diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index e4f46b24c..ed51ff472 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -106,50 +106,44 @@ void ConnectionManager::init()
 */
 bool ConnectionManager::connectDevice()
 {
-	devListItem connection_device = findDevice(m_availableDevList->currentText());
-	if (!connection_device.connection)
-		return false;
+    devListItem connection_device = findDevice(m_availableDevList->currentText());
+    if (!connection_device.connection)
+        return false;
 
-	QIODevice *io_dev = connection_device.connection->openDevice(connection_device.devName);
-	if (!io_dev)
-		return false;
+    QIODevice *io_dev = connection_device.connection->openDevice(connection_device.devName);
+    if (!io_dev)
+        return false;
 
-	io_dev->open(QIODevice::ReadWrite);
+    io_dev->open(QIODevice::ReadWrite);
 
-	// check if opening the device worked
-	if (!io_dev->isOpen())
-	{
-		qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
-			<< ": " << io_dev->errorString();
+    // check if opening the device worked
+    if (!io_dev->isOpen()) {
+        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
+                 << ": " << io_dev->errorString();
 
-		// close the device
-		try
-		{
-			connection_device.connection->closeDevice(connection_device.devName);
-		}
-		catch (...)
-		{	// handle exception
-			qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
-		}
+        // close the device
+        // EDOUARD: why do we close if we could not open ???
+        try {
+            connection_device.connection->closeDevice(connection_device.devName);
+        }
+        catch (...) {	// handle exception
+            qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
+        }
+        return false;
+    }
 
-		return false;
-	}
+    // we appear to have connected to the device OK
+    // remember the connection/device details
+    m_connectionDevice = connection_device;
+    m_ioDev = io_dev;
 
-	// we appear to have connected to the device OK
+    connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
 
-	// remember the connection/device details
-	m_connectionDevice = connection_device;
-	m_ioDev = io_dev;
-
-	connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
-
-	m_connectBtn->setText("Disconnect");
-	m_availableDevList->setEnabled(false);
-
-	// signal interested plugins that we connected to the device
-	emit deviceConnected(m_ioDev);
-
-	return true;
+    // signal interested plugins that we connected to the device
+    emit deviceConnected(m_ioDev);
+    m_connectBtn->setText("Disconnect");
+    m_availableDevList->setEnabled(false);
+    return true;
 }
 
 /**
@@ -158,30 +152,32 @@ bool ConnectionManager::connectDevice()
 */
 bool ConnectionManager::disconnectDevice()
 {
-	if (!m_ioDev)
-	{   // apparently we are already disconnected
+    if (!m_ioDev) {
+        // apparently we are already disconnected: this can
+        // happen if a plugin tries to force a disconnect whereas
+        // we are not connected. Just return.
+        return false;
+    }
 
-		m_connectionDevice.connection = NULL;
-		m_ioDev = NULL;
+    // We are connected - disconnect from the device
 
-		return false;
-	}
+    // signal interested plugins that user is disconnecting his device
+    emit deviceAboutToDisconnect();
 
-	// we appear to be connected - disconnect from the device
+    try {
+        if (m_connectionDevice.connection)
+            m_connectionDevice.connection->closeDevice(m_connectionDevice.devName);
+    } catch (...) {	// handle exception
+        qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
+    }
 
-	try
-	{
-		if (m_connectionDevice.connection)
-			m_connectionDevice.connection->closeDevice(m_connectionDevice.devName);
-	}
-	catch (...)
-	{	// handle exception
-		qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
-	}
+    m_connectionDevice.connection = NULL;
+    m_ioDev = NULL;
 
-	onConnectionClosed(m_connectionDevice.connection);
+    m_connectBtn->setText("Connect");
+    m_availableDevList->setEnabled(true);
 
-	return true;
+    return true;
 }
 
 /**
@@ -222,24 +218,11 @@ void ConnectionManager::aboutToRemoveObject(QObject *obj)
 		m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
 }
 
-void ConnectionManager::onConnectionClosed(QObject *obj)	// Pip
-{
-	if (!m_connectionDevice.connection || m_connectionDevice.connection != obj)
-		return;
-
-	m_connectionDevice.connection = NULL;
-	m_ioDev = NULL;
-
-	m_connectBtn->setText("Connect");
-	m_availableDevList->setEnabled(true);
-
-	// signal interested plugins that user is disconnecting his device
-	emit deviceDisconnected();
-}
 
 void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
 {
-	onConnectionClosed(obj);
+        //onConnectionClosed(obj);
+        disconnectDevice();
 }
 
 /**
@@ -247,13 +230,14 @@ void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
 */
 void ConnectionManager::onConnectPressed()
 {
-	if (!m_ioDev || !m_connectionDevice.connection)
-	{	// connecting
-		connectDevice();
+    // Check if we have a ioDev already created:
+    if (!m_ioDev)
+    {	// connecting
+        connectDevice();
     }
     else
-	{	// disconnecting
-		disconnectDevice();
+    {	// disconnecting
+        disconnectDevice();
     }
 }
 
@@ -318,7 +302,8 @@ void ConnectionManager::unregisterAll(IConnection *connection)
 		{
 			if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
 			{	// we are currently using the one we are about to erase
-				onConnectionClosed(m_connectionDevice.connection);
+                                //onConnectionClosed(m_connectionDevice.connection);
+                            disconnectDevice();
 			}
 
 			iter = m_devList.erase(iter);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 19e7c4f9c..c605e3b6d 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -81,7 +81,7 @@ protected:
 
 signals:
     void deviceConnected(QIODevice *dev);
-    void deviceDisconnected();
+    void deviceAboutToDisconnect();
 
 private slots:
     void objectAdded(QObject *obj);
@@ -90,7 +90,7 @@ private slots:
     void onConnectPressed();
     void devChanged(IConnection *connection);
 
-	void onConnectionClosed(QObject *obj);
+//	void onConnectionClosed(QObject *obj);
 	void onConnectionDestroyed(QObject *obj);
 
 protected:
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
index 5b9131820..d78b6e31d 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
@@ -94,7 +94,7 @@ QStringList RawHIDConnection::availableDevices()
 QIODevice *RawHIDConnection::openDevice(const QString &deviceName)
 {
     //added by andrew
-	if (RawHidHandle)
+    if (RawHidHandle)
         closeDevice(deviceName);
     //end added by andrew
 
diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
index 3b11768bf..fb2bbf796 100644
--- a/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
@@ -74,7 +74,7 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
     // running the scopes if we are not connected and not replaying logs
     // Also listen to disconnect actions from the user
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-    connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(stopPlotting()));
+    connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(stopPlotting()));
     connect(cm, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(startPlotting()));
 
     m_csvLoggingStarted=0;
@@ -89,7 +89,7 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
     m_csvLoggingStartTime = QDateTime::currentDateTime();
 
     //Listen to autopilot connection events
-    connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(csvLoggingDisconnect()));
+    connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(csvLoggingDisconnect()));
     connect(cm, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(csvLoggingConnect()));
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index a5c8880c0..ff8784746 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -56,6 +56,7 @@ const quint8 UAVTalk::crc_table[256] = {
 UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
 {
     io = iodev;
+
     this->objMngr = objMngr;
 
     rxState = STATE_SYNC;
@@ -67,23 +68,17 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
 
     memset(&stats, 0, sizeof(ComStats));
 
-	if (io)	// Pip
-		connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+    connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
 UAVTalk::~UAVTalk()
 {
-	// Pip
-	mutex->lock();
-		io = NULL;
-		objMngr = NULL;
-	mutex->unlock();
-
     // According to Qt, it is not necessary to disconnect upon
     // object deletion.
     //disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
+
 /**
  * Reset the statistics counters
  */
@@ -109,24 +104,9 @@ void UAVTalk::processInputStream()
 {
     quint8 tmp;
 
-	while (true)
+    while (io->bytesAvailable() > 0)
     {
-		mutex->lock();	// Pip
-			if (!io)
-			{
-				mutex->unlock();
-				break;
-			}
-			if (!io->isOpen() || io->bytesAvailable() <= 0)
-			{
-				mutex->unlock();
-				break;
-			}
-			qint64 bytes_read = io->read((char*)&tmp, sizeof(tmp));
-		mutex->unlock();
-
-		if (bytes_read <= 0) break;	// Pip
-
+        io->read((char*)&tmp, 1);
         processInputByte(tmp);
     }
 }
@@ -216,9 +196,6 @@ bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
  */
 bool UAVTalk::processInputByte(quint8 rxbyte)
 {
-	if (!objMngr || !io)	// Pip
-		return false;
-
     // Update stats
     stats.rxBytes++;
 
@@ -429,10 +406,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
 {
     Q_UNUSED(length);
 
-	if (!objMngr || !io)	// Pip
-		return false;
-
-	UAVObject* obj = NULL;
+    UAVObject* obj = NULL;
     bool error = false;
     bool allInstances = (instId == ALL_INSTANCES? true : false);
 
@@ -531,10 +505,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
  */
 UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
 {
-	if (!objMngr || !io)	// Pip
-		return NULL;
-
-	// Get object
+    // Get object
     UAVObject* obj = objMngr->getObject(objId, instId);
     // If the instance does not exist create it
     if (obj == NULL)
@@ -589,10 +560,7 @@ void UAVTalk::updateAck(UAVObject* obj)
  */
 bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
 {   
-	if (!objMngr || !io)	// Pip
-		return false;
-
-	// If all instances are requested on a single instance object it is an error
+    // If all instances are requested on a single instance object it is an error
     if (allInstances && obj->isSingleInstance())
     {
         allInstances = false;
@@ -654,10 +622,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     quint16 instId;
     quint16 allInstId = ALL_INSTANCES;
 
-	if (!objMngr || !io)	// Pip
-		return false;
-
-	// Setup type and object id fields
+    // Setup type and object id fields
     objId = obj->getObjID();
     txBuffer[0] = SYNC_VAL;
     txBuffer[1] = type;
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
index 22275d59d..f9f436fe7 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
@@ -1,127 +1,127 @@
-/**
- ******************************************************************************
- *
- * @file       uavtalk.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup UAVTalkPlugin UAVTalk Plugin
- * @{
- * @brief The UAVTalk protocol 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 UAVTALK_H
-#define UAVTALK_H
-
-#include <QIODevice>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QSemaphore>
-#include "uavobjectmanager.h"
-#include "uavtalk_global.h"
-
-class UAVTALK_EXPORT UAVTalk: public QObject
-{
-    Q_OBJECT
-
-public:
-    typedef struct {
-        quint32 txBytes;
-        quint32 rxBytes;
-        quint32 txObjectBytes;
-        quint32 rxObjectBytes;
-        quint32 rxObjects;
-        quint32 txObjects;
-        quint32 txErrors;
-        quint32 rxErrors;
-    } ComStats;
-
-    UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
-    ~UAVTalk();
-    bool sendObject(UAVObject* obj, bool acked, bool allInstances);
-    bool sendObjectRequest(UAVObject* obj, bool allInstances);
-    void cancelTransaction();
-    ComStats getStats();
-    void resetStats();
-
-signals:
-    void transactionCompleted(UAVObject* obj);
-
-private slots:
-    void processInputStream(void);
-
-private:
-    // Constants
-    static const int TYPE_MASK = 0xFC;
-    static const int TYPE_VER = 0x20;
-    static const int TYPE_OBJ = (TYPE_VER | 0x00);
-    static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
-    static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
-    static const int TYPE_ACK = (TYPE_VER | 0x03);
-
-    static const int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2), object ID(4)
-    static const int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects)
-
-    static const int CHECKSUM_LENGTH = 1;
-
-    static const int MAX_PAYLOAD_LENGTH = 256;
-
-    static const int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
-
-    static const quint16 ALL_INSTANCES = 0xFFFF;
-    static const int TX_BUFFER_SIZE = 2*1024;
-    static const quint8 crc_table[256];
-
-    // Types
-    typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
-
-    // Variables
-    QIODevice* io;
-    UAVObjectManager* objMngr;
-    QMutex* mutex;
-    UAVObject* respObj;
-    bool respAllInstances;
-    quint8 rxBuffer[MAX_PACKET_LENGTH];
-    quint8 txBuffer[MAX_PACKET_LENGTH];
-    // Variables used by the receive state machine
-    quint8 rxTmpBuffer[4];
-    quint8 rxType;
-    quint32 rxObjId;
-    quint16 rxInstId;
-    quint16 rxLength;
-    quint16 rxPacketLength;
-
-    quint8 rxCSPacket, rxCS;
-    qint32 rxCount;
-    qint32 packetSize;
-    RxStateType rxState;
-    ComStats stats;
-
-    // Methods
-    bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
-    bool processInputByte(quint8 rxbyte);
-    bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length);
-    UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data);
-    void updateAck(UAVObject* obj);
-    bool transmitObject(UAVObject* obj, quint8 type, bool allInstances);
-    bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
-    quint8 updateCRC(quint8 crc, const quint8 data);
-    quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
-
-};
-
-#endif // UAVTALK_H
+/**
+ ******************************************************************************
+ *
+ * @file       uavtalk.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVTalkPlugin UAVTalk Plugin
+ * @{
+ * @brief The UAVTalk protocol 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 UAVTALK_H
+#define UAVTALK_H
+
+#include <QIODevice>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QSemaphore>
+#include "uavobjectmanager.h"
+#include "uavtalk_global.h"
+
+class UAVTALK_EXPORT UAVTalk: public QObject
+{
+    Q_OBJECT
+
+public:
+    typedef struct {
+        quint32 txBytes;
+        quint32 rxBytes;
+        quint32 txObjectBytes;
+        quint32 rxObjectBytes;
+        quint32 rxObjects;
+        quint32 txObjects;
+        quint32 txErrors;
+        quint32 rxErrors;
+    } ComStats;
+
+    UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
+    ~UAVTalk();
+    bool sendObject(UAVObject* obj, bool acked, bool allInstances);
+    bool sendObjectRequest(UAVObject* obj, bool allInstances);
+    void cancelTransaction();
+    ComStats getStats();
+    void resetStats();
+
+signals:
+    void transactionCompleted(UAVObject* obj);
+
+private slots:
+    void processInputStream(void);
+
+private:
+    // Constants
+    static const int TYPE_MASK = 0xFC;
+    static const int TYPE_VER = 0x20;
+    static const int TYPE_OBJ = (TYPE_VER | 0x00);
+    static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
+    static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
+    static const int TYPE_ACK = (TYPE_VER | 0x03);
+
+    static const int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2), object ID(4)
+    static const int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects)
+
+    static const int CHECKSUM_LENGTH = 1;
+
+    static const int MAX_PAYLOAD_LENGTH = 256;
+
+    static const int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
+
+    static const quint16 ALL_INSTANCES = 0xFFFF;
+    static const int TX_BUFFER_SIZE = 2*1024;
+    static const quint8 crc_table[256];
+
+    // Types
+    typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
+
+    // Variables
+    QIODevice* io;
+    UAVObjectManager* objMngr;
+    QMutex* mutex;
+    UAVObject* respObj;
+    bool respAllInstances;
+    quint8 rxBuffer[MAX_PACKET_LENGTH];
+    quint8 txBuffer[MAX_PACKET_LENGTH];
+    // Variables used by the receive state machine
+    quint8 rxTmpBuffer[4];
+    quint8 rxType;
+    quint32 rxObjId;
+    quint16 rxInstId;
+    quint16 rxLength;
+    quint16 rxPacketLength;
+
+    quint8 rxCSPacket, rxCS;
+    qint32 rxCount;
+    qint32 packetSize;
+    RxStateType rxState;
+    ComStats stats;
+
+    // Methods
+    bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
+    bool processInputByte(quint8 rxbyte);
+    bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length);
+    UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data);
+    void updateAck(UAVObject* obj);
+    bool transmitObject(UAVObject* obj, quint8 type, bool allInstances);
+    bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
+    quint8 updateCRC(quint8 crc, const quint8 data);
+    quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
+
+};
+
+#endif // UAVTALK_H
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.cpp
index 91cb2a8ec..35fc138b6 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalkplugin.cpp
@@ -31,27 +31,29 @@
 
 UAVTalkPlugin::UAVTalkPlugin()
 {
-	telMngr = NULL;	// Pip
+
 }
 
 UAVTalkPlugin::~UAVTalkPlugin()
 {
-	if (telMngr)	// Pip
-		telMngr->stop();
+
 }
 
 void UAVTalkPlugin::extensionsInitialized()
 {
+    // Get UAVObjectManager instance
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    objMngr = pm->getObject<UAVObjectManager>();
+
     // Create TelemetryManager
     telMngr = new TelemetryManager();
-	if (!telMngr) return;	// Pip
     addAutoReleasedObject(telMngr);
 
     // Connect to connection manager so we get notified when the user connect to his device
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-	QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
-					 this, SLOT(onDeviceConnect(QIODevice *)));
-    QObject::connect(cm, SIGNAL(deviceDisconnected()),
+    QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
+                     this, SLOT(onDeviceConnect(QIODevice *)));
+    QObject::connect(cm, SIGNAL(deviceAboutToDisconnect()),
                      this, SLOT(onDeviceDisconnect()));
 }
 
@@ -65,18 +67,17 @@ bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorStr
 
 void UAVTalkPlugin::shutdown()
 {
+
 }
 
 void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
 {
-	if (telMngr)	// Pip
-		telMngr->start(dev);
+    telMngr->start(dev);
 }
 
 void UAVTalkPlugin::onDeviceDisconnect()
 {
-	if (telMngr)	// Pip
-		telMngr->stop();
+    telMngr->stop();
 }
 
 Q_EXPORT_PLUGIN(UAVTalkPlugin)
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 25dd0e3d7..2f9892f4b 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -43,14 +43,6 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
-    // Note: remove listening to the connection manager, it overlaps with
-    // listening to the telemetry manager, we should only listen to one, not both.
-
-    // Also listen to disconnect actions from the user:
-    // Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-    // connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(onAutopilotDisconnect()));
-
-
     connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
     connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
     connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));