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index 6d9b2b9fb..7be4ff744 100644
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diff --git a/ground/openpilotgcs/src/plugins/systemhealth/SystemHealthGadget.pluginspec b/ground/openpilotgcs/src/plugins/systemhealth/SystemHealthGadget.pluginspec
index c48915fcb..7b055304a 100644
--- a/ground/openpilotgcs/src/plugins/systemhealth/SystemHealthGadget.pluginspec
+++ b/ground/openpilotgcs/src/plugins/systemhealth/SystemHealthGadget.pluginspec
@@ -7,5 +7,6 @@
     <dependencyList>
         <dependency name="Core" version="1.0.0"/>
         <dependency name="UAVObjects" version="1.0.0"/>
+        <dependency name="UAVTalk" version="1.0.0"/>
     </dependencyList>
 </plugin>    
diff --git a/ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro b/ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro
index a2ba3fc60..b053a7430 100644
--- a/ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro
+++ b/ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro
@@ -4,7 +4,6 @@ QT += svg
 include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(systemhealth_dependencies.pri)
-include(../../libs/qwt/qwt.pri)
 HEADERS += systemhealthplugin.h
 HEADERS += systemhealthgadget.h
 HEADERS += systemhealthgadgetwidget.h
diff --git a/ground/openpilotgcs/src/plugins/systemhealth/systemhealth_dependencies.pri b/ground/openpilotgcs/src/plugins/systemhealth/systemhealth_dependencies.pri
index ad54b0073..7750ae9aa 100644
--- a/ground/openpilotgcs/src/plugins/systemhealth/systemhealth_dependencies.pri
+++ b/ground/openpilotgcs/src/plugins/systemhealth/systemhealth_dependencies.pri
@@ -1,3 +1,2 @@
 include(../../plugins/uavobjects/uavobjects.pri)
-#include(../../plugins/coreplugin/coreplugin.pri)
-#include(../../libs/utils/utils.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
diff --git a/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
index 6d93031ad..7a0d5066f 100644
--- a/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
@@ -1,164 +1,187 @@
-/**
- ******************************************************************************
- *
- * @file       systemhealthgadgetwidget.cpp
- * @author     Edouard Lafargue Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup SystemHealthPlugin System Health Plugin
- * @{
- * @brief The System Health gadget 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 "systemhealthgadgetwidget.h"
-#include "utils/stylehelper.h"
-#include "extensionsystem/pluginmanager.h"
-#include "uavobjectmanager.h"
-#include "systemalarms.h"
-
-#include <iostream>
-#include <QtGui/QFileDialog>
-#include <QDebug>
-
-/*
- * Initialize the widget
- */
-SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent) : QGraphicsView(parent)
-{
-    setMinimumSize(128,128);
-    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-    setScene(new QGraphicsScene(this));
-
- 
-    m_renderer = new QSvgRenderer();
-    background = new QGraphicsSvgItem();
-    foreground = new QGraphicsSvgItem();
-
-    paint();
-
-    // Now connect the widget to the SystemAlarms UAVObject
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-
-    SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAlarms(UAVObject*)));
-
-}
-
-void SystemHealthGadgetWidget::updateAlarms(UAVObject* systemAlarm)
-{
-    // This code does not know anything about alarms beforehand, and
-    // I found to efficient way to locate items inside the scene by
-    // name, so it's just as simple to reset the scene:
-    // And add the one with the right name.
-    QGraphicsScene *m_scene = scene();
-    foreach ( QGraphicsItem* item ,background->childItems()){
-        m_scene->removeItem(item);
-        delete item; // removeItem does _not_ delete the item.
-    }
-
-    QString alarm = systemAlarm->getName();
-    foreach (UAVObjectField *field, systemAlarm->getFields()) {
-        for (uint i = 0; i < field->getNumElements(); ++i) {
-            QString element = field->getElementNames()[i];
-            QString value = field->getValue(i).toString();
-            if (m_renderer->elementExists(element)) {
-                QMatrix blockMatrix = m_renderer->matrixForElement(element);
-                qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
-                qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
-                QString element2 = element + "-" + value;
-                if (m_renderer->elementExists(element2)) {
-                    QGraphicsSvgItem *ind = new QGraphicsSvgItem();
-                    ind->setSharedRenderer(m_renderer);
-                    ind->setElementId(element2);
-                    ind->setParentItem(background);
-                    QTransform matrix;
-                    matrix.translate(startX,startY);
-                    ind->setTransform(matrix,false);
-                } else {
-                    if (value.compare("Uninitialised")!=0)qDebug() << "Warning: element " << element2 << " not found in SVG.";
-                }
-            } else {
-                qDebug() << "Warning: Element " << element << " not found in SVG.";
-            }
-        }
-    }
-}
-
-SystemHealthGadgetWidget::~SystemHealthGadgetWidget()
-{
-   // Do nothing
-}
-
-
-void SystemHealthGadgetWidget::setSystemFile(QString dfn)
-{
-    setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
-   if (QFile::exists(dfn))
-   {
-      m_renderer->load(dfn);
-      if(m_renderer->isValid())
-      {
-         fgenabled = false;
-
-         background->setSharedRenderer(m_renderer);
-         background->setElementId("background");
-
-         if (m_renderer->elementExists("foreground")) {
-            foreground->setSharedRenderer(m_renderer);
-            foreground->setElementId("foreground");
-            foreground->setZValue(99);
-            fgenabled = true;
-        }
-         std::cout<<"Dial file loaded"<<std::endl;
-         QGraphicsScene *l_scene = scene();
-         l_scene->setSceneRect(background->boundingRect());
-         fitInView(background, Qt::KeepAspectRatio );
-     }
-   }
-   else
-   { qDebug() <<"SystemHealthGadget: no file"; }
-}
-
-void SystemHealthGadgetWidget::paint()
-{
-    QGraphicsScene *l_scene = scene();
-    l_scene->clear();
-    l_scene->addItem(background);
-    l_scene->addItem(foreground);
-    update();
-}
-
-void SystemHealthGadgetWidget::paintEvent(QPaintEvent *event)
-{
-    // Skip painting until the dial file is loaded
-    if (! m_renderer->isValid()) {
-        qDebug() <<"SystemHealthGadget: System file not loaded, not rendering";
-        return;
-    }
-   QGraphicsView::paintEvent(event);
-}
-
-// This event enables the dial to be dynamically resized
-// whenever the gadget is resized, taking advantage of the vector
-// nature of SVG dials.
-void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
-{
-    Q_UNUSED(event);
-    fitInView(background, Qt::KeepAspectRatio );
-}
+/**
+ ******************************************************************************
+ *
+ * @file       systemhealthgadgetwidget.cpp
+ * @author     Edouard Lafargue Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup SystemHealthPlugin System Health Plugin
+ * @{
+ * @brief The System Health gadget 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 "systemhealthgadgetwidget.h"
+#include "utils/stylehelper.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "systemalarms.h"
+
+#include <QDebug>
+
+/*
+ * Initialize the widget
+ */
+SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent) : QGraphicsView(parent)
+{
+    setMinimumSize(128,128);
+    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+    setScene(new QGraphicsScene(this));
+
+ 
+    m_renderer = new QSvgRenderer();
+    background = new QGraphicsSvgItem();
+    foreground = new QGraphicsSvgItem();
+    nolink = new QGraphicsSvgItem();
+
+    paint();
+
+    // Now connect the widget to the SystemAlarms UAVObject
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
+    connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAlarms(UAVObject*)));
+
+    // Listen to autopilot connection events
+    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
+
+}
+
+/**
+  * Hide the "No Link" overlay
+  */
+void SystemHealthGadgetWidget::onAutopilotConnect()
+{
+    nolink->setVisible(false);
+}
+
+/**
+  * Show the "No Link" overlay
+  */
+void SystemHealthGadgetWidget::onAutopilotDisconnect()
+{
+    nolink->setVisible(true);
+}
+
+void SystemHealthGadgetWidget::updateAlarms(UAVObject* systemAlarm)
+{
+    // This code does not know anything about alarms beforehand, and
+    // I found no efficient way to locate items inside the scene by
+    // name, so it's just as simple to reset the scene:
+    // And add the one with the right name.
+    QGraphicsScene *m_scene = scene();
+    foreach ( QGraphicsItem* item ,background->childItems()){
+        m_scene->removeItem(item);
+        delete item; // removeItem does _not_ delete the item.
+    }
+
+    QString alarm = systemAlarm->getName();
+    foreach (UAVObjectField *field, systemAlarm->getFields()) {
+        for (uint i = 0; i < field->getNumElements(); ++i) {
+            QString element = field->getElementNames()[i];
+            QString value = field->getValue(i).toString();
+            if (m_renderer->elementExists(element)) {
+                QMatrix blockMatrix = m_renderer->matrixForElement(element);
+                qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
+                qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
+                QString element2 = element + "-" + value;
+                if (m_renderer->elementExists(element2)) {
+                    QGraphicsSvgItem *ind = new QGraphicsSvgItem();
+                    ind->setSharedRenderer(m_renderer);
+                    ind->setElementId(element2);
+                    ind->setParentItem(background);
+                    QTransform matrix;
+                    matrix.translate(startX,startY);
+                    ind->setTransform(matrix,false);
+                } else {
+                    if (value.compare("Uninitialised")!=0)qDebug() << "Warning: element " << element2 << " not found in SVG.";
+                }
+            } else {
+                qDebug() << "Warning: Element " << element << " not found in SVG.";
+            }
+        }
+    }
+}
+
+SystemHealthGadgetWidget::~SystemHealthGadgetWidget()
+{
+   // Do nothing
+}
+
+
+void SystemHealthGadgetWidget::setSystemFile(QString dfn)
+{
+    setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
+   if (QFile::exists(dfn)) {
+       m_renderer->load(dfn);
+       if(m_renderer->isValid()) {
+           fgenabled = false;
+           background->setSharedRenderer(m_renderer);
+           background->setElementId("background");
+
+           if (m_renderer->elementExists("foreground")) {
+               foreground->setSharedRenderer(m_renderer);
+               foreground->setElementId("foreground");
+               foreground->setZValue(99);
+               fgenabled = true;
+           }
+           if (m_renderer->elementExists("nolink")) {
+               nolink->setSharedRenderer(m_renderer);
+               nolink->setElementId("nolink");
+               nolink->setZValue(100);
+           }
+
+         QGraphicsScene *l_scene = scene();
+         l_scene->setSceneRect(background->boundingRect());
+         fitInView(background, Qt::KeepAspectRatio );
+       }
+   }
+   else
+   { qDebug() <<"SystemHealthGadget: no file"; }
+}
+
+void SystemHealthGadgetWidget::paint()
+{
+    QGraphicsScene *l_scene = scene();
+    l_scene->clear();
+    l_scene->addItem(background);
+    l_scene->addItem(foreground);
+    l_scene->addItem(nolink);
+    update();
+}
+
+void SystemHealthGadgetWidget::paintEvent(QPaintEvent *event)
+{
+    // Skip painting until the dial file is loaded
+    if (! m_renderer->isValid()) {
+        qDebug() <<"SystemHealthGadget: System file not loaded, not rendering";
+        return;
+    }
+   QGraphicsView::paintEvent(event);
+}
+
+// This event enables the dial to be dynamically resized
+// whenever the gadget is resized, taking advantage of the vector
+// nature of SVG dials.
+void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
+{
+    Q_UNUSED(event);
+    fitInView(background, Qt::KeepAspectRatio );
+}
diff --git a/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h b/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h
index c51a75a27..7f3034059 100644
--- a/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h
@@ -1,67 +1,71 @@
-/**
- ******************************************************************************
- *
- * @file       systemhealthgadgetwidget.h
- * @author     Edouard Lafargue Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup SystemHealthPlugin System Health Plugin
- * @{
- * @brief The System Health gadget 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 SYSTEMHEALTHGADGETWIDGET_H_
-#define SYSTEMHEALTHGADGETWIDGET_H_
-
-#include "systemhealthgadgetconfiguration.h"
-#include "uavobject.h"
-#include <QGraphicsView>
-#include <QtSvg/QSvgRenderer>
-#include <QtSvg/QGraphicsSvgItem>
-
-#include <QFile>
-#include <QTimer>
-
-class SystemHealthGadgetWidget : public QGraphicsView
-{
-    Q_OBJECT
-
-public:
-    SystemHealthGadgetWidget(QWidget *parent = 0);
-   ~SystemHealthGadgetWidget();
-   void setSystemFile(QString dfn);
-   void setIndicator(QString indicator);
-   void paint();
-
-protected:
-   void paintEvent(QPaintEvent *event);
-   void resizeEvent(QResizeEvent *event);
-
-private slots:
-   void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject
-
-private:
-   QSvgRenderer *m_renderer;
-   QGraphicsSvgItem *background;
-   QGraphicsSvgItem *foreground;
-
-                   // Simple flag to skip rendering if the
-   bool fgenabled; // layer does not exist.
-
-};
-#endif /* SYSTEMHEALTHGADGETWIDGET_H_ */
+/**
+ ******************************************************************************
+ *
+ * @file       systemhealthgadgetwidget.h
+ * @author     Edouard Lafargue Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup SystemHealthPlugin System Health Plugin
+ * @{
+ * @brief The System Health gadget 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 SYSTEMHEALTHGADGETWIDGET_H_
+#define SYSTEMHEALTHGADGETWIDGET_H_
+
+#include "systemhealthgadgetconfiguration.h"
+#include "uavobject.h"
+#include "uavtalk/telemetrymanager.h"
+#include <QGraphicsView>
+#include <QtSvg/QSvgRenderer>
+#include <QtSvg/QGraphicsSvgItem>
+
+#include <QFile>
+#include <QTimer>
+
+class SystemHealthGadgetWidget : public QGraphicsView
+{
+    Q_OBJECT
+
+public:
+    SystemHealthGadgetWidget(QWidget *parent = 0);
+   ~SystemHealthGadgetWidget();
+   void setSystemFile(QString dfn);
+   void setIndicator(QString indicator);
+   void paint();
+
+protected:
+   void paintEvent(QPaintEvent *event);
+   void resizeEvent(QResizeEvent *event);
+
+private slots:
+   void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject
+   void onAutopilotConnect();
+   void onAutopilotDisconnect();
+
+private:
+   QSvgRenderer *m_renderer;
+   QGraphicsSvgItem *background;
+   QGraphicsSvgItem *foreground;
+   QGraphicsSvgItem *nolink;
+
+                   // Simple flag to skip rendering if the
+   bool fgenabled; // layer does not exist.
+
+};
+#endif /* SYSTEMHEALTHGADGETWIDGET_H_ */