 +84,8 @@ endif
 .PHONY: $(1)
 endef
 
-# Firmware for different input drivers
-$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install))
-$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_INPUT),install))
-$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-dsm2sat-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
-$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
+# Firmware
+$(eval $(call INSTALL_TEMPLATE,all_fw,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS),install))
 
 # Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders)
 $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install))
@@ -112,32 +93,14 @@ $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(
 # Bootloader updaters
 $(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(PACKAGE_LBL),,,$(BU_TARGETS),install))
 
-# CopterControl flash eraser tool
-$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PACKAGE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
-
 # Order-only dependencies
-# They are bit complicated to support parallel (-j) builds and to create
-# the pwm/ppm/spektrum and CC flash eraser targets in some fixed order
-
-fw_pwm: |		# default dependencies, will be built first
-
-fw_spektrum: | fw_pwm	# ordered build
-
-fw_ppm: | fw_spektrum   # ordered build
-
-fw_tools: | fw_spektrum # ordered build, replace fw_spektrum by fw_ppm if uncommented below
-
-package_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
-
-package_bu: | all_bu
-
-package_flight: | package_fw package_bu fw_tools
+package_flight: | all_fw all_bu
 
 package_ground: | ground_package
 
 package: | package_flight package_ground
 
-.PHONY: help uavobjects all_clean package package_flight package_fw package_bu package_ground
+.PHONY: help uavobjects all_clean package_flight package_ground package
 
 # Decide on a verbosity level based on the V= parameter
 export AT := @
diff --git a/package/osx/OpenPilot.dmg b/package/osx/OpenPilot.dmg
index 97ba31eee..c8e1056fb 100644
Binary files a/package/osx/OpenPilot.dmg and b/package/osx/OpenPilot.dmg differ
diff --git a/package/osx/libraries b/package/osx/libraries
index a174f8906..5c87ba15b 100755
--- a/package/osx/libraries
+++ b/package/osx/libraries
@@ -3,7 +3,12 @@
 APP="${1?}"
 PLUGINS="${APP}/Contents/Plugins"
 OP_PLUGINS="${APP}/Contents/Plugins/OpenPilot"
-QT_LIBS="QtGui QtCore QtSvg QtSql QtOpenGL QtNetwork QtXml QtDBus QtScript phonon"
+QT_LIBS="QtGui QtTest QtCore QtSvg QtSql QtOpenGL QtNetwork QtXml QtDBus QtScript phonon"
+QT_DIR=$(otool -L "${APP}/Contents/MacOS/OpenPilot GCS"  | sed -n -e 's/\/QtCore\.framework.*//p' | sed -n -E 's:^.::p')
+QT_EXTRA="accessible/libqtaccessiblewidgets.dylib bearer/libqgenericbearer.dylib codecs/libqcncodecs.dylib codecs/libqjpcodecs.dylib  codecs/libqkrcodecs.dylib codecs/libqtwcodecs.dylib graphicssystems/libqtracegraphicssystem.dylib imageformats/libqgif.dylib imageformats/libqico.dylib imageformats/libqjpeg.dylib imageformats/libqmng.dylib imageformats/libqtiff.dylib qmltooling/libqmldbg_inspector.dylib qmltooling/libqmldbg_tcp.dylib"
+
+
+echo "Qt library directory is \"${QT_DIR}\""
 
 echo "Processing Qt libraries in $1"
 macdeployqt "${APP}"
@@ -13,33 +18,52 @@ do
     for g in $QT_LIBS
     do
 	install_name_tool -change \
-	    ${g}.framework/Versions/4/${g} \
+	    "${QT_DIR}/${g}.framework/Versions/4/${g}" \
 	    @executable_path/../Frameworks/${g}.framework/Versions/4/${g} \
 	    "${f}"
     done
 done
 
+
 # should be redundant but some libs missed by main app and macdeployqt
 for f in ${QT_LIBS}
 do
     echo "Copying ${f}"
-    cp -r /Library/Frameworks/${f}.framework "${APP}/Contents/Frameworks/"
+    cp -r "${QT_DIR}/${f}.framework" "${APP}/Contents/Frameworks/"
 
     echo "Changing package identification of ${f}"
     install_name_tool -id \
-	@executable_path/../Frameworks/${f}.framework/Versions/4/QtCore \
+	@executable_path/../Frameworks/${f}.framework/Versions/4/${f} \
 	"${APP}/Contents/Frameworks/${f}.framework/Versions/4/${f}"
 
+    rm "${APP}/Contents/Frameworks/${f}.framework/${f}"
+
     echo "Changing package linkages"
     for g in $QT_LIBS
     do
 	install_name_tool -change \
-	    ${g}.framework/Versions/4/${g} \
+	    "${QT_DIR}/${g}.framework/Versions/4/${g}" \
 	    @executable_path/../Frameworks/${g}.framework/Versions/4/${g} \
 	    "${APP}/Contents/Frameworks/${f}.framework/Versions/4/${f}"
     done
 done
 
+for f in ${QT_EXTRA}
+do
+	echo "Changing package identification of ${f}"
+	install_name_tool -id \
+		@executable_path/../Plugins/${f} \
+		"${PLUGINS}/${f}"
+done
+
+echo "Copying SDL"
+cp -r "/Library/Frameworks/SDL.framework" "${APP}/Contents/Frameworks/"
+
+echo "Changing package identification of SDL"
+install_name_tool -id \
+	@executable_path/../Frameworks/SDL.framework/Versions/A/SDL \
+	"${APP}/Contents/Frameworks/SDL.framework/Versions/A/SDL"
+
 # deleting unnecessary files
 echo "Deleting unnecessary files"
 find "${APP}/Contents/Frameworks" -iname "current" -exec rm -rf \{\} \;
diff --git a/package/osx/package b/package/osx/package
index a12e7e9fe..e481353ff 100755
--- a/package/osx/package
+++ b/package/osx/package
@@ -20,12 +20,18 @@ device=$(hdiutil attach  "${TEMP_FILE}" | \
 
 # packaging goes here
 cp -r "${APP_PATH}" "/Volumes/${VOL_NAME}"
-cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
+#cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
+cp "${FW_DIR}/fw_coptercontrol-${PACKAGE_LBL}.opfw" "/Volumes/${VOL_NAME}/firmware"
+
+cp "${ROOT_DIR}/HISTORY.txt" "/Volumes/${VOL_NAME}"
 
 "${ROOT_DIR}/package/osx/libraries" \
 	"/Volumes/${VOL_NAME}/OpenPilot GCS.app" || exit 1
 
 hdiutil detach ${device}
+
+echo "Resizing dmg"
+hdiutil resize -size 250m ${TEMP_FILE}
 hdiutil convert "${TEMP_FILE}" -format UDZO -o "${OUT_FILE}"
 
 # cleanup
diff --git a/package/winx86/openpilotgcs.nsi b/package/winx86/openpilotgcs.nsi
index 9cad5d233..9e3fa2ec3 100644
--- a/package/winx86/openpilotgcs.nsi
+++ b/package/winx86/openpilotgcs.nsi
@@ -33,6 +33,7 @@
 ; Paths
 
   ; Tree root locations (relative to this script location)
+  !define PROJECT_ROOT   "..\.."
   !define NSIS_DATA_TREE "."
   !define GCS_BUILD_TREE "..\..\build\ground\openpilotgcs"
 
@@ -151,6 +152,8 @@ Section "Core files" InSecCore
   SectionIn RO
   SetOutPath "$INSTDIR\bin"
   File /r "${GCS_BUILD_TREE}\bin\*"
+  SetOutPath "$INSTDIR"
+  File "${PROJECT_ROOT}\HISTORY.txt"
 SectionEnd
 
 Section "Plugins" InSecPlugins
@@ -180,12 +183,15 @@ SectionEnd
 
 Section "Localization" InSecLocalization
   SetOutPath "$INSTDIR\share\openpilotgcs\translations"
-  File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\*.qm"
+; File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\openpilotgcs_*.qm"
+  File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\qt_*.qm"
 SectionEnd
 
 Section "Firmware" InSecFirmware
-  SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
-  File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
+; SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
+; File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
+  SetOutPath "$INSTDIR\firmware"
+  File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\fw_coptercontrol-${PACKAGE_LBL}.opfw"
 SectionEnd
 
 Section "Shortcuts" InSecShortcuts
@@ -194,6 +200,14 @@ Section "Shortcuts" InSecShortcuts
   CreateDirectory "$SMPROGRAMS\OpenPilot"
   CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot GCS.lnk" "$INSTDIR\bin\openpilotgcs.exe" \
 	"" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
+  CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot ChangeLog.lnk" "$INSTDIR\HISTORY.txt" \
+	"" "$INSTDIR\bin\openpilotgcs.exe" 0
+  CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot Website.lnk" "http://www.openpilot.org" \
+	"" "$INSTDIR\bin\openpilotgcs.exe" 0
+  CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot Wiki.lnk" "http://wiki.openpilot.org" \
+	"" "$INSTDIR\bin\openpilotgcs.exe" 0
+  CreateShortCut "$SMPROGRAMS\OpenPilot\OpenPilot Forums.lnk" "http://forums.openpilot.org" \
+	"" "$INSTDIR\bin\openpilotgcs.exe" 0
   CreateShortCut "$DESKTOP\OpenPilot GCS.lnk" "$INSTDIR\bin\openpilotgcs.exe" \
   	"" "$INSTDIR\bin\openpilotgcs.exe" 0 "" "" "${PRODUCT_NAME} ${PRODUCT_VERSION}. ${BUILD_DESCRIPTION}"
   CreateShortCut "$SMPROGRAMS\OpenPilot\Uninstall.lnk" "$INSTDIR\Uninstall.exe" "" "$INSTDIR\Uninstall.exe" 0
@@ -244,6 +258,7 @@ Section "un.OpenPilot GCS" UnSecProgram
   RMDir /r /rebootok "$INSTDIR\lib"
   RMDir /r /rebootok "$INSTDIR\share"
   RMDir /r /rebootok "$INSTDIR\firmware"
+  Delete /rebootok "$INSTDIR\HISTORY.txt"
   Delete /rebootok "$INSTDIR\Uninstall.exe"
 
   ; Remove directory
diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml
index e0007bbeb..522fd6f3a 100644
--- a/shared/uavobjectdefinition/attitudesettings.xml
+++ b/shared/uavobjectdefinition/attitudesettings.xml
@@ -2,12 +2,14 @@
     <object name="AttitudeSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref Attitude module used on CopterControl</description>
         <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
+        <field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
         <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.03"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
         <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
-	<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+	<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+	<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
new file mode 100644
index 000000000..a3494f820
--- /dev/null
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -0,0 +1,11 @@
+<xml>
+    <object name="HwSettings" singleinstance="true" settings="true">
+        <description>Selection of optional hardware configurations.</description>
+	<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
+	<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 95423a3f5..bfd692f91 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="ManualControlSettings" singleinstance="true" settings="true">
         <description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
-        <field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum" defaultvalue="PWM"/>
+        <field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum,S.Bus" defaultvalue="PWM"/>
         <field name="Roll" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Pitch" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
@@ -11,15 +11,15 @@
         <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
-	
+
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
-	
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
-	
+
         <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
         <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index a93b8c2ff..02ff69013 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -5,7 +5,7 @@
         <field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
-        <field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
+	<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
         <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
         <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
         <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index c3bda9a2b..c1e013be3 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 991673d14..b6668350d 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -7,13 +7,23 @@
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
 
-	<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
-	<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
-	<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0035,0.0035,0.3"/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
-	
+
+	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
+
+	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="5"/>
+	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
+
+	<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
+	<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
+
+	<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
 	<telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml
index c8342a753..22c0e8fd4 100644
--- a/shared/uavobjectdefinition/systemsettings.xml
+++ b/shared/uavobjectdefinition/systemsettings.xml
@@ -1,10 +1,11 @@
-<xml>
-    <object name="SystemSettings" singleinstance="true" settings="true">
-        <description>Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
-        <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri" defaultvalue="FixedWing"/>
-        <access gcs="readwrite" flight="readwrite"/>
-        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="onchange" period="0"/>
-        <logging updatemode="never" period="0"/>
-    </object>
-</xml>
+<xml>
+    <object name="SystemSettings" singleinstance="true" settings="true">
+        <description>Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
+        <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri" defaultvalue="FixedWing"/>
+        <field name="GUIConfigData" units="bits" type="uint32" elements="2" defaultvalue="0"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/systemstats.xml b/shared/uavobjectdefinition/systemstats.xml
index a34541858..3e6bc1547 100644
--- a/shared/uavobjectdefinition/systemstats.xml
+++ b/shared/uavobjectdefinition/systemstats.xml
@@ -3,6 +3,7 @@
         <description>CPU and memory usage from OpenPilot computer. </description>
         <field name="FlightTime" units="ms" type="uint32" elements="1"/>
         <field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
+        <field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
         <field name="CPULoad" units="%" type="uint8" elements="1"/>
         <field name="CPUTemp" units="C" type="int8" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>