diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
index 198b9502c..2fb92cc19 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
@@ -37,6 +37,42 @@ Item {
         smooth: true
     }
 
+    SvgElementImage {
+        id: compass_home
+        elementName: "compass-home" // Cyan point
+        sceneSize: sceneItem.sceneSize
+        smooth: true
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        property real home_degrees: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, TakeOffLocation.North - PositionState.North)
+
+        rotation: -AttitudeState.Yaw + home_degrees
+        transformOrigin: Item.Bottom
+        visible: TakeOffLocation.Status == 0
+
+    }
+
+    SvgElementImage {
+        id: compass_waypoint // Double Purple arrow
+        elementName: "compass-waypoint"
+        sceneSize: sceneItem.sceneSize
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        property real course_degrees: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East, PathDesired.End_North - PositionState.North)
+
+        rotation: -AttitudeState.Yaw + course_degrees
+        transformOrigin: Item.Center
+
+        smooth: true
+        visible: PathDesired.End_East !== 0.0 && PathDesired.End_East !== 0.0
+    }
+
+
+
     Item {
         id: compass_text_box
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
index c5f7c36f1..6dee7b633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/HorizontCenter.qml
@@ -10,6 +10,9 @@ Item {
         elementName: "center-arrows"
         sceneSize: background.sceneSize
 
+        width: Math.floor(scaledBounds.width * sceneItem.width)
+        height: Math.floor(scaledBounds.height * sceneItem.height)
+
         x: Math.floor(scaledBounds.x * sceneItem.width)
         y: Math.floor(scaledBounds.y * sceneItem.height)
     }
@@ -19,6 +22,9 @@ Item {
         elementName: "center-plane"
         sceneSize: background.sceneSize
 
+        width: Math.floor(scaledBounds.width * sceneItem.width)
+        height: Math.floor(scaledBounds.height * sceneItem.height)
+
         x: Math.floor(scaledBounds.x * sceneItem.width)
         y: Math.floor(scaledBounds.y * sceneItem.height)
     }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
index 9dedc4365..699e0b2f0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
@@ -4,10 +4,64 @@ Item {
     id: info
     property variant sceneSize
 
+    property real home_heading: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, 
+                                                        TakeOffLocation.North - PositionState.North)
+
+    property real home_distance: Math.sqrt(Math.pow((TakeOffLocation.East - PositionState.East),2) +
+                                           Math.pow((TakeOffLocation.North - PositionState.North),2))
+
+    property real wp_heading: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East, 
+                                                      PathDesired.End_North - PositionState.North)
+
+    property real wp_distance: Math.sqrt(Math.pow((PathDesired.End_East - PositionState.East),2) +
+                                           Math.pow(( PathDesired.End_North - PositionState.North),2))
+
+    property real current_velocity: Math.sqrt(Math.pow(VelocityState.North,2)+Math.pow(VelocityState.East,2))
+
+    property real home_eta: (home_distance > 0 && current_velocity > 0 ? Math.round(home_distance/current_velocity) : 0)
+    property real home_eta_h: (home_eta > 0 ? Math.floor(home_eta / 3600) : 0 )
+    property real home_eta_m: (home_eta > 0 ? Math.floor((home_eta - home_eta_h*3600)/60) : 0) 
+    property real home_eta_s: (home_eta > 0 ? Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60) : 0)
+
+    property real wp_eta: (wp_distance > 0 && current_velocity > 0 ? Math.round(wp_distance/current_velocity) : 0)
+    property real wp_eta_h: (wp_eta > 0 ? Math.floor(wp_eta / 3600) : 0 )
+    property real wp_eta_m: (wp_eta > 0 ? Math.floor((wp_eta - wp_eta_h*3600)/60) : 0) 
+    property real wp_eta_s: (wp_eta > 0 ? Math.floor(wp_eta - wp_eta_h*3600 - wp_eta_m*60) : 0)
+
+    property real posEast_old
+    property real posNorth_old
+    property real total_distance
+    property bool init_dist: false
+
+    function reset_distance(){
+        total_distance = 0;
+    }
+
+    function compute_distance(posEast,posNorth) {
+        if (total_distance == 0 && !init_dist){init_dist = "true"; posEast_old = posEast; posNorth_old = posNorth;}
+        if (posEast > posEast_old+3 || posEast < posEast_old-3 || posNorth > posNorth_old+3 || posNorth < posNorth_old-3) {
+        total_distance += Math.sqrt(Math.pow((posEast - posEast_old ),2) + Math.pow((posNorth - posNorth_old),2));    
+
+        posEast_old = posEast;
+        posNorth_old = posNorth;
+        return total_distance;
+        } 
+    }
+
+    function formatTime(time) {
+        if (time === 0)
+            return "00"
+        if (time < 10)
+            return "0" + time;
+        else
+            return time.toString();
+    }
+    
     SvgElementImage {
         id: info_bg
-        elementName: "info-bg"
         sceneSize: info.sceneSize
+        elementName: "info-bg"
+        width: parent.width
     }
 
     SvgElementImage {
@@ -25,11 +79,6 @@ Item {
         }
     }
 
-    SvgElementImage {
-        id: energy_label
-        elementName: "battery-milliamp-label"
-        sceneSize: info.sceneSize
-    }
 
     Repeater {
         id: satNumberBar
@@ -53,7 +102,7 @@ Item {
         Text {
             text: ["No GPS", "No Fix", "Fix2D", "Fix3D"][GPSPositionSensor.Status]
             anchors.centerIn: parent
-            font.pixelSize: parent.height*1.2
+            font.pixelSize: Math.floor(parent.height*1.2)
             color: "white"
         }
     }
@@ -66,7 +115,7 @@ Item {
             text: ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
 
             anchors.centerIn: parent
-            font.pixelSize: parent.height*1.2
+            font.pixelSize: Math.floor(parent.height*1.2)
             color: "white"
         }
     }
@@ -99,6 +148,116 @@ Item {
         }
     }
 
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-heading-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: "   "+wp_heading.toFixed(1)+"°"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: "  "+wp_distance.toFixed(0)+" m"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-total-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: true
+
+        MouseArea { id: total_dist_mouseArea; anchors.fill: parent; onClicked: reset_distance()}
+
+        Text {
+            text: "  "+total_distance.toFixed(0)+" m"
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+
+        Timer {
+            interval: 1000; running: true; repeat: true;
+            onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-eta-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: formatTime(wp_eta_h) + ":" + formatTime(wp_eta_m) + ":" + formatTime(wp_eta_s)
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-number-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: (WaypointActive.Index+1)+" / "+PathPlan.WaypointCount
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        elementName: "waypoint-mode-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        visible: SystemAlarms.Alarm_PathPlan == 1
+
+        Text {
+            text: ["Fly End Point","Fly Vector","Fly Circle Right","Fly Circle Left","Drive End Point","Drive Vector","Drive Circle Right",
+                   "Drive Circle Left","Fixed Attitude","Set Accessory","Land","Disarm Alarm"][PathDesired.Mode]
+
+            anchors.centerIn: parent
+            font.pixelSize: parent.height*1.1
+            color: "magenta"
+        }
+    }
+
     SvgElementPositionItem {
         sceneSize: info.sceneSize
         elementName: "battery-volt-text"
@@ -110,7 +269,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -126,7 +285,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -142,7 +301,7 @@ Item {
             color: "white"
             font {
                 family: "Arial"
-                pixelSize: parent.height * 1.3
+                pixelSize: Math.floor(parent.height * 1.2)
             }
         }
     }
@@ -157,6 +316,7 @@ Item {
             property int minThrottleNumber : index+1
             elementName: "eng" + minThrottleNumber
             sceneSize: info.sceneSize
+
             visible: throttleNumberBar.throttleNumber >= minThrottleNumber
         }
     }
@@ -184,4 +344,123 @@ Item {
         elementName: "rx-mask"
         sceneSize: info.sceneSize
     }
+
+    SvgElementImage {
+        id: home_bg
+        elementName: "home-bg"
+        sceneSize: info.sceneSize
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        states: State  {
+             name: "fading"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_bg; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        id: home_heading_text
+        elementName: "home-heading-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        states: State  {
+             name: "fading_heading"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_heading_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
+        Text {
+            text: "  "+home_heading.toFixed(1)+"°"
+            anchors.centerIn: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: parent.height * 1.2
+            }
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        id: home_distance_text
+        elementName: "home-distance-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        states: State  {
+             name: "fading_distance"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_distance_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
+
+        Text {
+            text: home_distance.toFixed(0)+" m"
+            anchors.centerIn: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: parent.height * 1.2
+            }
+        }
+    }
+
+    SvgElementPositionItem {
+        sceneSize: info.sceneSize
+        id: home_eta_text
+        elementName: "home-eta-text"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        states: State  {
+             name: "fading_distance"
+             when: TakeOffLocation.Status !== 0
+             PropertyChanges  { target: home_eta_text; x: Math.floor(scaledBounds.x * sceneItem.width) + home_bg.width;  }
+        }
+ 
+        transitions: Transition  {
+        SequentialAnimation  {
+              PropertyAnimation  { property: "x"; duration: 800 }
+              }
+        } 
+
+        Text {
+            text: formatTime(home_eta_h) + ":" + formatTime(home_eta_m) + ":" + formatTime(home_eta_s)
+            anchors.centerIn: parent
+            color: "cyan"
+            font {
+                family: "Arial"
+                pixelSize: parent.height * 1.2
+            }
+        }
+    }
+
+
+    SvgElementImage {
+        id: info_border
+        elementName: "info-border"
+        sceneSize: info.sceneSize
+        width: Math.floor(parent.width * 1.009)
+    }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index cca29f743..336a0617a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -8,18 +8,29 @@ Rectangle {
         elementName: "pfd-window"
         fillMode: Image.PreserveAspectFit
         anchors.fill: parent
-
         sceneSize: Qt.size(width, height)
+        
+        Rectangle {
+            width: Math.floor(parent.paintedHeight * 1.319)
+            height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.008)
+            
+            color: "transparent"
+            border.color: "white"
+            border.width: Math.floor(parent.paintedHeight * 0.008)
+            radius: Math.floor(parent.paintedHeight * 0.01)
+            anchors.centerIn: parent             
+        }
 
         Item {
             id: sceneItem
+
+            width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.013))
+            height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.02)
             property variant viewportSize : Qt.size(width, height)
 
-            width: parent.paintedWidth
-            height: parent.paintedHeight
             anchors.centerIn: parent
             clip: true
-
+           
             Loader {
                 id: worldLoader
                 anchors.fill: parent
@@ -39,14 +50,6 @@ Rectangle {
                 anchors.fill: parent
             }
 
-            SvgElementImage {
-                id: foreground
-                elementName: "foreground"
-                sceneSize: sceneItem.viewportSize
-
-                anchors.centerIn: parent
-            }
-
             SvgElementImage {
                 id: side_slip_fixed
                 elementName: "sideslip-fixed"
@@ -55,28 +58,6 @@ Rectangle {
                 x: scaledBounds.x * sceneItem.width
             }
 
-            SvgElementImage {
-                id: side_slip
-                elementName: "sideslip-moving"
-                sceneSize: sceneItem.viewportSize
-                smooth: true
-
-                property real sideSlip: AccelState.y
-                //smooth side slip changes, a low pass filter replacement
-                //accels are updated once per second
-                Behavior on sideSlip {
-                    SmoothedAnimation {
-                        duration: 1000
-                        velocity: -1
-                    }
-                }
-
-                anchors.horizontalCenter: foreground.horizontalCenter
-                //0.5 coefficient is empirical to limit indicator movement
-                anchors.horizontalCenterOffset: sideSlip*width*0.1 //was 0.5
-                y: scaledBounds.y * sceneItem.height
-            }
-
             Compass {
                 anchors.fill: parent
                 sceneSize: sceneItem.viewportSize
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index eddc2f49f..b2b1d2e6a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -12,7 +12,7 @@ Item {
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "horizon")
         width: Math.round(sceneItem.width*scaledBounds.width/2)*2
-        height: Math.round(sceneItem.height*scaledBounds.height/2)*2
+        height: Math.round(sceneItem.height*scaledBounds.height/2)*3
 
         property double pitch1DegScaledHeight: (svgRenderer.scaledElementBounds("pfd.svg", "pitch-90").y -
                                                 svgRenderer.scaledElementBounds("pfd.svg", "pitch90").y)/180.0
@@ -49,6 +49,16 @@ Item {
             border: 1
             smooth: true
         }
+
+        SvgElementImage {
+            id: pitch_0
+            elementName: "pitch0"
+
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 1            
+            smooth: true
+        }
     }
 
     Item {
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
index d02023e3b..f5ab5df1a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/RollScale.qml
@@ -13,8 +13,11 @@ Item {
         elementName: "roll-scale"
         sceneSize: sceneItem.sceneSize
 
-        x: Math.floor(scaledBounds.x * sceneItem.width)
-        y: Math.floor(scaledBounds.y * sceneItem.height)
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
 
         smooth: true
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
index 0f86755e0..82030e16b 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
@@ -10,6 +10,8 @@ Item {
         id: warning_bg
         elementName: "warnings-bg"
         sceneSize: warnings.sceneSize
+        width: background.width
+        anchors.bottom: parent.bottom
     }
 
     SvgElementPositionItem {
@@ -26,7 +28,7 @@ Item {
                 text: "RC INPUT"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
@@ -53,7 +55,7 @@ Item {
                 text: "MASTER CAUTION"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
@@ -74,7 +76,7 @@ Item {
                 text: "AUTOPILOT"
                 font {
                     family: "Arial"
-                    pixelSize: parent.height * 0.8
+                    pixelSize: Math.floor(parent.height * 0.8)
                     weight: Font.DemiBold
                 }
             }
@@ -101,7 +103,7 @@ Item {
         id: warning_battery
         elementName: "warning-battery"
         sceneSize: warnings.sceneSize
-
+        anchors.right: parent.right
         visible: SystemAlarms.Alarm_Battery > 1
     }
 
@@ -109,7 +111,7 @@ Item {
         id: warning_attitude
         elementName: "warning-attitude"
         sceneSize: warnings.sceneSize
-
+        anchors.centerIn: background.centerIn
         visible: SystemAlarms.Alarm_Attitude > 1
     }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index ca9d72433..eddbc6a21 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -42,14 +42,6 @@
          offset="1"
          id="stop5010" />
     </linearGradient>
-    <filter
-       inkscape:collect="always"
-       id="filter4991">
-      <feGaussianBlur
-         inkscape:collect="always"
-         stdDeviation="125.9375"
-         id="feGaussianBlur4993" />
-    </filter>
   </defs>
   <sodipodi:namedview
      id="base"
@@ -58,12 +50,12 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.3234375"
-     inkscape:cx="320"
-     inkscape:cy="240"
+     inkscape:zoom="5.9383334"
+     inkscape:cx="248.68909"
+     inkscape:cy="451.58086"
      inkscape:document-units="px"
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+           id="path4644"
+           d="M -0.49703765,463 640.50299,463"
+           style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
+      </g>
     </g>
     <g
        inkscape:groupmode="layer"
@@ -5075,12 +5176,12 @@
      transform="translate(0,-4)"
      sodipodi:insensitive="true">
     <rect
-       style="fill:none;stroke:#ff0000;stroke-width:0;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;display:inline"
+       style="fill:none;stroke:none;display:inline"
        id="pfd-window"
        width="642"
-       height="486"
-       x="-1"
-       y="-1"
+       height="482"
+       x="-0.99999976"
+       y="2.9999995"
        inkscape:label="#rect4738" />
   </g>
 </svg>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 60b391505..e1978108d 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -63,7 +63,10 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
         "SystemAlarms" <<
         "NedAccel" <<
         "FlightBatteryState" <<
-        "ActuatorDesired";
+        "ActuatorDesired" <<
+        "TakeOffLocation" <<
+        "PathPlan" <<
+        "WaypointActive";
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();