diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m b/ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m
index 218a0b78b..39e89ffc1 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m
@@ -1,3 +1,22 @@
+% GCSCONTROL
+%  This class allows the user to send 4-axis stick commands to OpenPilot
+%  GCS.
+%
+% Create class by
+%    control = GCSControl
+%
+% Open connection by 
+%    control.connect('01.23.45.67', 89)
+% where the first value is the IP address of the computer running GCS and
+% the second value is the port on which GCS is listening.
+%
+% Send command by
+%    control.command(pitch, yaw, roll, throttle)
+% where all variables are between [-1,1]
+%
+% Close connection by
+%    control.close()
+
 classdef GCSControl < handle
     
     properties
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
index f5ddbdc94..b95082fb9 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
@@ -169,7 +169,6 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
         newThrottle = leftY;
         break;
     }
-    newThrottle = (newThrottle + 1)/2.0;
 
     //check if buttons have control over this axis... if so don't update it
     int buttonRollControl=0;
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui
index 1f2c50e18..5191788a0 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui
@@ -143,7 +143,7 @@
       <item>
        <widget class="QTabWidget" name="UDPSetup">
         <property name="currentIndex">
-         <number>1</number>
+         <number>0</number>
         </property>
         <widget class="QWidget" name="tabWidgetPage2">
          <attribute name="title">
@@ -1020,59 +1020,55 @@
            <rect>
             <x>20</x>
             <y>20</y>
-            <width>191</width>
-            <height>121</height>
+            <width>301</width>
+            <height>71</height>
            </rect>
           </property>
           <property name="title">
            <string>UDP Port Configuration</string>
           </property>
-          <widget class="QLineEdit" name="udp_port">
-           <property name="geometry">
-            <rect>
-             <x>60</x>
-             <y>30</y>
-             <width>113</width>
-             <height>30</height>
-            </rect>
-           </property>
-          </widget>
-          <widget class="QLabel" name="label_6">
-           <property name="geometry">
-            <rect>
-             <x>10</x>
-             <y>40</y>
-             <width>67</width>
-             <height>17</height>
-            </rect>
-           </property>
-           <property name="text">
-            <string>Port:</string>
-           </property>
-          </widget>
-          <widget class="QLineEdit" name="udp_host">
-           <property name="geometry">
-            <rect>
-             <x>60</x>
-             <y>70</y>
-             <width>113</width>
-             <height>30</height>
-            </rect>
-           </property>
-          </widget>
-          <widget class="QLabel" name="label_7">
-           <property name="geometry">
-            <rect>
-             <x>10</x>
-             <y>80</y>
-             <width>67</width>
-             <height>17</height>
-            </rect>
-           </property>
-           <property name="text">
-            <string>Host:</string>
-           </property>
-          </widget>
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <item>
+            <widget class="QLabel" name="label_7">
+             <property name="text">
+              <string>Host:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="udp_host">
+             <property name="maximumSize">
+              <size>
+               <width>120</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>127.0.0.1</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_6">
+             <property name="text">
+              <string>Port:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="udp_port">
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>2323</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
          </widget>
         </widget>
        </widget>