diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/aerosimrc.pro b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/aerosimrc.pro
new file mode 100644
index 000000000..74df87185
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/aerosimrc.pro
@@ -0,0 +1,10 @@
+TEMPLATE  = subdirs
+
+win32 {
+    SUBDIRS += plugin
+}
+
+SUBDIRS += udptest
+
+plugin.file   = src/plugin.pro
+udptest.file  = src/udptest.pro
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/aerosimrcdatastruct.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/aerosimrcdatastruct.h
new file mode 100644
index 000000000..4adf7c16e
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/aerosimrcdatastruct.h
@@ -0,0 +1,215 @@
+/**
+ ******************************************************************************
+ *
+ * @file       aerosimrcdatastruct.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 AEROSIMRCDATASTRUCT_H
+#define AEROSIMRCDATASTRUCT_H
+
+#include <QtCore>
+
+const quint8 AEROSIMRC_MAX_CHANNELS = 39;
+const quint16 DBG_BUFFER_MAX_SIZE = 4096;
+
+#define MAX_DLL_USER_MENU_ITEMS 16
+#define OBSOLETE_MIT_COMMAND    (1 << 0)
+#define OBSOLETE_MIT_CHECKBOX   (1 << 1)
+#define OBSOLETE_MIT_SEPARATOR  (1 << 7)
+
+#if defined(Q_CC_MSVC)
+#define PACK_STRUCT
+#define MAX_PATH 260
+#pragma pack (push, r1, 1)
+#elif defined(Q_CC_GNU)
+#define PACK_STRUCT __attribute__((packed))
+#endif
+
+struct simToPlugin
+{
+    quint16 structSize;
+    float simTimeStep;
+    float chSimTX[AEROSIMRC_MAX_CHANNELS];
+    float chSimRX[AEROSIMRC_MAX_CHANNELS];
+    uchar *OSDVideoBuf;
+    quint32 simMenuStatus;
+    float initPosX;
+    float initPosY;
+    float initPosZ;
+    float initHeading;
+    float initPitch;
+    float initRoll;
+    float wpHomeX;
+    float wpHomeY;
+    float wpHomeLat;
+    float wpHomeLong;
+    const char *wpHomeDesc; // (m, deg, string)
+    float wpAX;
+    float wpAY;
+    float wpALat;
+    float wpALong;
+    const char *wpADesc;    // (m, deg, string)
+    float wpBX;
+    float wpBY;
+    float wpBLat;
+    float wpBLong;
+    const char *wpBDesc;    // (m, deg, string)
+    float wpCX;
+    float wpCY;
+    float wpCLat;
+    float wpCLong;
+    const char *wpCDesc;    // (m, deg, string)
+    float wpDX;
+    float wpDY;
+    float wpDLat;
+    float wpDLong;
+    const char *wpDDesc;    // (m, deg, string)
+    float posX;
+    float posY;
+    float posZ;
+    float velX;
+    float velY;
+    float velZ;
+    float angVelX;
+    float angVelY;
+    float angVelZ;
+    float accelX;
+    float accelY;
+    float accelZ;
+    qreal latitude;
+    qreal longitude;
+    float AGL;
+    float heading;
+    float pitch;
+    float roll;
+    float windVelX;
+    float windVelY;
+    float windVelZ;
+    float eng1RPM;
+    float eng2RPM;
+    float eng3RPM;
+    float eng4RPM;
+    float voltage;          // V
+    float current;          // A
+    float consumedCharge;   // Ah
+    float capacity;         // Ah
+    float fuelConsumed;     // l
+    float fuelTankCapacity; // l
+    // ver 3.83
+    qint16 screenW;
+    qint16 screenH;
+    // Model Orientation Matrix (X=Right, Y=Front, Z=Up)
+    float axisXx;
+    float axisXy;
+    float axisXz;
+    float axisYx;
+    float axisYy;
+    float axisYz;
+    float axisZx;
+    float axisZy;
+    float axisZz;
+    // Model data in body frame coordinates (X=Right, Y=Front, Z=Up)
+    float velXm;    // m/s   Model velocity in body coordinates
+    float velYm;
+    float velZm;
+    float angVelXm; // rad/s Model angular velocity in body coordinates
+    float angVelYm;
+    float angVelZm;
+    float accelXm;  // m/s/s Model acceleration in body coordinates
+    float accelYm;
+    float accelZm;
+    // ver 3.90
+    quint32 OSDVideoBufSize;
+} PACK_STRUCT ;     // normal - 592, packed - 582 OK (3.81)
+                    // normal - ???, packed - 658 OK (3.83)
+                    // normal - ???, packed - 662 OK (3.90)
+
+struct pluginToSim
+{
+    quint16 structSize;
+    const char *dbgInfoText;
+    uchar chOverTX[AEROSIMRC_MAX_CHANNELS];
+    float chNewTX[AEROSIMRC_MAX_CHANNELS];
+    uchar chOverRX[AEROSIMRC_MAX_CHANNELS];
+    float chNewRX[AEROSIMRC_MAX_CHANNELS];
+    float newPosX;      // m
+    float newPosY;
+    float newPosZ;
+    float newVelX;      // m/s
+    float newVelY;
+    float newVelZ;
+    float newAngVelX;   // rad/s
+    float newAngVelY;
+    float newAngVelZ;
+    float newHeading;   // rad
+    float newPitch;
+    float newRoll;
+    quint32 modelOverrideFlags;
+    quint32 newMenuStatus;
+    quint8 isOSDShow;
+    quint8 isOSDChanged;
+    quint16 OSDWindow_DX;
+    quint16 OSDWindow_DY;
+    float OSDScale;
+    float newWindVelX;
+    float newWindVelY;
+    float newWindVelZ;
+    float newEng1RPM;
+    float newEng2RPM;
+    float newEng3RPM;
+    float newEng4RPM;
+    float newVoltage;
+    float newCurrent;
+    float newConsumedCharge;
+    float newFuelConsumed;
+    quint8 modelCrashInhibit;
+    // ver 3.83
+    qint16 newScreenW;     // Simulator window position and size on screen
+    qint16 newScreenH;
+    qint16 newScreenX;
+    qint16 newScreenY;
+} PACK_STRUCT ;     // normal 516, packed 507 OK (3.81)
+                    // normal ???, packed 515 OK (3.83 & 3.90)
+
+struct TPluginMenuItem
+{
+    quint32 OBSOLETE_eType;
+    char *OBSOLETE_strName;
+} PACK_STRUCT ;
+
+struct pluginInit
+{
+    quint32 nStructSize;
+    char *OBSOLETE_strMenuTitle;
+    TPluginMenuItem OBSOLETE_atMenuItem[MAX_DLL_USER_MENU_ITEMS];
+    const char *strPluginFolder;
+    const char *strOutputFolder;
+} PACK_STRUCT ;     // normal - 144, packed - 144 OK (3.81 & 3.83 & 3.90)
+
+#ifdef Q_CC_MSVC
+#pragma pack (pop, r1)
+#endif
+#undef PACK_STRUCT
+
+#endif // AEROSIMRCDATASTRUCT_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/enums.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/enums.h
new file mode 100644
index 000000000..31abb1e0a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/enums.h
@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       enums.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 ENUMS_H
+#define ENUMS_H
+
+// Custom Menu Item masks
+enum MenuMasks {
+    MenuEnable      = (1 << 0),
+    MenuTx          = (1 << 1),
+    MenuRx          = (1 << 2),
+    MenuScreen      = (1 << 3),
+    MenuNextWpt     = (1 << 4),
+    MenuCmdReset    = (1 << 5),
+    MenuLedBlue     = (1 << 6),
+    MenuLedGreen    = (1 << 7),
+    MenuFMode1      = (1 << 8),
+    MenuFMode2      = (1 << 9),
+    MenuFMode3      = (1 << 10)
+};
+
+enum EOverrideFlags
+{
+    OVR_POS             = (1 << 0),
+    OVR_VEL             = (1 << 1),
+    OVR_ANG_VEL         = (1 << 2),
+    OVR_HPR             = (1 << 3),  // Override Heading, Pitch and Roll
+    OVR_WIND_VEL        = (1 << 4),  // Override Wind velocity at model
+    OVR_ENGINE_RPM      = (1 << 5),  // Override RPM of all Engines or Motors
+    OVR_BAT_VOLT        = (1 << 6),  // Override motor Battery Voltage
+    OVR_BAT_AMP         = (1 << 7),  // Override motor Battery current
+    OVR_BAT_AH_CONSUMED = (1 << 8),  // Override motor Battery AmpsHour consumed
+    OVR_FUEL_CONSUMED   = (1 << 9)   // Override Fuel consumed (gas & jet engines)
+};
+
+enum Channels {
+    Ch1Aileron,
+    Ch2Elevator,
+    Ch3Throttle,
+    Ch4Rudder,
+    Ch5,
+    Ch6,
+    Ch7,
+    Ch8,
+    Ch9,
+    Ch10Retracts,
+    Ch11Flaps,
+    Ch12FPVCamPan,
+    Ch13FPVCamTilt,
+    Ch14Brakes,
+    Ch15Spoilers,
+    Ch16Smoke,
+    Ch17Fire,
+    Ch18FlightMode,
+    Ch19ALTHold,
+    Ch20FPVTiltHold,
+    Ch21ResetModel,
+    Ch22MouseTX,
+    Ch23Plugin1,
+    Ch24Plugin2,
+    Ch25ThrottleHold,
+    Ch26CareFree,
+    Ch27FPVCamRoll,
+    Ch28LMotorDual,
+    Ch29RMotorDual,
+    Ch30Mix,
+    Ch31Mix,
+    Ch32Mix,
+    Ch33Mix,
+    Ch34Mix,
+    Ch35Mix,
+    Ch36Mix,
+    Ch37Mix,
+    Ch38Mix,
+    Ch39Mix
+};
+
+#endif // ENUMS_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.cpp
new file mode 100644
index 000000000..18ba2c15d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.cpp
@@ -0,0 +1,394 @@
+/**
+ ******************************************************************************
+ *
+ * @file       plugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 "plugin.h"
+#include "udpconnect.h"
+#include "qdebughandler.h"
+#include "enums.h"
+#include "settings.h"
+
+bool isFirstRun = true;
+QString debugInfo(DBG_BUFFER_MAX_SIZE, ' ');
+QString pluginFolder(MAX_PATH, ' ');
+QString outputFolder(MAX_PATH, ' ');
+
+QList<quint16> videoModes;
+QTime ledTimer;
+
+UdpSender *sndr;
+UdpReceiver *rcvr;
+
+const float RAD2DEG = (float)(180.0 / M_PI);
+const float DEG2RAD = (float)(M_PI / 180.0);
+
+//extern "C" int __stdcall DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpvReserved)
+extern "C" int __stdcall DllMain(void*, quint32 fdwReason, void*)
+{
+    switch (fdwReason) {
+    case 0:
+//        qDebug() << hinstDLL << "DLL_PROCESS_DETACH " << lpvReserved;
+// free resources here
+        rcvr->stop();
+        rcvr->wait(500);
+        delete rcvr;
+        delete sndr;
+        qDebug("------");
+        break;
+    case 1:
+//        qDebug() << hinstDLL << " DLL_PROCESS_ATTACH " << lpvReserved;
+        break;
+    case 2:
+//        qDebug() << hinstDLL << "DLL_THREAD_ATTACH " << lpvReserved;
+        break;
+    case 3:
+//        qDebug() << hinstDLL << "DLL_THREAD_DETACH " << lpvReserved;
+        break;
+    }
+    return true;
+}
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_ReportStructSizes(quint32 *sizeSimToPlugin,
+                                                       quint32 *sizePluginToSim,
+                                                       quint32 *sizePluginInit)
+{
+    // debug redirection
+    qInstallMsgHandler(myQDebugHandler);
+
+    qDebug() << "AeroSIMRC_Plugin_ReportStructSizes";
+    *sizeSimToPlugin = sizeof(simToPlugin);
+    *sizePluginToSim = sizeof(pluginToSim);
+    *sizePluginInit  = sizeof(pluginInit);
+    qDebug() << "sizeSimToPlugin = " << *sizeSimToPlugin;
+    qDebug() << "sizePluginToSim = " << *sizePluginToSim;
+    qDebug() << "sizePluginInit  = " << *sizePluginInit;
+}
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_Init(pluginInit *p)
+{
+    qDebug() << "AeroSIMRC_Plugin_Init begin";
+
+    pluginFolder = p->strPluginFolder;
+    outputFolder = p->strOutputFolder;
+
+    ledTimer.restart();
+
+    Settings *ini = new Settings(pluginFolder);
+    ini->read();
+
+    videoModes = ini->getVideoModes();
+
+    sndr = new UdpSender(ini->getOutputMap(), ini->isFromTX());
+    sndr->init(ini->remoteHost(), ini->remotePort());
+
+    rcvr = new UdpReceiver(ini->getInputMap(), ini->isToRX());
+    rcvr->init(ini->localHost(), ini->localPort());
+
+    // run thread
+    rcvr->start();
+
+    delete ini;
+
+    qDebug() << "AeroSIMRC_Plugin_Init done";
+}
+
+//-----------------------------------------------------------------------------
+
+void Run_Command_Reset(/*const simToPlugin *stp,
+                               pluginToSim *pts*/)
+{
+    // Print some debug info, although it will only be seen during one frame
+    debugInfo.append("\nRESET");
+}
+
+void Run_Command_WindowSizeAndPos(const simToPlugin *stp,
+                                        pluginToSim *pts)
+{
+    static quint8 snSequence = 0;
+    quint8 idx = snSequence * 4;
+
+    if (snSequence >= videoModes.at(0)) {   // set fullscreen
+        pts->newScreenX = 0;
+        pts->newScreenY = 0;
+        pts->newScreenW = stp->screenW;
+        pts->newScreenH = stp->screenH;
+        snSequence = 0;
+    } else {                                // set video mode from config
+        pts->newScreenX = videoModes.at(idx + 1);
+        pts->newScreenY = videoModes.at(idx + 2);
+        pts->newScreenW = videoModes.at(idx + 3);
+        pts->newScreenH = videoModes.at(idx + 4);
+        snSequence++;
+    }
+}
+
+void Run_Command_MoveToNextWaypoint(const simToPlugin *stp,
+                                          pluginToSim *pts)
+{
+    static quint8 snSequence = 0;
+
+    switch(snSequence) {
+    case 0:
+        pts->newPosX = stp->wpAX;
+        pts->newPosY = stp->wpAY;
+        pts->newPosZ = 100.0;
+        break;
+    case 1:
+        pts->newPosX = stp->wpBX;
+        pts->newPosY = stp->wpBY;
+        pts->newPosZ = 100.0;
+        break;
+    case 2:
+        pts->newPosX = stp->wpCX;
+        pts->newPosY = stp->wpCY;
+        pts->newPosZ = 100.0;
+        break;
+    case 3:
+        pts->newPosX = stp->wpDX;
+        pts->newPosY = stp->wpDY;
+        pts->newPosZ = 100.0;
+        break;
+    case 4:
+        pts->newPosX = stp->wpHomeX;
+        pts->newPosY = stp->wpHomeY;
+        pts->newPosZ = 100.0;
+        break;
+    default:
+        qFatal("Run_Command_MoveToNextWaypoint switch error");
+    }
+    pts->modelOverrideFlags = 0;
+    pts->modelOverrideFlags |= OVR_POS;
+
+    snSequence++;
+    if(snSequence > 4)
+        snSequence = 0;
+}
+
+void Run_BlinkLEDs(const simToPlugin *stp,
+                         pluginToSim *pts)
+{
+    if ((stp->simMenuStatus & MenuEnable) != 0) {
+        pts->newMenuStatus |= MenuLedGreen;
+        int timeout;
+        quint8 armed;
+        quint8 mode;
+        rcvr->getFlighStatus(armed, mode);
+        debugInfo.append(QString("armed: %1, mode: %2\n").arg(armed).arg(mode));
+
+        if (armed == 0)         // disarm
+            timeout = 1000;
+        else if (armed == 1)    // arming
+            timeout = 40;
+        else if (armed == 2)    // armed
+            timeout = 100;
+        else                    // unknown
+            timeout = 2000;
+        if (ledTimer.elapsed() > timeout) {
+            ledTimer.restart();
+            pts->newMenuStatus ^= MenuLedBlue;
+        }
+
+        if (mode == 6) {
+            pts->newMenuStatus |= MenuFMode3;
+            pts->newMenuStatus |= MenuFMode2;
+            pts->newMenuStatus |= MenuFMode1;
+        } else if (mode == 5) {
+            pts->newMenuStatus |= MenuFMode3;
+            pts->newMenuStatus |= MenuFMode2;
+            pts->newMenuStatus &= ~MenuFMode1;
+        } else if (mode == 4) {
+            pts->newMenuStatus |= MenuFMode3;
+            pts->newMenuStatus &= ~MenuFMode2;
+            pts->newMenuStatus |= MenuFMode1;
+        } else if (mode == 3) {
+            pts->newMenuStatus |= MenuFMode3;
+            pts->newMenuStatus &= ~MenuFMode2;
+            pts->newMenuStatus &= ~MenuFMode1;
+        } else if (mode == 2) {
+            pts->newMenuStatus &= ~MenuFMode3;
+            pts->newMenuStatus |= MenuFMode2;
+            pts->newMenuStatus &= ~MenuFMode1;
+        } else if (mode == 1) {
+            pts->newMenuStatus &= ~MenuFMode3;
+            pts->newMenuStatus &= ~MenuFMode2;
+            pts->newMenuStatus |= MenuFMode1;
+        } else /*(mode == 0)*/ {
+            pts->newMenuStatus &= ~MenuFMode3;
+            pts->newMenuStatus &= ~MenuFMode2;
+            pts->newMenuStatus &= ~MenuFMode1;
+        }
+    } else {
+        pts->newMenuStatus = 0;
+    }
+}
+
+void InfoText(const simToPlugin *stp,
+                    pluginToSim *pts)
+{
+    debugInfo.append(
+                QString(
+                    "Plugin Folder = %1\n"
+                    "Output Folder = %2\n"
+                    "nStructSize = %3  "
+                    "fIntegrationTimeStep = %4\n"
+                    "\n"
+                    "Aileron   TX = %5  RX = %6  RCMD TX = %7  RX = %8\n"
+                    "Elevator  TX = %9  RX = %10  RCMD TX = %11  RX = %12\n"
+                    "Throttle  TX = %13  RX = %14  RCMD TX = %15  RX = %16\n"
+                    "Rudder    TX = %17  RX = %18  RCMD TX = %19  RX = %20\n"
+                    "Channel5  TX = %21  RX = %22  RCMD TX = %23  RX = %24\n"
+                    "Channel6  TX = %25  RX = %26  RCMD TX = %27  RX = %28\n"
+                    "Channel7  TX = %29  RX = %30  RCMD TX = %31  RX = %32\n"
+                    "PluginCh1 TX = %33  RX = %34  RCMD TX = %35  RX = %36\n"
+                    "PluginCh2 TX = %37  RX = %38  RCMD TX = %39  RX = %40\n"
+                    "FPVCamPan TX = %41  RX = %42  RCMD TX = %43  RX = %44\n"
+                    "FPVCamTil TX = %45  RX = %46  RCMD TX = %47  RX = %48\n"
+                    "\n"
+                    "MenuItems = %49\n"
+                    // Model data
+                    "\n"
+                    "fPosX,Y,Z    = (%50, %51, %52)\n"
+                    "fVelX,Y,Z    = (%53, %54, %55)\n"
+                    "fAngVelX,Y,Z = (%56, %57, %58)\n"
+                    "fAccelX,Y,Z  = (%59, %60, %61)\n"
+                    "\n"
+                    "Lat, Long    = %62, %63\n"
+                    "fHeightAboveTerrain = %64\n"
+                    "\n"
+                    "fHeading = %65   fPitch = %66   fRoll = %67\n"
+                    )
+                .arg(pluginFolder)
+                .arg(outputFolder)
+                .arg(stp->structSize)
+                .arg(1.0 / stp->simTimeStep, 4, 'f', 1)
+                .arg(stp->chSimTX[Ch1Aileron], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch1Aileron], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch1Aileron], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch1Aileron], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch2Elevator], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch2Elevator], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch2Elevator], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch2Elevator], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch3Throttle], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch3Throttle], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch3Throttle], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch3Throttle], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch4Rudder], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch4Rudder], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch4Rudder], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch4Rudder], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch5], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch5], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch5], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch5], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch6], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch6], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch6], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch6], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch7], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch7], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch7], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch7], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch23Plugin1], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch23Plugin1], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch23Plugin1], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch23Plugin1], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch24Plugin2], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch24Plugin2], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch24Plugin2], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch24Plugin2], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch12FPVCamPan], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch12FPVCamPan], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch12FPVCamPan], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch12FPVCamPan], 5, 'f', 2)
+                .arg(stp->chSimTX[Ch13FPVCamTilt], 5, 'f', 2)
+                .arg(stp->chSimRX[Ch13FPVCamTilt], 5, 'f', 2)
+                .arg(pts->chNewTX[Ch13FPVCamTilt], 5, 'f', 2)
+                .arg(pts->chNewRX[Ch13FPVCamTilt], 5, 'f', 2)
+                .arg(stp->simMenuStatus)
+                .arg(stp->posX, 5, 'f', 2)
+                .arg(stp->posY, 5, 'f', 2)
+                .arg(stp->posZ, 5, 'f', 2)
+                .arg(stp->velX, 5, 'f', 2)
+                .arg(stp->velY, 5, 'f', 2)
+                .arg(stp->velZ, 5, 'f', 2)
+                .arg(stp->angVelXm, 5, 'f', 2)
+                .arg(stp->angVelYm, 5, 'f', 2)
+                .arg(stp->angVelZm, 5, 'f', 2)
+                .arg(stp->accelXm, 5, 'f', 2)
+                .arg(stp->accelYm, 5, 'f', 2)
+                .arg(stp->accelZm, 5, 'f', 2)
+                .arg(stp->latitude, 5, 'f', 2)
+                .arg(stp->longitude, 5, 'f', 2)
+                .arg(stp->AGL, 5, 'f', 2)
+                .arg(stp->heading*RAD2DEG, 5, 'f', 2)
+                .arg(stp->pitch*RAD2DEG, 5, 'f', 2)
+                .arg(stp->roll*RAD2DEG, 5, 'f', 2)
+    );
+}
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_Run(const simToPlugin *stp,
+                                               pluginToSim *pts)
+{
+    debugInfo = "---\n";
+    // By default do not change the Menu Items of type CheckBox
+    pts->newMenuStatus = stp->simMenuStatus;
+    // Extract Menu Commands from Flags
+    bool isReset  = (stp->simMenuStatus & MenuCmdReset) != 0;
+    bool isEnable = (stp->simMenuStatus & MenuEnable) != 0;
+    bool isTxON   = (stp->simMenuStatus & MenuTx) != 0;
+    bool isRxON   = (stp->simMenuStatus & MenuRx) != 0;
+    bool isScreen = (stp->simMenuStatus & MenuScreen) != 0;
+    bool isNextWp = (stp->simMenuStatus & MenuNextWpt) != 0;
+    // Run commands
+    if (isReset) {
+        Run_Command_Reset(/*stp, pts*/);
+    } else if (isScreen) {
+        Run_Command_WindowSizeAndPos(stp, pts);
+    } else if (isNextWp) {
+        Run_Command_MoveToNextWaypoint(stp, pts);
+    } else {
+        Run_BlinkLEDs(stp, pts);
+        if (isEnable) {
+            if (isTxON)
+                sndr->sendDatagram(stp);
+            if (isRxON)
+                rcvr->setChannels(pts);
+        }
+
+        // network lag
+        debugInfo.append(QString("out: %1, inp: %2, delta: %3\n")
+                         .arg(sndr->pcks() - 1)
+                         .arg(rcvr->pcks())
+                         .arg(sndr->pcks() - rcvr->pcks() - 1)
+                         );
+    }
+
+    // debug info is shown on the screen
+    InfoText(stp, pts);
+    pts->dbgInfoText = debugInfo.toAscii();
+    isFirstRun = false;
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.h
new file mode 100644
index 000000000..a590c8a24
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.h
@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ *
+ * @file       plugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 PLUGIN_H
+#define PLUGIN_H
+
+#include <QtCore>
+#include <QTime>
+#include <QList>
+#include "aerosimrcdatastruct.h"
+
+#define SIM_DLL_EXPORT extern "C" __declspec(dllexport)
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_ReportStructSizes(
+    quint32 *sizeSimToPlugin,
+    quint32 *sizePluginToSim,
+    quint32 *sizePluginInit
+);
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_Init(
+    pluginInit *p
+);
+
+SIM_DLL_EXPORT void AeroSIMRC_Plugin_Run(
+    const simToPlugin *stp,
+    pluginToSim *pts
+);
+
+#endif // PLUGIN_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.pro b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.pro
new file mode 100644
index 000000000..b31d6881b
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/plugin.pro
@@ -0,0 +1,71 @@
+!win32 {
+    error("AeroSimRC plugin is only available for win32 platform")
+}
+
+include(../../../../../openpilotgcs.pri)
+
+QT += network
+QT -= gui
+
+TEMPLATE = lib
+TARGET = plugin_AeroSIMRC
+
+RES_DIR    = $${PWD}/resources
+SIM_DIR    = $$GCS_BUILD_TREE/../AeroSIM-RC
+PLUGIN_DIR = $$SIM_DIR/Plugin/CopterControl
+DLLDESTDIR = $$PLUGIN_DIR
+
+# Don't depend on MSVRT*.dll
+win32-msvc* {
+    QMAKE_CXXFLAGS_RELEASE -= -MD
+    QMAKE_CXXFLAGS_MT_DLL += -MT
+}
+
+HEADERS = \
+    aerosimrcdatastruct.h \
+    enums.h \
+    plugin.h \
+    qdebughandler.h \
+    udpconnect.h \
+    settings.h
+
+SOURCES = \
+    qdebughandler.cpp \
+    plugin.cpp \
+    udpconnect.cpp \
+    settings.cpp
+
+# Resemble the AeroSimRC directory structure and copy plugin files and resources
+equals(copydata, 1) {
+
+    # Windows release only
+    win32:CONFIG(release, debug|release) {
+
+        data_copy.commands += -@$(MKDIR) $$targetPath(\"$$PLUGIN_DIR\") $$addNewline()
+
+        # resources and sample configuration
+        PLUGIN_RESOURCES = \
+                cc_off.tga \
+                cc_off_hover.tga \
+                cc_on.tga \
+                cc_on_hover.tga \
+                cc_plugin.ini \
+                plugin.txt
+        for(res, PLUGIN_RESOURCES) {
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$RES_DIR/$$res\") $$targetPath(\"$$PLUGIN_DIR/$$res\") $$addNewline()
+        }
+
+        # Qt DLLs
+        QT_DLLS = \
+                  libgcc_s_dw2-1.dll \
+                  mingwm10.dll \
+                  QtCore4.dll \
+                  QtNetwork4.dll
+        for(dll, QT_DLLS) {
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/$$dll\") $$targetPath(\"$$SIM_DIR/$$dll\") $$addNewline()
+        }
+
+        data_copy.target = FORCE
+        QMAKE_EXTRA_TARGETS += data_copy
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.cpp
new file mode 100644
index 000000000..bb9617511
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.cpp
@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ *
+ * @file       qdebughandler.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 "qdebughandler.h"
+
+void myQDebugHandler(QtMsgType type, const char *msg)
+{
+    static bool firstRun = true;
+    QString txt;
+
+    switch (type) {
+    case QtDebugMsg:
+        txt = QString("Debug: %1").arg(msg);
+        break;
+    case QtWarningMsg:
+        txt = QString("Warning: %1").arg(msg);
+        break;
+    case QtCriticalMsg:
+        txt = QString("Critical: %1").arg(msg);
+        break;
+    case QtFatalMsg:
+        txt = QString("Fatal: %1").arg(msg);
+        break;
+    }
+
+    QFile outFile("dbglog.txt");
+    outFile.open(QIODevice::WriteOnly | QIODevice::Append);
+    QTextStream ts(&outFile);
+    QTime time;
+
+    if (firstRun) {
+        ts << endl << endl;
+        firstRun = false;
+    }
+
+    ts << time.currentTime().toString("hh:mm:ss.zzz") << " " << txt << endl;
+
+    if (type == QtFatalMsg)
+        abort();
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.h
new file mode 100644
index 000000000..d41dc6a67
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/qdebughandler.h
@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ *
+ * @file       qdebughandler.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 QDEBUGHANDLER_H
+#define QDEBUGHANDLER_H
+
+#include <QDebug>
+#include <QFile>
+#include <QTime>
+
+void myQDebugHandler(QtMsgType type, const char *msg);
+
+#endif // QDEBUGHANDLER_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off.tga b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off.tga
new file mode 100644
index 000000000..d8f4e0297
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off.tga differ
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off_hover.tga b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off_hover.tga
new file mode 100644
index 000000000..e00d86a48
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_off_hover.tga differ
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on.tga b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on.tga
new file mode 100644
index 000000000..424853384
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on.tga differ
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on_hover.tga b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on_hover.tga
new file mode 100644
index 000000000..406204e32
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_on_hover.tga differ
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_plugin.ini b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_plugin.ini
new file mode 100644
index 000000000..8b4174f60
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/cc_plugin.ini
@@ -0,0 +1,55 @@
+[General]
+
+; Network settings
+listen_on_host = 127.0.0.1
+listen_on_port = 40200
+send_to_host = 127.0.0.1
+send_to_port = 40100
+
+; Channels enumerator, applicable for the AeroSIM RC version 3.90+
+all_channels = Ch1-Aileron Ch2-Elevator Ch3-Throttle Ch4-Rudder Ch5 Ch6 Ch7 Ch8 Ch9 Ch10-Retracts Ch11-Flaps Ch12-FPV-Pan Ch13-FPV-Tilt Ch14-Brakes Ch15-Spoilers Ch16-Smoke Ch17-Fire Ch18-Flight-Mode Ch19-ALT-Hold Ch20-FPV-Tilt-Hold Ch21-Reset-Model Ch22-MouseTX Ch23-Plugin-1 Ch24-Plugin-2 Ch25-Throttle-Hold Ch26-CareFree Ch27-FPV-Roll Ch28-L-Motor-Dual Ch29-R-Motor-Dual Ch30-Mix Ch31-Mix Ch32-Mix Ch33-Mix Ch34-Mix Ch35-Mix Ch36-Mix Ch37-Mix Ch38-Mix Ch39-Mix
+
+[Input]
+
+; Map CopterControl channels to simulator channels
+; To use internal simulator channels just comment the mapping here
+cc_channel_1 = Ch1-Aileron
+cc_channel_2 = Ch2-Elevator
+cc_channel_3 = Ch3-Throttle
+cc_channel_4 = Ch4-Rudder
+;cc_channel_5 = Ch27-FPV-Roll
+cc_channel_6 = Ch13-FPV-Tilt
+;cc_channel_7 = Ch12-FPV-Pan
+;cc_channel_8 =
+;cc_channel_9 =
+;cc_channel_10=
+
+; Control TX or RX (before or after mixes)
+send_to = RX
+
+[Output]
+
+; Map simulator channels to GCS HiTL/CopterControl channels
+; Only mapped channels will be sent to the GCS
+sim_channel_1 = Ch1-Aileron
+sim_channel_2 = Ch2-Elevator
+sim_channel_3 = Ch3-Throttle
+sim_channel_4 = Ch4-Rudder
+sim_channel_5 = Ch23-Plugin-1
+;sim_channel_6 = Ch27-FPV-Roll
+sim_channel_7 = Ch13-FPV-Tilt
+;sim_channel_8 = Ch12-FPV-Pan
+
+; take values from TX or RX (before or after mixes)
+take_from = TX
+
+[Video]
+
+; Windowed simulator mode configurations
+; Each resolution defines the upper left corner and width/hight.
+; User can cycle through all resolutions using the menu command.
+number_of_resolutions = 2
+
+; x, y, width, height
+resolution_1 = 50 50 640 720
+resolution_2 = 0 0 800 480
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/plugin.txt b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/plugin.txt
new file mode 100644
index 000000000..901e5c50a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/resources/plugin.txt
@@ -0,0 +1,86 @@
+.NAME    "CopterControl"
+
+.HELP_EN "\
+OpenPilot CopterControl HiTL plugin for AeroSIM RC"
+
+.IMAGE_OFF             "cc_off.tga"
+.IMAGE_ON              "cc_on.tga"
+.IMAGE_OFF_MOUSE_HOVER "cc_off_hover.tga"
+.IMAGE_ON_MOUSE_HOVER  "cc_on_hover.tga"
+
+.MENU_ITEM_00_NAME              "Enable"
+.MENU_ITEM_00_TYPE              CHECKBOX
+.MENU_ITEM_00_HAS_SEPARATOR     0
+.MENU_ITEM_00_MOUSE_RECT_XY     89 91
+.MENU_ITEM_00_MOUSE_RECT_DXDY   48 48
+.MENU_ITEM_00_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_01_NAME              "Transmit data"
+.MENU_ITEM_01_TYPE              CHECKBOX
+.MENU_ITEM_01_HAS_SEPARATOR     0
+.MENU_ITEM_01_MOUSE_RECT_XY     110 166
+.MENU_ITEM_01_MOUSE_RECT_DXDY   52 34
+.MENU_ITEM_01_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_02_NAME              "Receive data"
+.MENU_ITEM_02_TYPE              CHECKBOX
+.MENU_ITEM_02_HAS_SEPARATOR     1
+.MENU_ITEM_02_MOUSE_RECT_XY     36 166
+.MENU_ITEM_02_MOUSE_RECT_DXDY   52 34
+.MENU_ITEM_02_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_03_NAME              "Change window size and position"
+.MENU_ITEM_03_TYPE              COMMAND
+.MENU_ITEM_03_HAS_SEPARATOR     0
+.MENU_ITEM_03_MOUSE_RECT_XY     0 0
+.MENU_ITEM_03_MOUSE_RECT_DXDY   0 0
+.MENU_ITEM_03_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_04_NAME              "Move to next waypoint"
+.MENU_ITEM_04_TYPE              COMMAND
+.MENU_ITEM_04_HAS_SEPARATOR     0
+.MENU_ITEM_04_MOUSE_RECT_XY     0 0
+.MENU_ITEM_04_MOUSE_RECT_DXDY   0 0
+.MENU_ITEM_04_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_05_NAME              "no action"
+.MENU_ITEM_05_TYPE              COMMAND
+.MENU_ITEM_05_HAS_SEPARATOR     0
+.MENU_ITEM_05_MOUSE_RECT_XY     0 0
+.MENU_ITEM_05_MOUSE_RECT_DXDY   0 0
+.MENU_ITEM_05_HIDE_MENU_ITEM    0
+
+.MENU_ITEM_06_NAME              "Blue LED"
+.MENU_ITEM_06_TYPE              CHECKBOX
+.MENU_ITEM_06_HAS_SEPARATOR     0
+.MENU_ITEM_06_MOUSE_RECT_XY     6 40
+.MENU_ITEM_06_MOUSE_RECT_DXDY   15 12
+.MENU_ITEM_06_HIDE_MENU_ITEM    1
+
+.MENU_ITEM_07_NAME              "Green LED"
+.MENU_ITEM_07_TYPE              CHECKBOX
+.MENU_ITEM_07_HAS_SEPARATOR     0
+.MENU_ITEM_07_MOUSE_RECT_XY     6 52
+.MENU_ITEM_07_MOUSE_RECT_DXDY   15 12
+.MENU_ITEM_07_HIDE_MENU_ITEM    1
+
+.MENU_ITEM_08_NAME              "FlightMode 1"
+.MENU_ITEM_08_TYPE              CHECKBOX
+.MENU_ITEM_08_HAS_SEPARATOR     0
+.MENU_ITEM_08_MOUSE_RECT_XY     40 19
+.MENU_ITEM_08_MOUSE_RECT_DXDY   38 38
+.MENU_ITEM_08_HIDE_MENU_ITEM    1
+
+.MENU_ITEM_09_NAME              "FlightMode 2"
+.MENU_ITEM_09_TYPE              CHECKBOX
+.MENU_ITEM_09_HAS_SEPARATOR     0
+.MENU_ITEM_09_MOUSE_RECT_XY     78 19
+.MENU_ITEM_09_MOUSE_RECT_DXDY   38 38
+.MENU_ITEM_09_HIDE_MENU_ITEM    1
+
+.MENU_ITEM_10_NAME              "FlightMode 3"
+.MENU_ITEM_10_TYPE              CHECKBOX
+.MENU_ITEM_10_HAS_SEPARATOR     0
+.MENU_ITEM_10_MOUSE_RECT_XY     115 19
+.MENU_ITEM_10_MOUSE_RECT_DXDY   38 38
+.MENU_ITEM_10_HIDE_MENU_ITEM    1
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.cpp
new file mode 100644
index 000000000..6c19f91dc
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.cpp
@@ -0,0 +1,98 @@
+/**
+ ******************************************************************************
+ *
+ * @file       settings.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 "settings.h"
+
+Settings::Settings(QString settingsPath, QObject *parent) :
+    QObject(parent)
+{
+   settings = new QSettings(settingsPath + "/cc_plugin.ini", QSettings::IniFormat);
+   // default settings
+   sendToHost = "127.0.0.1";
+   sendToPort = 40100;
+   listenOnHost = "127.0.0.1";
+   listenOnPort = 40200;
+   channels.reserve(60);
+   for (quint8 i = 0; i < 10; ++i)
+       inputMap << 255;
+   for (quint8 i = 0; i < 8; ++i)
+       outputMap << 255;
+   sendToRX = true;
+   takeFromTX = true;
+   videoModes << 1 << 50 << 50 << 800 << 600;
+}
+
+void Settings::read()
+{
+    // network
+    listenOnHost = settings->value("listen_on_host", listenOnHost).toString();
+    listenOnPort = settings->value("listen_on_port", listenOnPort).toInt();
+    sendToHost = settings->value("send_to_host", sendToHost).toString();
+    sendToPort = settings->value("send_to_port", sendToPort).toInt();
+
+    QString allChannels = settings->value("all_channels").toString();
+    QString chan;
+    int i = 0;
+    foreach (chan, allChannels.split(" "))
+        channels.insert(chan, i++);
+
+    // inputs
+    QString num = "";
+    QString map = "";
+    for (quint8 i = 0; i < 10; ++i) {
+        num = QString::number(i+1);
+        map = settings->value("Input/cc_channel_" + num).toString();
+        inputMap[i] = channels.value(map, inputMap.at(i));
+    }
+
+    QString sendTo = settings->value("Input/send_to", "RX").toString();
+    sendToRX = (sendTo == "RX") ? true : false;
+
+    // outputs
+    for (quint8 i = 0; i < 8; ++i) {
+        num = QString::number(i+1);
+        map = settings->value("Output/sim_channel_" + num).toString();
+        outputMap[i] = channels.value(map, outputMap.at(i));
+    }
+
+    QString takeFrom = settings->value("Output/take_from", "TX").toString();
+    takeFromTX = (takeFrom == "TX") ? true : false;
+
+    // video
+    quint8 resolutionNum = settings->value("Video/number_of_resolutions", 0).toInt();
+    if (resolutionNum > 0) {
+        videoModes.clear();
+        videoModes << resolutionNum;
+        for (quint8 i = 0; i < resolutionNum; ++i) {
+            num = QString::number(i+1);
+            QString modes = settings->value("Video/resolution_" + num, "0, 0, 640, 480").toString();
+            QString mode;
+            foreach (mode, modes.split(" "))
+                videoModes << mode.toInt();
+        }
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.h
new file mode 100644
index 000000000..5bc39135d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/settings.h
@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       settings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 SETTINGS_H
+#define SETTINGS_H
+
+#include <QObject>
+#include <QSettings>
+#include <QHash>
+#include <QList>
+#include <QStringList>
+#include <QDebug>
+
+class Settings : public QObject
+{
+public:
+    explicit Settings(QString settingsPath, QObject *parent = 0);
+    void read();
+    QString remoteHost() { return sendToHost; }
+    quint16 remotePort() { return sendToPort; }
+    QString localHost() { return listenOnHost; }
+    quint16 localPort() { return listenOnPort; }
+    QList<quint8> getInputMap() { return inputMap; }
+    QList<quint8> getOutputMap() { return outputMap; }
+    bool isToRX() { return sendToRX; }
+    bool isFromTX() { return takeFromTX; }
+    QList<quint16> getVideoModes() { return videoModes; }
+
+private:
+    QHash<QString, quint8> channels;
+    QSettings *settings;
+    QString sendToHost;
+    quint16 sendToPort;
+    QString listenOnHost;
+    quint16 listenOnPort;
+    QList<quint8> inputMap;
+    QList<quint8> outputMap;
+    bool sendToRX;
+    bool takeFromTX;
+    QList<quint16> videoModes;
+};
+
+#endif // SETTINGS_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.cpp
new file mode 100644
index 000000000..0448a705a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.cpp
@@ -0,0 +1,228 @@
+/**
+ ******************************************************************************
+ *
+ * @file       udpconnect.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 "udpconnect.h"
+#include "enums.h"
+
+UdpSender::UdpSender(const QList<quint8> map,
+                     bool isTX,
+                     QObject *parent)
+    : QObject(parent)
+{
+    qDebug() << this << "UdpSender::UdpSender thread:" << thread();
+    outSocket = NULL;
+    for (int i = 0; i < 8; ++i)
+        channels << 0.0;
+    channelsMap = map;
+    takeFromTX = isTX;
+    packetsSended = 0;
+}
+
+UdpSender::~UdpSender()
+{
+    qDebug() << this  << "UdpSender::~UdpSender";
+    if (outSocket)
+        delete outSocket;
+}
+
+// public
+void UdpSender::init(const QString &remoteHost, quint16 remotePort)
+{
+    qDebug() << this << "UdpSender::init";
+    outHost = remoteHost;
+    outPort = remotePort;
+    outSocket = new QUdpSocket();
+}
+
+void UdpSender::sendDatagram(const simToPlugin *stp)
+{
+    QByteArray data;
+    data.resize(188);
+    QDataStream out(&data, QIODevice::WriteOnly);
+    out.setFloatingPointPrecision(QDataStream::SinglePrecision);
+
+    // magic header, "AERO"
+    out << quint32(0x4153494D);
+    // simulation step
+    out << stp->simTimeStep;
+    // home location
+    out << stp->initPosX    << stp->initPosY    << stp->initPosZ;
+    out << stp->wpHomeX     << stp->wpHomeY     << stp->wpHomeLat   << stp->wpHomeLong;
+    // position
+    out << stp->posX        << stp->posY        << stp->posZ;
+    // velocity (world)
+    out << stp->velX        << stp->velY        << stp->velZ;
+    // angular velocity (model)
+    out << stp->angVelXm    << stp->angVelYm    << stp->angVelZm;
+    // acceleration (model)
+    out << stp->accelXm     << stp->accelYm     << stp->accelZm;
+    // coordinates
+    out << stp->latitude    << stp->longitude;
+    // sonar
+    out << stp->AGL;
+    // attitude
+    out << stp->heading     << stp->pitch       << stp->roll;
+    // electric
+    out << stp->voltage     << stp->current;
+    // matrix
+    out << stp->axisXx << stp->axisXy << stp->axisXz;
+    out << stp->axisYx << stp->axisYy << stp->axisYz;
+    out << stp->axisZx << stp->axisZy << stp->axisZz;
+    // channels
+    for (int i = 0; i < 8; ++i) {
+        quint8 mapTo = channelsMap.at(i);
+        if (mapTo == 255)       // unused channel
+            out << 0.0;
+        else if (takeFromTX)    // use values from simulators transmitter
+            out << stp->chSimTX[mapTo];
+        else                    // direct use values from ESC/motors/ailerons/etc
+            out << stp->chSimRX[mapTo];
+    }
+
+    // packet counter
+    out << packetsSended;
+
+    outSocket->writeDatagram(data, outHost, outPort);
+    ++packetsSended;
+}
+
+//-----------------------------------------------------------------------------
+
+UdpReceiver::UdpReceiver(const QList<quint8> map,
+                         bool isRX,
+                         QObject *parent)
+    : QThread(parent)
+{
+    qDebug() << this << "UdpReceiver::UdpReceiver thread:" << thread();
+
+    stopped = false;
+    inSocket = NULL;
+    for (int i = 0; i < 10; ++i)
+        channels << -1.0;
+    channelsMap = map;
+    sendToRX = isRX;
+    armed = 0;
+    mode = 0;
+    packetsRecived = 1;
+}
+
+UdpReceiver::~UdpReceiver()
+{
+    qDebug() << this  << "UdpReceiver::~UdpReceiver";
+    if (inSocket)
+        delete inSocket;
+}
+
+// public
+void UdpReceiver::init(const QString &localHost, quint16 localPort)
+{
+    qDebug() << this << "UdpReceiver::init";
+
+    inSocket = new QUdpSocket();
+    qDebug() << this << "inSocket constructed" << inSocket->thread();
+
+    inSocket->bind(QHostAddress(localHost), localPort);
+}
+
+void UdpReceiver::run()
+{
+    qDebug() << this << "UdpReceiver::run start";
+    while (!stopped)
+        onReadyRead();
+    qDebug() << this << "UdpReceiver::run ended";
+}
+
+void UdpReceiver::stop()
+{
+    qDebug() << this << "UdpReceiver::stop";
+    stopped = true;
+}
+
+void UdpReceiver::setChannels(pluginToSim *pts)
+{
+    QMutexLocker locker(&mutex);
+
+    for (int i = 0; i < 10; ++i) {
+        quint8 mapTo = channelsMap.at(i);
+        if (mapTo != 255) {
+            float channelValue = qBound(-1.0f, channels.at(i), 1.0f);
+            if (sendToRX) {
+                // direct connect to ESC/motors/ailerons/etc
+                pts->chNewRX[mapTo] = channelValue;
+                pts->chOverRX[mapTo] = true;
+            } else {
+                // replace simulators transmitter
+                pts->chNewTX[mapTo] = channelValue;
+                pts->chOverTX[mapTo] = true;
+            }
+        }
+    }
+}
+
+void UdpReceiver::getFlighStatus(quint8 &arm, quint8 &mod)
+{
+    QMutexLocker locker(&mutex);
+
+    arm = armed;
+    mod = mode;
+}
+
+// private
+void UdpReceiver::onReadyRead()
+{
+    if (!inSocket->waitForReadyRead(8)) // 1/60fps ~= 16.7ms, 1/120fps ~= 8.3ms
+        return;
+    // TODO: add failsafe
+    // if a command not recieved then slowly return all channel to neutral
+    //
+    while (inSocket->hasPendingDatagrams()) {
+        QByteArray datagram;
+        datagram.resize(inSocket->pendingDatagramSize());
+        quint64 datagramSize;
+        datagramSize = inSocket->readDatagram(datagram.data(), datagram.size());
+
+        processDatagram(datagram);
+    }
+}
+
+void UdpReceiver::processDatagram(QByteArray &datagram)
+{
+    QDataStream stream(datagram);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+    // check magic header
+    quint32 magic;
+    stream >> magic;
+    if (magic != 0x52434D44) // "RCMD"
+        return;
+    // read channels
+    for (int i = 0; i < 10; ++i)
+        stream >> channels[i];
+    // read flight mode
+    stream >> armed >> mode;
+    // read counter
+    stream >> packetsRecived;
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.h
new file mode 100644
index 000000000..ead07f046
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udpconnect.h
@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ *
+ * @file       udpconnect.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy 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 UDPCONNECT_H
+#define UDPCONNECT_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QList>
+#include <QTime>
+#include <QMutex>
+#include <QMutexLocker>
+#include "aerosimrcdatastruct.h"
+
+class UdpSender : public QObject
+{
+//    Q_OBJECT
+public:
+    explicit UdpSender(const QList<quint8> map, bool isTX, QObject *parent = 0);
+    ~UdpSender();
+    void init(const QString &remoteHost, quint16 remotePort);
+    void sendDatagram(const simToPlugin *stp);
+    quint32 pcks() { return packetsSended; }
+
+private:
+    QUdpSocket *outSocket;
+    QHostAddress outHost;
+    quint16 outPort;
+    QList<float> channels;
+    QList<quint8> channelsMap;
+    bool takeFromTX;
+    quint32 packetsSended;
+};
+
+
+class UdpReceiver : public QThread
+{
+//    Q_OBJECT
+public:
+    explicit UdpReceiver(const QList<quint8> map, bool isRX, QObject *parent = 0);
+    ~UdpReceiver();
+    void init(const QString &localHost, quint16 localPort);
+    void run();
+    void stop();
+    // function getChannels for other threads
+    void setChannels(pluginToSim *pts);
+    void getFlighStatus(quint8 &arm, quint8 &mod);
+    quint8 getArmed() { return armed; }
+    quint8 getMode() { return mode; }
+    quint32 pcks() { return packetsRecived; }
+
+private:
+    volatile bool stopped;
+    QMutex mutex;
+    QUdpSocket *inSocket;
+    QList<float> channels;
+    QList<quint8> channelsMap;
+    bool sendToRX;
+    quint8 armed;
+    quint8 mode;
+    quint32 packetsRecived;
+    void onReadyRead();
+    void processDatagram(QByteArray &datagram);
+};
+
+#endif // UDPCONNECT_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptest.pro b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptest.pro
new file mode 100644
index 000000000..ac63be5ae
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptest.pro
@@ -0,0 +1,17 @@
+include(../../../../../openpilotgcs.pri)
+
+QT += core gui network
+
+TEMPLATE = app
+TARGET = udp_test
+DESTDIR = $$GCS_APP_PATH
+
+HEADERS += \
+    udptestwidget.h
+
+SOURCES += \
+    udptestmain.cpp \
+    udptestwidget.cpp
+
+FORMS += \
+    udptestwidget.ui
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestmain.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestmain.cpp
new file mode 100644
index 000000000..744e4bf25
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestmain.cpp
@@ -0,0 +1,38 @@
+/**
+ ******************************************************************************
+ *
+ * @file       udptestmain.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy plugin test utility
+ *****************************************************************************/
+/*
+ * 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 <QApplication>
+#include "udptestwidget.h"
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    Widget w;
+    w.show();
+
+    return a.exec();
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.cpp
new file mode 100644
index 000000000..9ab45e45a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.cpp
@@ -0,0 +1,537 @@
+/**
+ ******************************************************************************
+ *
+ * @file       udptestwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy plugin test utility
+ *****************************************************************************/
+/*
+ * 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 "udptestwidget.h"
+#include "ui_udptestwidget.h"
+
+Widget::Widget(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::Widget)
+{
+    ui->setupUi(this);
+
+    inSocket = NULL;
+    outSocket = NULL;
+    screenTimeout.start();
+    packetCounter = 0;
+
+    autoSendTimer = new QTimer(this);
+    connect(autoSendTimer, SIGNAL(timeout()), this, SLOT(sendDatagram()), Qt::DirectConnection);
+}
+
+Widget::~Widget()
+{
+    if(outSocket) {
+        delete outSocket;
+    }
+    if(inSocket) {
+        delete inSocket;
+    }
+    delete ui;
+}
+
+// private slots //////////////////////////////////////////////////////////////
+
+void Widget::on_btReciveStart_clicked()
+{
+    on_btReciveStop_clicked();
+
+    inSocket = new QUdpSocket();
+    QString host = ui->localHost->text();
+    quint16 port = ui->localPort->text().toInt();
+
+    if (inSocket->bind(QHostAddress(host), port)) {
+        connect(inSocket, SIGNAL(readyRead()),
+                this, SLOT(readDatagram()), Qt::DirectConnection);
+
+        ui->listWidget->addItem("bind ok");
+        ui->btReciveStop->setEnabled(1);
+        ui->localHost->setDisabled(1);
+        ui->localPort->setDisabled(1);
+        ui->btReciveStart->setDisabled(1);
+    } else {
+        ui->listWidget->addItem("bind error: " + inSocket->errorString());
+    }
+}
+
+void Widget::on_btReciveStop_clicked()
+{
+    if(inSocket) {
+        delete inSocket;
+        inSocket = NULL;
+        ui->listWidget->addItem("unbind ok");
+    } else {
+        ui->listWidget->addItem("socket not found");
+    }
+    ui->btReciveStart->setEnabled(1);
+    ui->localHost->setEnabled(1);
+    ui->localPort->setEnabled(1);
+    ui->btReciveStop->setDisabled(1);
+}
+
+void Widget::on_btTransmitStart_clicked()
+{
+    on_btTransmitStop_clicked();
+
+    outSocket = new QUdpSocket();
+    outHost = ui->simHost->text();
+    outPort = ui->simPort->text().toInt();
+
+    ui->listWidget->addItem("transmit started");
+    ui->btTransmitStop->setEnabled(1);
+    ui->simHost->setDisabled(1);
+    ui->simPort->setDisabled(1);
+    ui->btTransmitStart->setDisabled(1);
+}
+
+void Widget::on_btTransmitStop_clicked()
+{
+    if(outSocket) {
+        delete outSocket;
+        outSocket = NULL;
+        ui->listWidget->addItem("transmit stopped");
+    } else {
+        ui->listWidget->addItem("transmit socket not found");
+    }
+    ui->btTransmitStart->setEnabled(1);
+    ui->simHost->setEnabled(1);
+    ui->simPort->setEnabled(1);
+    ui->btTransmitStop->setDisabled(1);
+}
+
+void Widget::readDatagram()
+{
+    while (inSocket->hasPendingDatagrams()) {
+        QByteArray datagram;
+        datagram.resize(inSocket->pendingDatagramSize());
+        QHostAddress sender;
+        quint16 senderPort;
+        quint64 datagramSize = inSocket->readDatagram(datagram.data(), datagram.size(),
+                                                      &sender, &senderPort);
+        Q_UNUSED(datagramSize);
+
+        processDatagram(datagram);
+        if (ui->autoAnswer->isChecked())
+            sendDatagram();
+    }
+}
+
+// private ////////////////////////////////////////////////////////////////////
+
+void Widget::processDatagram(const QByteArray &data)
+{
+    QByteArray buf = data;
+    QDataStream stream(&buf, QIODevice::ReadOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+
+    // check magic header
+    quint32 magic;
+    stream >> magic;
+    if (magic == 0x4153494D) {  // "AERO"
+        float   timeStep,
+                homeX, homeY, homeZ,
+                WpHX, WpHY, WpLat, WpLon,
+                posX, posY, posZ,
+                velX, velY, velZ,
+                angX, angY, angZ,
+                accX, accY, accZ,
+                lat, lon, alt,
+                head, pitch, roll,
+                volt, curr,
+                rx, ry, rz, fx, fy, fz, ux, uy, uz,
+                chAil, chEle, chThr, chRud, chPlg1, chPlg2, chFpv1, chFpv2;
+
+        stream >> timeStep;
+        stream >> homeX >> homeY >> homeZ;
+        stream >> WpHX >> WpHY >> WpLat >> WpLon;
+        stream >> posX >> posY >> posZ;
+        stream >> velX >> velY >> velZ;
+        stream >> angX >> angY >> angZ;
+        stream >> accX >> accY >> accZ;
+        stream >> lat >> lon >> alt;
+        stream >> head >> pitch >> roll;
+        stream >> volt >> curr;
+        stream >> rx >> ry >> rz >> fx >> fy >> fz >> ux >> uy >> uz;
+        stream >> chAil >> chEle >> chThr >> chRud >> chPlg1 >> chPlg2 >> chFpv1 >> chFpv2;
+        stream >> packetCounter;
+
+        if(ui->tabWidget->currentIndex() != 0)
+            return;
+
+        if (screenTimeout.elapsed() < 200)
+            return;
+
+        ui->listWidget->clear();
+        /*
+        ui->listWidget->addItem("time step (s)");
+        ui->listWidget->addItem(QString("%1")
+                                .arg(timeStep);
+        ui->listWidget->addItem("home location (m)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(homeX, 7, 'f', 4)
+                                .arg(homeY, 7, 'f', 4)
+                                .arg(homeZ, 7, 'f', 4));
+        ui->listWidget->addItem("home waypoint");
+        ui->listWidget->addItem(QString("%1, %2, %3, %4")
+                                .arg(WpHX, 7, 'f', 4)
+                                .arg(WpHY, 7, 'f', 4)
+                                .arg(WpLat, 7, 'f', 4)
+                                .arg(WpLon, 7, 'f', 4));
+        ui->listWidget->addItem("model position (m)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(posX, 7, 'f', 4)
+                                .arg(posY, 7, 'f', 4)
+                                .arg(posZ, 7, 'f', 4));
+        ui->listWidget->addItem("model velocity (m/s)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(velX, 7, 'f', 4)
+                                .arg(velY, 7, 'f', 4)
+                                .arg(velZ, 7, 'f', 4));
+        ui->listWidget->addItem("model angular velocity (rad/s)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(angX, 7, 'f', 4)
+                                .arg(angY, 7, 'f', 4)
+                                .arg(angZ, 7, 'f', 4));
+        ui->listWidget->addItem("model acceleration (m/s/s)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(accX, 7, 'f', 4)
+                                .arg(accY, 7, 'f', 4)
+                                .arg(accZ, 7, 'f', 4));
+        ui->listWidget->addItem("model coordinates (deg, deg, m)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(lat, 7, 'f', 4)
+                                .arg(lon, 7, 'f', 4)
+                                .arg(alt, 7, 'f', 4));
+        ui->listWidget->addItem("model electrics");
+        ui->listWidget->addItem(QString("%1V, %2A")
+                                .arg(volt, 7, 'f', 4)
+                                .arg(curr, 7, 'f', 4));
+        ui->listWidget->addItem("channels");
+        ui->listWidget->addItem(QString("%1 %2 %3 %4 %5 %6 %7 %8")
+                                .arg(chAil, 6, 'f', 3)
+                                .arg(chEle, 6, 'f', 3)
+                                .arg(chThr, 6, 'f', 3)
+                                .arg(chRud, 6, 'f', 3)
+                                .arg(chPlg1, 6, 'f', 3)
+                                .arg(chPlg2, 6, 'f', 3)
+                                .arg(chFpv1, 6, 'f', 3)
+                                .arg(chFpv2, 6, 'f', 3));
+        ui->listWidget->addItem("datagram size (bytes), packet counter");
+        ui->listWidget->addItem(QString("%1 %2")
+                                .arg(data.size())
+                                .arg(packetCounter));
+*/
+
+        // matrix calculation start
+        // model matrix
+        QMatrix4x4 m = QMatrix4x4( fy,  fx, -fz,  0.0,
+                                   ry,  rx, -rz,  0.0,
+                                  -uy, -ux,  uz,  0.0,
+                                  0.0, 0.0, 0.0,  1.0);
+        m.optimize();
+
+        // world matrix
+        QMatrix4x4 w = m.inverted();
+
+        // model quat
+        QQuaternion q;
+        asMatrix2Quat(m, q);
+
+        // model roll, pitch, yaw
+        QVector3D rpy;
+        asMatrix2RPY(m, rpy);
+
+        // sonar
+        float sAlt = 5.0;
+        if ((alt < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
+            float x = alt * qTan(roll);
+            float y = alt * qTan(pitch);
+            float h = QVector3D(x, y, alt).length();
+            sAlt = qMin(h, sAlt);
+        }
+
+        ui->listWidget->addItem("sonar altitude");
+        ui->listWidget->addItem(QString("%1")
+                                .arg(sAlt, 8, 'f', 5));
+        ui->listWidget->addItem("vectors");
+        ui->listWidget->addItem(QString("       X       Y       Z"));
+        ui->listWidget->addItem(QString("R: %1 %2 %3\nF: %4 %5 %6\nU: %7 %8 %9")
+                                .arg(rx, 8, 'f', 5).arg(ry, 8, 'f', 5).arg(rz, 8, 'f', 5)
+                                .arg(fx, 8, 'f', 5).arg(fy, 8, 'f', 5).arg(fz, 8, 'f', 5)
+                                .arg(ux, 8, 'f', 5).arg(uy, 8, 'f', 5).arg(uz, 8, 'f', 5));
+        ui->listWidget->addItem("CC model matrix");
+        ui->listWidget->addItem(QString("   %1 %2 %3\n   %4 %5 %6\n   %7 %8 %9")
+                                .arg(m(0, 0), 8, 'f', 5).arg(m(0, 1), 8, 'f', 5).arg(m(0, 2), 8, 'f', 5)
+                                .arg(m(1, 0), 8, 'f', 5).arg(m(1, 1), 8, 'f', 5).arg(m(1, 2), 8, 'f', 5)
+                                .arg(m(2, 0), 8, 'f', 5).arg(m(2, 1), 8, 'f', 5).arg(m(2, 2), 8, 'f', 5));
+        ui->listWidget->addItem("CC world matrix");
+        ui->listWidget->addItem(QString("   %1 %2 %3\n   %4 %5 %6\n   %7 %8 %9")
+                                .arg(w(0, 0), 8, 'f', 5).arg(w(0, 1), 8, 'f', 5).arg(w(0, 2), 8, 'f', 5)
+                                .arg(w(1, 0), 8, 'f', 5).arg(w(1, 1), 8, 'f', 5).arg(w(1, 2), 8, 'f', 5)
+                                .arg(w(2, 0), 8, 'f', 5).arg(w(2, 1), 8, 'f', 5).arg(w(2, 2), 8, 'f', 5));
+        ui->listWidget->addItem("CC quaternion");
+        ui->listWidget->addItem(QString("%1, %2, %3, %4")
+                                .arg(q.x(), 7, 'f', 4)
+                                .arg(q.y(), 7, 'f', 4)
+                                .arg(q.z(), 7, 'f', 4)
+                                .arg(q.scalar(), 7, 'f', 4));
+        ui->listWidget->addItem("model attitude (deg)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(roll*RAD2DEG, 7, 'f', 4)
+                                .arg(pitch*RAD2DEG, 7, 'f', 4)
+                                .arg(head*RAD2DEG, 7, 'f', 4));
+        ui->listWidget->addItem("CC attitude calculated (deg)");
+        ui->listWidget->addItem(QString("%1, %2, %3")
+                                .arg(rpy.x(), 7, 'f', 4)
+                                .arg(rpy.y(), 7, 'f', 4)
+                                .arg(rpy.z(), 7, 'f', 4));
+
+        screenTimeout.restart();
+
+    } else if (magic == 0x52434D44) { // "RCMD"
+        qreal ch1, ch2, ch3, ch4, ch5, ch6, ch7, ch8, ch9, ch10;
+        stream >> ch1 >> ch2 >> ch3 >> ch4 >> ch5 >> ch6 >> ch7 >> ch8 >> ch9 >> ch10;
+        quint8 armed, mode;
+        stream >> armed >> mode;
+
+        if(ui->tabWidget->currentIndex() == 0) {
+            if (screenTimeout.elapsed() < 200)
+                return;
+            ui->listWidget->clear();
+            ui->listWidget->addItem("channels");
+            ui->listWidget->addItem("CH1: " + QString::number(ch1));
+            ui->listWidget->addItem("CH2: " + QString::number(ch2));
+            ui->listWidget->addItem("CH3: " + QString::number(ch3));
+            ui->listWidget->addItem("CH4: " + QString::number(ch4));
+            ui->listWidget->addItem("CH5: " + QString::number(ch5));
+            ui->listWidget->addItem("CH6: " + QString::number(ch6));
+            ui->listWidget->addItem("CH7: " + QString::number(ch7));
+            ui->listWidget->addItem("CH8: " + QString::number(ch8));
+            ui->listWidget->addItem("CH9: " + QString::number(ch9));
+            ui->listWidget->addItem("CH10:" + QString::number(ch10));
+            ui->listWidget->addItem("armed:" + QString::number(armed));
+            ui->listWidget->addItem("fmode:" + QString::number(mode));
+        }
+        screenTimeout.restart();
+    } else {
+        qDebug() << "unknown magic:" << magic;
+    }
+}
+
+void Widget::sendDatagram()
+{
+    if(!outSocket)
+        return;
+
+    float ch[10];   // = {0,0,0,0,0,0,0,0,0,0};
+    quint8 armed;
+    quint8 fmode;
+    const float coeff = 1.0 / 512.0;
+
+    ch[0] = ui->ch1->value() * coeff;
+    ch[1] = ui->ch2->value() * coeff;
+    ch[2] = ui->ch3->value() * coeff;
+    ch[3] = ui->ch4->value() * coeff;
+    ch[4] = ui->ch5->value() * coeff;
+    ch[5] = ui->ch6->value() * coeff;
+    ch[6] = ui->ch7->value() * coeff;
+    ch[7] = ui->ch8->value() * coeff;
+    ch[8] = ui->ch9->value() * coeff;
+    ch[9] = ui->ch10->value() * coeff;
+
+    armed = (ui->disarmed->isChecked()) ? 0 : (ui->arming->isChecked()) ? 1 : 2;
+    fmode = ui->flightMode->value();
+
+    QByteArray data;
+    // 50 - current size of values, 4(quint32) + 10*4(float) + 2*1(quint8) + 4(quint32)
+    data.resize(50);
+    QDataStream stream(&data, QIODevice::WriteOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+
+    // magic header, "RCMD"
+    stream << quint32(0x52434D44);
+    // send channels
+    for (int i = 0; i < 10; ++i) {
+        stream << ch[i];
+    }
+    // send armed and mode
+    stream << armed << fmode;
+    // send readed counter
+    stream << packetCounter;
+
+    if (outSocket->writeDatagram(data, outHost, outPort) == -1) {
+        qDebug() << "write failed: outHost" << outHost << " "
+                 << "outPort " << outPort << " "
+                 << outSocket->errorString();
+    }
+}
+
+void Widget::on_autoSend_clicked()
+{
+    autoSendTimer->start(100);
+    qDebug() << "timer start";
+}
+
+void Widget::on_autoAnswer_clicked()
+{
+    autoSendTimer->stop();
+    qDebug() << "timer stop";
+}
+
+// transfomations
+
+void Widget::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
+{
+    qreal w, x, y, z;
+
+    // w always >= 0
+    w = qSqrt(qMax(0.0, 1.0 + m(0, 0) + m(1, 1) + m(2, 2))) / 2.0;
+    x = qSqrt(qMax(0.0, 1.0 + m(0, 0) - m(1, 1) - m(2, 2))) / 2.0;
+    y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
+    z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
+
+    x = copysign(x, (m(1, 2) - m(2, 1)));
+    y = copysign(y, (m(2, 0) - m(0, 2)));
+    z = copysign(z, (m(0, 1) - m(1, 0)));
+
+    q.setScalar(w);
+    q.setX(x);
+    q.setY(y);
+    q.setZ(z);
+}
+
+void Widget::asQuat2RPY(const QQuaternion &q, QVector3D &rpy)
+{
+    qreal roll;
+    qreal pitch;
+    qreal yaw;
+
+    const qreal d2 = 2.0;
+    const qreal qss = q.scalar() * q.scalar();
+    const qreal qxx = q.x() * q.x();
+    const qreal qyy = q.y() * q.y();
+    const qreal qzz = q.z() * q.z();
+
+    qreal test = -d2 * (q.x() * q.z() - q.scalar() * q.y());
+    if (qFabs(test) > 0.998) {
+        // ~86.3°, gimbal lock
+        qreal R10 = d2 * (q.x() * q.y() - q.scalar() * q.z());
+        qreal R11 = qss - qxx + qyy - qzz;
+
+        roll = 0.0;
+        pitch = copysign(M_PI_2, test);
+        yaw = qAtan2(-R10, R11);
+    } else {
+        qreal R12 = d2 * (q.y() * q.z() + q.scalar() * q.x());
+        qreal R22 = qss - qxx - qyy + qzz;
+        qreal R01 = d2 * (q.x() * q.y() + q.scalar() * q.z());
+        qreal R00 = qss + qxx - qyy - qzz;
+
+        roll    = qAtan2(R12, R22);
+        pitch   = qAsin(test);
+        yaw     = qAtan2(R01, R00);
+    }
+    rpy.setX(RAD2DEG * roll);
+    rpy.setY(RAD2DEG * pitch);
+    rpy.setZ(RAD2DEG * yaw);
+}
+
+void Widget::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
+{
+    qreal roll;
+    qreal pitch;
+    qreal yaw;
+
+    if (qFabs(m(0, 2)) > 0.998) {
+        // ~86.3°, gimbal lock
+        roll  = 0.0;
+        pitch = copysign(M_PI_2, -m(0, 2));
+        yaw   = qAtan2(-m(1, 0), m(1, 1));
+    } else {
+        roll  = qAtan2(m(1, 2), m(2, 2));
+        pitch = qAsin(-m(0, 2));
+        yaw   = qAtan2(m(0, 1), m(0, 0));
+    }
+
+    rpy.setX(roll  * RAD2DEG);
+    rpy.setY(pitch * RAD2DEG);
+    rpy.setZ(yaw   * RAD2DEG);
+}
+
+/* // not used
+
+void Widget::ccRPY2Quat(const QVector3D &rpy, QQuaternion &q)
+{
+    float phi, theta, psi;
+    float cphi, sphi, ctheta, stheta, cpsi, spsi;
+
+    phi    = rpy.x() / 2;
+    theta  = rpy.y() / 2;
+    psi    = rpy.z() / 2;
+    cphi   = cosf(phi);
+    sphi   = sinf(phi);
+    ctheta = cosf(theta);
+    stheta = sinf(theta);
+    cpsi   = cosf(psi);
+    spsi   = sinf(psi);
+
+    q.setScalar(cphi * ctheta * cpsi + sphi * stheta * spsi);
+    q.setX(sphi * ctheta * cpsi - cphi * stheta * spsi);
+    q.setY(cphi * stheta * cpsi + sphi * ctheta * spsi);
+    q.setZ(cphi * ctheta * spsi - sphi * stheta * cpsi);
+
+    if (q.scalar() < 0) {   // q0 always positive for uniqueness
+        q.setScalar(-q.scalar());
+        q.setX(-q.x());
+        q.setY(-q.y());
+        q.setZ(-q.z());
+    }
+}
+
+void Widget::ccQuat2Matrix(const QQuaternion &q, QMatrix4x4 &m)
+{
+    float q0s = q.scalar() * q.scalar();
+    float q1s = q.x() * q.x();
+    float q2s = q.y() * q.y();
+    float q3s = q.z() * q.z();
+
+    float m00 = q0s + q1s - q2s - q3s;
+    float m01 = 2 * (q.x() * q.y() + q.scalar() * q.z());
+    float m02 = 2 * (q.x() * q.z() - q.scalar() * q.y());
+    float m10 = 2 * (q.x() * q.y() - q.scalar() * q.z());
+    float m11 = q0s - q1s + q2s - q3s;
+    float m12 = 2 * (q.y() * q.z() + q.scalar() * q.x());
+    float m20 = 2 * (q.x() * q.z() + q.scalar() * q.y());
+    float m21 = 2 * (q.y() * q.z() - q.scalar() * q.x());
+    float m22 = q0s - q1s - q2s + q3s;
+
+    m = QMatrix4x4(m00, m01, m02, 0,
+                   m10, m11, m12, 0,
+                   m20, m21, m22, 0,
+                   0,   0,   0,   1);
+}
+*/
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.h
new file mode 100644
index 000000000..eeca63555
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.h
@@ -0,0 +1,94 @@
+/**
+ ******************************************************************************
+ *
+ * @file       udptestwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup 3rdParty Third-party integration
+ * @{
+ * @addtogroup AeroSimRC AeroSimRC proxy plugin
+ * @{
+ * @brief AeroSimRC simulator to HITL proxy plugin test utility
+ *****************************************************************************/
+/*
+ * 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 UDPTESTWIDGET_H
+#define UDPTESTWIDGET_H
+
+#include <QWidget>
+#include <QUdpSocket>
+#include <QTime>
+#if defined(Q_CC_MSVC)
+#define _USE_MATH_DEFINES
+#endif
+#include <qmath.h>
+#include <QVector3D>
+#include <QMatrix4x4>
+#include <QDebug>
+#include <QTimer>
+
+namespace Ui {
+    class Widget;
+}
+
+const float RAD2DEG = (float)(180.0/M_PI);
+const float DEG2RAD = (float)(M_PI/180.0);
+
+class Widget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit Widget(QWidget *parent = 0);
+    ~Widget();
+
+private slots:
+    void on_btReciveStart_clicked();
+    void on_btReciveStop_clicked();
+    void on_btTransmitStart_clicked();
+    void on_btTransmitStop_clicked();
+
+    void readDatagram();
+    void sendDatagram();
+
+    void on_autoSend_clicked();
+
+    void on_autoAnswer_clicked();
+
+private:
+    Ui::Widget *ui;
+
+    QTime screenTimeout;
+    QUdpSocket *inSocket;
+    QUdpSocket *outSocket;
+    QHostAddress outHost;
+    quint16 outPort;
+    quint32 packetCounter;
+
+    void processDatagram(const QByteArray &data);
+    QTimer *autoSendTimer;
+
+    void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
+    void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
+    void asQuat2RPY(const QQuaternion &q, QVector3D &rpy);
+
+/*  // not used
+ *  void ccRPY2Quat(const QVector3D &rpy, QQuaternion &q);
+ *  void ccQuat2Matrix(const QQuaternion &q, QMatrix4x4 &m);
+ */
+};
+
+#endif // UDPTESTWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.ui b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.ui
new file mode 100644
index 000000000..a060a6042
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrc/src/udptestwidget.ui
@@ -0,0 +1,940 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Widget</class>
+ <widget class="QWidget" name="Widget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>440</width>
+    <height>525</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string notr="true">udp_test</string>
+  </property>
+  <property name="windowFilePath">
+   <string notr="true"/>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="4">
+      <widget class="QPushButton" name="btReciveStart">
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">Connect</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLineEdit" name="localPort">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>50</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">40100</string>
+       </property>
+       <property name="maxLength">
+        <number>5</number>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="localHost">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string notr="true">127.0.0.1</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="lbLocalHost">
+       <property name="text">
+        <string notr="true">sim host</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QLabel" name="lbSimHost">
+       <property name="text">
+        <string notr="true">local host:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLabel" name="lbSimPort">
+       <property name="text">
+        <string notr="true">local port:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="5">
+      <widget class="QPushButton" name="btReciveStop">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">Disconnect</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="simHost">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string notr="true">127.0.0.1</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QLabel" name="lbLocalPort">
+       <property name="text">
+        <string notr="true">sim port</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="simPort">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>50</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">40200</string>
+       </property>
+       <property name="maxLength">
+        <number>5</number>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="4">
+      <widget class="QPushButton" name="btTransmitStart">
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">Transmit</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="5">
+      <widget class="QPushButton" name="btTransmitStop">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string notr="true">Stop</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab_1">
+      <attribute name="title">
+       <string notr="true">raw data</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QListWidget" name="listWidget">
+         <property name="font">
+          <font>
+           <family>Terminal</family>
+           <pointsize>10</pointsize>
+          </font>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string notr="true">channels</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="spacing">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>9</number>
+       </property>
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>send data</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <property name="leftMargin">
+           <number>9</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <item>
+           <widget class="QRadioButton" name="autoAnswer">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string notr="true">answer on recieve</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="autoSend">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string notr="true">auto send</string>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_2">
+         <property name="title">
+          <string>Flight mode</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <property name="leftMargin">
+           <number>9</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <item>
+           <widget class="QSlider" name="flightMode">
+            <property name="maximum">
+             <number>6</number>
+            </property>
+            <property name="pageStep">
+             <number>1</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>1</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="title">
+          <string>Armed state</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_3">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <property name="leftMargin">
+           <number>9</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <item>
+           <widget class="QRadioButton" name="disarmed">
+            <property name="text">
+             <string>Disarmed</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="arming">
+            <property name="text">
+             <string>Arming</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QRadioButton" name="armed">
+            <property name="text">
+             <string>Armed</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_4">
+         <property name="title">
+          <string>Channels</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_3">
+          <property name="leftMargin">
+           <number>9</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>9</number>
+          </property>
+          <property name="bottomMargin">
+           <number>3</number>
+          </property>
+          <property name="spacing">
+           <number>3</number>
+          </property>
+          <item row="0" column="0">
+           <widget class="QLabel" name="lbCH1n">
+            <property name="text">
+             <string notr="true">CH1</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QSlider" name="ch1">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="lbCH1">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="lbCH2n">
+            <property name="text">
+             <string notr="true">CH2</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSlider" name="ch2">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLabel" name="lbCH2">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="lbCH3n">
+            <property name="text">
+             <string notr="true">CH3</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSlider" name="ch3">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QLabel" name="lbCH3">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="lbCH4n">
+            <property name="text">
+             <string notr="true">CH4</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QSlider" name="ch4">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QLabel" name="lbCH4">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="lbCH5n">
+            <property name="text">
+             <string notr="true">CH5</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QSlider" name="ch5">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="2">
+           <widget class="QLabel" name="lbCH5">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="0">
+           <widget class="QLabel" name="lbCH6n">
+            <property name="text">
+             <string notr="true">CH6</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="2">
+           <widget class="QLabel" name="lbCH6">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLabel" name="lbCH7n">
+            <property name="text">
+             <string notr="true">Ch7</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="2">
+           <widget class="QLabel" name="lbCH7">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="0">
+           <widget class="QLabel" name="lbCH8n">
+            <property name="text">
+             <string notr="true">Ch8</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="2">
+           <widget class="QLabel" name="lbCH8">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="0">
+           <widget class="QLabel" name="lbCH9n">
+            <property name="text">
+             <string notr="true">Ch9</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QSlider" name="ch9">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="2">
+           <widget class="QLabel" name="lbCH9">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="0">
+           <widget class="QLabel" name="lbCH10n">
+            <property name="text">
+             <string notr="true">Ch10</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="1">
+           <widget class="QSlider" name="ch10">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="2">
+           <widget class="QLabel" name="lbCH10">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>30</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string notr="true">0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QSlider" name="ch6">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QSlider" name="ch7">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QSlider" name="ch8">
+            <property name="minimum">
+             <number>-511</number>
+            </property>
+            <property name="maximum">
+             <number>512</number>
+            </property>
+            <property name="singleStep">
+             <number>16</number>
+            </property>
+            <property name="pageStep">
+             <number>32</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksAbove</enum>
+            </property>
+            <property name="tickInterval">
+             <number>128</number>
+            </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>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.cpp b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.cpp
new file mode 100644
index 000000000..de26cb278
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.cpp
@@ -0,0 +1,507 @@
+/**
+ ******************************************************************************
+ *
+ * @file       aerosimrc.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITLv2 Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin version 2
+ *****************************************************************************/
+/*
+ * 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 "aerosimrcsimulator.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
+
+AeroSimRCSimulator::AeroSimRCSimulator(const SimulatorSettings &params)
+    : Simulator(params)
+{
+    udpCounterASrecv = 0;
+}
+
+AeroSimRCSimulator::~AeroSimRCSimulator()
+{
+}
+
+bool AeroSimRCSimulator::setupProcess()
+{
+    QMutexLocker locker(&lock);
+    return true;
+}
+
+void AeroSimRCSimulator::setupUdpPorts(const QString &host, int inPort, int outPort)
+{
+    Q_UNUSED(outPort)
+    if (inSocket->bind(QHostAddress(host), inPort))
+        emit processOutput("Successfully bound to address " + host + ", port " + QString::number(inPort) + "\n");
+    else
+        emit processOutput("Cannot bind to address " + host + ", port " + QString::number(inPort) + "\n");
+}
+
+void AeroSimRCSimulator::transmitUpdate()
+{
+    // read actuator output
+    ActuatorCommand::DataFields actCmdData;
+    actCmdData = actCommand->getData();
+    float channels[10];
+    for (int i = 0; i < 10; ++i) {
+        qint16 ch = actCmdData.Channel[i];
+        float out = -1.0;
+        if (ch >= 1000 && ch <= 2000) {
+            ch -= 1000;
+            out = ((float)ch / 500.0) - 1.0;
+        }
+        channels[i] = out;
+    }
+
+    // read flight status
+    FlightStatus::DataFields flightData;
+    flightData = flightStatus->getData();
+    quint8 armed;
+    quint8 mode;
+    armed = flightData.Armed;
+    mode = flightData.FlightMode;
+
+    QByteArray data;
+    // 50 - current size of values, 4(quint32) + 10*4(float) + 2(quint8) + 4(quint32)
+    data.resize(50);
+    QDataStream stream(&data, QIODevice::WriteOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+    stream << quint32(0x52434D44);      // magic header, "RCMD"
+    for (int i = 0; i < 10; ++i)
+        stream << channels[i];          // channels
+    stream << armed << mode;            // flight status
+    stream << udpCounterASrecv;         // packet counter
+
+    if (outSocket->writeDatagram(data, QHostAddress(settings.remoteHostAddress), settings.outPort) == -1) {
+        qDebug() << "write failed: " << outSocket->errorString();
+    }
+
+#ifdef DBG_TIMERS
+    static int cntTX = 0;
+    if (cntTX >= 100) {
+        qDebug() << "TX=" << 1000.0 * 100 / timeTX.restart();
+        cntTX = 0;
+    } else {
+        ++cntTX;
+    }
+#endif
+}
+
+void AeroSimRCSimulator::processUpdate(const QByteArray &data)
+{
+    // check size
+    if (data.size() > 188) {
+        qDebug() << "!!! big datagram: " << data.size();
+        return;
+    }
+
+    QByteArray buf = data;
+    QDataStream stream(&buf, QIODevice::ReadOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+
+    // check magic header
+    quint32 magic;
+    stream >> magic;
+    if (magic != 0x4153494D) {   // "AERO"
+        qDebug() << "wrong magic: " << magic << ", correct: " << quint32(0x4153494D);
+        return;
+    }
+
+    float   timeStep,
+            homeX, homeY, homeZ,
+            WpHX, WpHY, WpLat, WpLon,
+            posX, posY, posZ,   // world
+            velX, velY, velZ,   // world
+            angX, angY, angZ,   // model
+            accX, accY, accZ,   // model
+            lat, lon, agl,      // world
+            yaw, pitch, roll,   // model
+            volt, curr,
+            rx, ry, rz, fx, fy, fz, ux, uy, uz, // matrix
+            ch[8];
+
+    stream >> timeStep;
+    stream >> homeX >> homeY >> homeZ;
+    stream >> WpHX >> WpHY >> WpLat >> WpLon;
+    stream >> posX >> posY >> posZ;
+    stream >> velX >> velY >> velZ;
+    stream >> angX >> angY >> angZ;
+    stream >> accX >> accY >> accZ;
+    stream >> lat >> lon >> agl;
+    stream >> yaw >> pitch >> roll;
+    stream >> volt >> curr;
+    stream >> rx >> ry >> rz >> fx >> fy >> fz >> ux >> uy >> uz;
+    stream >> ch[0] >> ch[1] >> ch[2] >> ch[3] >> ch[4] >> ch[5] >> ch[6] >> ch[7];
+    stream >> udpCounterASrecv;
+
+    Output2OP out;
+    memset(&out, 0, sizeof(Output2OP));
+
+
+//    struct Output2OP{
+//        float latitude;
+//        float longitude;
+//        float altitude;
+//        float heading;
+//        float groundspeed; //[m/s]
+//        float calibratedAirspeed;    //[m/s]
+//        float pitch;
+//        float roll;
+//        float pressure;
+//        float temperature;
+//        float velNorth;   //[m/s]
+//        float velEast;    //[m/s]
+//        float velDown;    //[m/s]
+//        float dstN;       //[m]
+//        float dstE;       //[m]
+//        float dstD;       //[m]
+//        float accX;       //[m/s^2]
+//        float accY;       //[m/s^2]
+//        float accZ;       //[m/s^2]
+//        float rollRate;
+//        float pitchRate;
+//        float yawRate;
+//    };
+
+
+    /**********************************************************************************************/
+    QTime currentTime = QTime::currentTime();
+    /**********************************************************************************************/
+//    static bool firstRun = true;
+//    if (settings.homeLocation) {
+//        if (firstRun) {
+//            HomeLocation::DataFields homeData;
+//            homeData = posHome->getData();
+
+//            homeData.Latitude = WpLat * 10e6;
+//            homeData.Longitude = WpLon * 10e6;
+//            homeData.Altitude = homeZ;
+//            homeData.Set = HomeLocation::SET_TRUE;
+
+//            posHome->setData(homeData);
+
+//            firstRun = false;
+//        }
+//        if (settings.homeLocRate > 0) {
+//            static QTime homeLocTime = currentTime;
+//            if (homeLocTime.secsTo(currentTime) >= settings.homeLocRate) {
+//                firstRun = true;
+//                homeLocTime = currentTime;
+//            }
+//        }
+//    }
+    /**********************************************************************************************/
+//    if (settings.attRaw || settings.attActual) {
+        QMatrix4x4 mat;
+        mat = QMatrix4x4( fy,  fx, -fz,  0.0,           // model matrix
+                          ry,  rx, -rz,  0.0,           // (X,Y,Z) -> (+Y,+X,-Z)
+                         -uy, -ux,  uz,  0.0,
+                         0.0, 0.0, 0.0,  1.0);
+        mat.optimize();
+
+        QQuaternion quat;                               // model quat
+        asMatrix2Quat(mat, quat);
+
+        // rotate gravity
+        QVector3D acc = QVector3D(accY, accX, -accZ);   // accel (X,Y,Z) -> (+Y,+X,-Z)
+        QVector3D gee = QVector3D(0.0, 0.0, -GEE);
+        QQuaternion qWorld = quat.conjugate();
+        gee = qWorld.rotatedVector(gee);
+        acc += gee;
+
+        /*************************************************************************************/
+//        if (settings.attRaw) {
+            out.rollRate = angY * RAD2DEG;       // gyros (X,Y,Z) -> (+Y,+X,-Z)
+            out.pitchRate = angX * RAD2DEG;
+            out.yawRate = angZ * -RAD2DEG;
+
+            out.accX = acc.x();
+            out.accY = acc.y();
+            out.accZ = acc.z();
+//        }
+        /*************************************************************************************/
+        QVector3D rpy;          // model roll, pitch, yaw
+        asMatrix2RPY(mat, rpy);
+
+        out.roll  = rpy.x();
+        out.pitch = rpy.y();
+        out.heading = rpy.z();
+
+//        if (settings.attActHW) {
+//            // do nothing
+//            /*****************************************/
+//        } else if (settings.attActSim) {
+//            // take all data from simulator
+//            AttitudeActual::DataFields attActData;
+//            attActData = attActual->getData();
+
+
+//            attActData.Roll  = rpy.x();
+//            attActData.Pitch = rpy.y();
+//            attActData.Yaw   = rpy.z();
+//            attActData.q1 = quat.scalar();
+//            attActData.q2 = quat.x();
+//            attActData.q3 = quat.y();
+//            attActData.q4 = quat.z();
+
+//            attActual->setData(attActData);
+//            /*****************************************/
+//        } else if (settings.attActCalc) {
+//            // calculate RPY with code from Attitude module
+//            AttitudeActual::DataFields attActData;
+//            attActData = attActual->getData();
+
+//            static float q[4] = {1, 0, 0, 0};
+//            static float gyro_correct_int2 = 0;
+
+//            float dT = timeStep;
+
+//            AttitudeSettings::DataFields attSettData = attSettings->getData();
+//            float accelKp = attSettData.AccelKp * 0.1666666666666667;
+//            float accelKi = attSettData.AccelKp * 0.1666666666666667;
+//            float yawBiasRate = attSettData.YawBiasRate;
+
+//            // calibrate sensors on arming
+//            if (flightStatus->getData().Armed == FlightStatus::ARMED_ARMING) {
+//                accelKp = 2.0;
+//                accelKi = 0.9;
+//            }
+
+//            float gyro[3] = {angY * RAD2DEG, angX * RAD2DEG, angZ * -RAD2DEG};
+//            float attRawAcc[3] = {acc.x(), acc.y(), acc.z()};
+
+//            // code from Attitude module begin ///////////////////////////////
+//            float *accels = attRawAcc;
+//            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
+//            {
+//                accel_err[0] = accels[1]*grot[2] - grot[1]*accels[2];
+//                accel_err[1] = grot[0]*accels[2] - accels[0]*grot[2];
+//                accel_err[2] = accels[0]*grot[1] - grot[0]*accels[1];
+//            }
+
+//            // 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 (deg/s) but Ki has units of s
+//            gyro_correct_int2 += -gyro[2] * yawBiasRate;
+
+//            // 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 + gyro_correct_int2;
+
+//            // Work out time derivative from INSAlgo writeup
+//            // Also accounts for the fact that gyros are in deg/s
+//            float qdot[4];
+//            qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
+//            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] += qdot[0];
+//            q[1] += qdot[1];
+//            q[2] += qdot[2];
+//            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] /= qmag;
+//            q[1] /= qmag;
+//            q[2] /= qmag;
+//            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;
+//            }
+
+//            float rpy2[3];
+//            // Quaternion2RPY
+//            {
+//                float q0s, q1s, q2s, q3s;
+//                q0s = q[0] * q[0];
+//                q1s = q[1] * q[1];
+//                q2s = q[2] * q[2];
+//                q3s = q[3] * q[3];
+
+//                float R13, R11, R12, R23, R33;
+//                R13 = 2 * (q[1] * q[3] - q[0] * q[2]);
+//                R11 = q0s + q1s - q2s - q3s;
+//                R12 = 2 * (q[1] * q[2] + q[0] * q[3]);
+//                R23 = 2 * (q[2] * q[3] + q[0] * q[1]);
+//                R33 = q0s - q1s - q2s + q3s;
+
+//                rpy2[1] = RAD2DEG * asinf(-R13);    // pitch always between -pi/2 to pi/2
+//                rpy2[2] = RAD2DEG * atan2f(R12, R11);
+//                rpy2[0] = RAD2DEG * atan2f(R23, R33);
+//            }
+
+//            attActData.Roll  = rpy2[0];
+//            attActData.Pitch = rpy2[1];
+//            attActData.Yaw   = rpy2[2];
+//            attActData.q1 = q[0];
+//            attActData.q2 = q[1];
+//            attActData.q3 = q[2];
+//            attActData.q4 = q[3];
+//            attActual->setData(attActData);
+//            /*****************************************/
+//        }
+//    }
+    /**********************************************************************************************/
+//    if (settings.gcsReciever) {
+//        static QTime gcsRcvrTime = currentTime;
+//        if (!settings.manualOutput || gcsRcvrTime.msecsTo(currentTime) >= settings.outputRate) {
+//            GCSReceiver::DataFields gcsRcvrData;
+//            gcsRcvrData = gcsReceiver->getData();
+
+//            for (int i = 0; i < 8; ++i)
+//                gcsRcvrData.Channel[i] = 1500 + (ch[i] * 500);
+
+//            gcsReceiver->setData(gcsRcvrData);
+//            if (settings.manualOutput)
+//                gcsRcvrTime = currentTime;
+//        }
+//    } else if (settings.manualControl) {
+//        // not implemented yet
+//    }
+    /**********************************************************************************************/
+//    if (settings.gpsPosition) {
+        static QTime gpsPosTime = currentTime;
+//        if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
+            out.altitude = posZ;
+            out.heading = yaw * RAD2DEG;
+            out.latitude = lat * 10e6;
+            out.longitude = lon * 10e6;
+            out.groundspeed = qSqrt(velX * velX + velY * velY);
+//            gpsPosData.GeoidSeparation = 0.0;
+//            gpsPosData.Satellites = 8;
+//            gpsPosData.PDOP = 3.0;
+//            gpsPosData.Status = GPSPosition::STATUS_FIX3D;
+
+//            gpsPosition->setData(gpsPosData);
+//            gpsPosTime = currentTime;
+//        }
+//    }
+    /**********************************************************************************************/
+//    if (settings.sonarAltitude) {
+//        static QTime sonarAltTime = currentTime;
+//        if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
+//            SonarAltitude::DataFields sonarAltData;
+//            sonarAltData = sonarAlt->getData();
+
+//            float sAlt = settings.sonarMaxAlt;
+//            // 0.35 rad ~= 20 degree
+//            if ((agl < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
+//                float x = agl * qTan(roll);
+//                float y = agl * qTan(pitch);
+//                float h = qSqrt(x*x + y*y + agl*agl);
+//                sAlt = qMin(h, sAlt);
+//            }
+
+//            sonarAltData.Altitude = sAlt;
+//            sonarAlt->setData(sonarAltData);
+//            sonarAltTime = currentTime;
+//        }
+//    }
+    /**********************************************************************************************/
+    out.dstN = posY * 100;
+    out.dstE = posX * 100;
+    out.dstD = posZ * -100;
+
+    out.velDown = velY * 100;
+    out.velEast = velX * 100;
+    out.velDown = velZ * 100; //WHY ISN'T THIS `-velZ`???
+
+#ifdef DBG_TIMERS
+    static int cntRX = 0;
+    if (cntRX >= 100) {
+        qDebug() << "RX=" << 1000.0 * 100 / timeRX.restart();
+        cntRX = 0;
+    } else {
+        ++cntRX;
+    }
+#endif
+}
+
+// transfomations
+
+void AeroSimRCSimulator::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
+{
+    qreal w, x, y, z;
+
+    // w always >= 0
+    w = qSqrt(qMax(0.0, 1.0 + m(0, 0) + m(1, 1) + m(2, 2))) / 2.0;
+    x = qSqrt(qMax(0.0, 1.0 + m(0, 0) - m(1, 1) - m(2, 2))) / 2.0;
+    y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
+    z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
+
+    x = copysign(x, (m(1, 2) - m(2, 1)));
+    y = copysign(y, (m(2, 0) - m(0, 2)));
+    z = copysign(z, (m(0, 1) - m(1, 0)));
+
+    q.setScalar(w);
+    q.setX(x);
+    q.setY(y);
+    q.setZ(z);
+}
+
+void AeroSimRCSimulator::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
+{
+    qreal roll, pitch, yaw;
+
+    if (qFabs(m(0, 2)) > 0.998) {
+        // ~86.3°, gimbal lock
+        roll  = 0.0;
+        pitch = copysign(M_PI_2, -m(0, 2));
+        yaw   = qAtan2(-m(1, 0), m(1, 1));
+    } else {
+        roll  = qAtan2(m(1, 2), m(2, 2));
+        pitch = qAsin(-m(0, 2));
+        yaw   = qAtan2(m(0, 1), m(0, 0));
+    }
+
+    rpy.setX(roll  * RAD2DEG);
+    rpy.setY(pitch * RAD2DEG);
+    rpy.setZ(yaw   * RAD2DEG);
+}
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.h b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.h
new file mode 100644
index 000000000..b265b9463
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/hitlnew/aerosimrcsimulator.h
@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       aerosimrc.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITLv2 Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin version 2
+ *****************************************************************************/
+/*
+ * 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 AEROSIMRC_H
+#define AEROSIMRC_H
+
+#include <QObject>
+#include <QVector3D>
+#include <QQuaternion>
+#include <QMatrix4x4>
+#include "simulator.h"
+
+class AeroSimRCSimulator: public Simulator
+{
+    Q_OBJECT
+
+public:
+    AeroSimRCSimulator(const SimulatorSettings &params);
+    ~AeroSimRCSimulator();
+
+    bool setupProcess();
+    void setupUdpPorts(const QString& host, int inPort, int outPort);
+
+private slots:
+    void transmitUpdate();
+
+private:
+    quint32 udpCounterASrecv;   //keeps track of udp packets received by ASim
+
+    void processUpdate(const QByteArray &data);
+
+    void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
+    void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
+};
+
+class AeroSimRCSimulatorCreator : public SimulatorCreator
+{
+public:
+    AeroSimRCSimulatorCreator(const QString &classId, const QString &description)
+        : SimulatorCreator (classId, description)
+    {}
+
+    Simulator* createSimulator(const SimulatorSettings &params)
+    {
+        return new AeroSimRCSimulator(params);
+    }
+};
+
+#endif // AEROSIMRC_H
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlconfiguration.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlconfiguration.cpp
index e6fa37b09..52d755857 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlconfiguration.cpp
@@ -28,7 +28,7 @@
 #include "hitlconfiguration.h"
 
 HITLConfiguration::HITLConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
-        IUAVGadgetConfiguration(classId, parent)
+    IUAVGadgetConfiguration(classId, parent)
 {
         settings.simulatorId = "";
         settings.binPath = "";
@@ -56,6 +56,129 @@ HITLConfiguration::HITLConfiguration(QString classId, QSettings* qSettings, QObj
                 settings.latitude = qSettings->value("latitude").toString();
                 settings.longitude = qSettings->value("longitude").toString();                
         }
+    bool homeLocation       = true;
+    quint16 homeLocRate     = 0;
+
+    bool attRaw             = true;
+    quint8 attRawRate       = 20;
+
+    bool attActual          = true;
+    bool attActHW           = false;
+    bool attActSim          = true;
+    bool attActCalc         = false;
+
+    bool sonarAltitude      = false;
+    float sonarMaxAlt       = 5.0;
+    quint16 sonarAltRate    = 50;
+
+    bool gpsPosition        = true;
+    quint16 gpsPosRate      = 200;
+
+    bool inputCommand       = true;
+    bool gcsReciever        = true;
+    bool manualControl      = false;
+
+    bool manualOutput       = false;
+    quint8 outputRate       = 20;
+
+
+    settings.simulatorId = "";
+    settings.binPath = "";
+    settings.dataPath = "";
+    settings.manual = false;
+    settings.startSim = false;
+    settings.addNoise = false;
+    settings.hostAddress = "127.0.0.1";
+    settings.remoteHostAddress = "127.0.0.1";
+    settings.outPort = 0;
+    settings.inPort = 0;
+    settings.latitude = "";
+    settings.longitude = "";
+
+    //if a saved configuration exists load it
+    if(qSettings != 0) {
+        settings.simulatorId = qSettings->value("simulatorId").toString();
+        settings.binPath = qSettings->value("binPath").toString();
+        settings.dataPath = qSettings->value("dataPath").toString();
+        settings.manual = qSettings->value("manual").toBool();
+        settings.addNoise = qSettings->value("noiseCheckBox").toBool();
+        settings.startSim = qSettings->value("startSim").toBool();
+        settings.hostAddress = qSettings->value("hostAddress").toString();
+        settings.remoteHostAddress = qSettings->value("remoteHostAddress").toString();
+        settings.outPort = qSettings->value("outPort").toInt();
+        settings.inPort = qSettings->value("inPort").toInt();
+        settings.latitude = qSettings->value("latitude").toString();
+        settings.longitude = qSettings->value("longitude").toString();
+    }
+
+#ifdef HRRRRRRRRRRR
+    // if a saved configuration exists load it
+    if (qSettings != 0) {
+        settings.simulatorId        = qSettings->value("simulatorId", simulatorId).toString();
+        settings.hostAddress        = qSettings->value("hostAddress", hostAddress).toString();
+        settings.inPort             = qSettings->value("inPort", inPort).toInt();
+        settings.remoteAddress      = qSettings->value("remoteAddress", remoteAddress).toString();
+        settings.outPort            = qSettings->value("outPort", outPort).toInt();
+        settings.binPath            = qSettings->value("binPath", binPath).toString();
+        settings.dataPath           = qSettings->value("dataPath", dataPath).toString();
+
+        settings.homeLocation       = qSettings->value("homeLocation", homeLocation).toBool();
+        settings.homeLocRate        = qSettings->value("homeLocRate", homeLocRate).toInt();
+
+        settings.attRaw             = qSettings->value("attRaw", attRaw).toBool();
+        settings.attRawRate         = qSettings->value("attRawRate", attRawRate).toInt();
+
+        settings.attActual          = qSettings->value("attActual", attActual).toBool();
+        settings.attActHW           = qSettings->value("attActHW", attActHW).toBool();
+        settings.attActSim          = qSettings->value("attActSim", attActSim).toBool();
+        settings.attActCalc         = qSettings->value("attActCalc", attActCalc).toBool();
+
+        settings.sonarAltitude      = qSettings->value("sonarAltitude", sonarAltitude).toBool();
+        settings.sonarMaxAlt        = qSettings->value("sonarMaxAlt", sonarMaxAlt).toFloat();
+        settings.sonarAltRate       = qSettings->value("sonarAltRate", sonarAltRate).toInt();
+
+        settings.gpsPosition        = qSettings->value("gpsPosition", gpsPosition).toBool();
+        settings.gpsPosRate         = qSettings->value("gpsPosRate", gpsPosRate).toInt();
+
+        settings.inputCommand       = qSettings->value("inputCommand", inputCommand).toBool();
+        settings.gcsReciever        = qSettings->value("gcsReciever", gcsReciever).toBool();
+        settings.manualControl      = qSettings->value("manualControl", manualControl).toBool();
+        settings.manualOutput       = qSettings->value("manualOutput", manualOutput).toBool();
+        settings.outputRate         = qSettings->value("outputRate", outputRate).toInt();
+    } else {
+        settings.simulatorId        = simulatorId;
+        settings.hostAddress        = hostAddress;
+        settings.inPort             = inPort;
+        settings.remoteAddress      = remoteAddress;
+        settings.outPort            = outPort;
+        settings.binPath            = binPath;
+        settings.dataPath           = dataPath;
+
+        settings.homeLocation       = homeLocation;
+        settings.homeLocRate        = homeLocRate;
+
+        settings.attRaw             = attRaw;
+        settings.attRawRate         = attRawRate;
+
+        settings.attActual          = attActual;
+        settings.attActHW           = attActHW;
+        settings.attActSim          = attActSim;
+        settings.attActCalc         = attActCalc;
+
+        settings.sonarAltitude      = sonarAltitude;
+        settings.sonarMaxAlt        = sonarMaxAlt;
+        settings.sonarAltRate       = sonarAltRate;
+
+        settings.gpsPosition        = gpsPosition;
+        settings.gpsPosRate         = gpsPosRate;
+
+        settings.inputCommand       = inputCommand;
+        settings.gcsReciever        = gcsReciever;
+        settings.manualControl      = manualControl;
+        settings.manualOutput       = manualOutput;
+        settings.outputRate         = outputRate;
+    }
+#endif
 }
 
 IUAVGadgetConfiguration *HITLConfiguration::clone()
@@ -72,6 +195,12 @@ IUAVGadgetConfiguration *HITLConfiguration::clone()
   */
 void HITLConfiguration::saveConfig(QSettings* qSettings) const {
     qSettings->setValue("simulatorId", settings.simulatorId);
+#ifdef HRRRRRRRRRRR
+    qSettings->setValue("hostAddress", settings.hostAddress);
+    qSettings->setValue("inPort", settings.inPort);
+    qSettings->setValue("remoteAddress", settings.remoteAddress);
+    qSettings->setValue("outPort", settings.outPort);
+#endif
     qSettings->setValue("binPath", settings.binPath);
     qSettings->setValue("dataPath", settings.dataPath);
     qSettings->setValue("manual", settings.manual);
@@ -82,5 +211,27 @@ void HITLConfiguration::saveConfig(QSettings* qSettings) const {
     qSettings->setValue("inPort", settings.inPort);
     qSettings->setValue("latitude", settings.latitude);
     qSettings->setValue("longitude", settings.longitude);
+
+#ifdef HRRRRRRRRRRR
+    //Added by hrrrr. Is it all used?
+    qSettings->setValue("homeLocation", settings.homeLocation);
+    qSettings->setValue("homeLocRate", settings.homeLocRate);
+    qSettings->setValue("attRaw", settings.attRaw);
+    qSettings->setValue("attRawRate", settings.attRawRate);
+    qSettings->setValue("attActual", settings.attActual);
+    qSettings->setValue("attActHW", settings.attActHW);
+    qSettings->setValue("attActSim", settings.attActSim);
+    qSettings->setValue("attActCalc", settings.attActCalc);
+    qSettings->setValue("sonarAltitude", settings.sonarAltitude);
+    qSettings->setValue("sonarMaxAlt", settings.sonarMaxAlt);
+    qSettings->setValue("sonarAltRate", settings.sonarAltRate);
+    qSettings->setValue("gpsPosition", settings.gpsPosition);
+    qSettings->setValue("gpsPosRate", settings.gpsPosRate);
+    qSettings->setValue("inputCommand", settings.inputCommand);
+    qSettings->setValue("gcsReciever", settings.gcsReciever);
+    qSettings->setValue("manualControl", settings.manualControl);
+    qSettings->setValue("manualOutput", settings.manualOutput);
+    qSettings->setValue("outputRate", settings.outputRate);
+#endif
 }
 
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlgadget.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlgadget.cpp
index 4965ee3aa..a05b5ce71 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlgadget.cpp
@@ -44,24 +44,8 @@ HITLGadget::~HITLGadget()
 void HITLGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
     HITLConfiguration *m = qobject_cast<HITLConfiguration*>(config);
-	// FG
-//	simulator->setFGPathBin( m->fgPathBin() );
-//	simulator->setFGPathData( m->fgPathData() );
-//	simulator->setFGManualControl( m->fgManualControl() );
-//	// IL2
+    // IL2 <-- Is this still necessary? [KDS]
 	emit changeConfiguration();
 	m_widget->setSettingParameters(m->Settings());
-
-//	m_widget->setSimulatorId(m->SimulatorId());
-//	m_widget->setPathBin(m->PathBin());
-//	m_widget->setPathData(m->PathData());
-//	m_widget->setHostName(m->HostName());
-//	m_widget->setLatitude(m->Latitude());
-//	m_widget->setLongitude(m->Longitude());
-//	m_widget->setOutPort(m->OutPort());
-//	m_widget->setInPort(m->InPort());
-//	m_widget->setManualControl(m->ManualControl());
-
-
 }
 
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlnew.pro b/ground/openpilotgcs/src/plugins/hitlnew/hitlnew.pro
index 70e46e939..99e06b400 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlnew.pro
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlnew.pro
@@ -1,29 +1,33 @@
-TEMPLATE = lib
-TARGET = HITLNEW
-QT += network
-include(../../openpilotgcsplugin.pri)
-include(hitlnew_dependencies.pri)
-HEADERS += hitlplugin.h \
-    hitlwidget.h \
-    hitloptionspage.h \
-    hitlfactory.h \
-    hitlconfiguration.h \
-    hitlgadget.h \
-    simulator.h \
-    fgsimulator.h \
-    il2simulator.h \
-    xplanesimulator.h
-SOURCES += hitlplugin.cpp \
-    hitlwidget.cpp \
-    hitloptionspage.cpp \
-    hitlfactory.cpp \
-    hitlconfiguration.cpp \
-    hitlgadget.cpp \
-    simulator.cpp \
-    il2simulator.cpp \
-    fgsimulator.cpp \
-    xplanesimulator.cpp
-OTHER_FILES += hitlnew.pluginspec
-FORMS += hitloptionspage.ui \
-    hitlwidget.ui
-RESOURCES += hitlresources.qrc
+TEMPLATE = lib
+TARGET = HITLNEW
+QT += network
+include(../../openpilotgcsplugin.pri)
+include(hitlnew_dependencies.pri)
+HEADERS += hitlplugin.h \
+    hitlwidget.h \
+    hitloptionspage.h \
+    hitlfactory.h \
+    hitlconfiguration.h \
+    hitlgadget.h \
+    hitlnoisegeneration.h \
+    simulator.h \
+    aerosimrcsimulator.h \
+    fgsimulator.h \
+    il2simulator.h \
+    xplanesimulator.h
+SOURCES += hitlplugin.cpp \
+    hitlwidget.cpp \
+    hitloptionspage.cpp \
+    hitlfactory.cpp \
+    hitlconfiguration.cpp \
+    hitlgadget.cpp \
+    hitlnoisegeneration.cpp \
+    simulator.cpp \
+    aerosimrcsimulator.cpp \
+    fgsimulator.cpp \
+    il2simulator.cpp \
+    xplanesimulator.cpp
+OTHER_FILES += hitlnew.pluginspec
+FORMS += hitloptionspage.ui \
+    hitlwidget.ui
+RESOURCES += hitlresources.qrc
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.cpp
index dbfb27ba5..9ecca808e 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.cpp
@@ -29,6 +29,7 @@
 #include <QtPlugin>
 #include <QStringList>
 #include <extensionsystem/pluginmanager.h>
+#include "aerosimrcsimulator.h"
 #include "fgsimulator.h"
 #include "il2simulator.h"
 #include "xplanesimulator.h"
@@ -53,6 +54,7 @@ bool HITLPlugin::initialize(const QStringList& args, QString *errMsg)
 
    addAutoReleasedObject(mf);
 
+   addSimulator(new AeroSimRCSimulatorCreator("ASimRC", "AeroSimRC"));
    addSimulator(new FGSimulatorCreator("FG","FlightGear"));
    addSimulator(new IL2SimulatorCreator("IL2","IL2"));
    addSimulator(new XplaneSimulatorCreator("X-Plane","X-Plane"));
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.h b/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.h
index 6caecedca..658111e79 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.h
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlplugin.h
@@ -29,7 +29,7 @@
 #define HITLPLUGIN_H
 
 #include <extensionsystem/iplugin.h>
-#include <qstringlist.h>
+#include <QStringList>
 
 #include <simulator.h>
 
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
index f965b5ad3..beef24f70 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       hitlwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup HITLPlugin HITL Plugin
@@ -51,12 +51,13 @@ HITLWidget::HITLWidget(QWidget *parent)
 	widget->startButton->setEnabled(true);
 	widget->stopButton->setEnabled(false);
 
-	greenColor = "rgb(35, 221, 35)";
+    greenColor = "rgb(35, 221, 35)"; //Change the green color in order to make it a bit more vibrant
+    strStyleEnable = QString("QFrame{background-color: %1; color: white}").arg(greenColor);
+    strStyleDisable = "QFrame{background-color: red; color: white}";
 
-	strAutopilotDisconnected = " Autopilot OFF ";
-	strSimulatorDisconnected = " Simulator OFF ";
-	strAutopilotConnected = " Autopilot ON ";
-	strSimulatorConnected = " Simulator ON ";
+    strAutopilotDisconnected = " Autopilot OFF ";
+    strSimulatorDisconnected = " Simulator OFF ";
+    strAutopilotConnected = " Autopilot ON ";
 
 	widget->apLabel->setText(strAutopilotDisconnected);
 	widget->simLabel->setText(strSimulatorDisconnected);
@@ -64,7 +65,6 @@ HITLWidget::HITLWidget(QWidget *parent)
 	connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
 	connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
 	connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked()));
-
 }
 
 HITLWidget::~HITLWidget()
@@ -77,15 +77,7 @@ void HITLWidget::startButtonClicked()
         QThread* mainThread = QThread::currentThread();
 	qDebug() << "Main Thread: "<< mainThread;
 
-	// [1]
-//	if(Simulator::IsStarted())
-//	{
-//		widget->textBrowser->append("HITL alreary started!");
-//		return;
-//	}
-//	Simulator::setStarted(true);
-
-	// [2] allow only one instance per simulator
+    //Allow only one instance per simulator
 	if(Simulator::Instances().indexOf(settings.simulatorId) != -1)
 	{
 		widget->textBrowser->append(settings.simulatorId + " alreary started!");
@@ -104,25 +96,27 @@ void HITLWidget::startButtonClicked()
 		QMetaObject::invokeMethod(simulator, "onDeleteSimulator",Qt::QueuedConnection);
 		simulator = NULL;
 	}
-	//fgBridge = new FlightGearBridge();
-	//simulator =  new Simulator();
-	if(settings.hostAddress == "" || settings.inPort == 0)
+
+    if(settings.hostAddress == "" || settings.inPort == 0)
 	{
 		widget->textBrowser->append("Before start, set UDP parameters in options page!");
 		return;
 	}
 
 	SimulatorCreator* creator = HITLPlugin::getSimulatorCreator(settings.simulatorId);
-	simulator = creator->createSimulator(settings);//hostName, outPort, inPort, manualControl, pathBin, pathData);
-	// move to thread
+    simulator = creator->createSimulator(settings);
+
+    // move to thread <--[BCH]
 	simulator->setName(creator->Description());
 	simulator->setSimulatorId(creator->ClassId());
+
+    connect(simulator, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString)));
+
 	// Setup process
 	widget->textBrowser->append(QString("[%1] Starting %2... ").arg(QTime::currentTime().toString("hh:mm:ss")).arg(creator->Description()));
 	qxtLog->info("HITL: Starting " + creator->Description());
 
 	// Start bridge
-	//bool ret = simulator->setupProcess();
 	bool ret = QMetaObject::invokeMethod(simulator, "setupProcess",Qt::QueuedConnection);
 	if(ret)
 	{
@@ -134,7 +128,6 @@ void HITLWidget::startButtonClicked()
 		widget->stopButton->setEnabled(true);
 		qxtLog->info("HITL: Starting bridge, initializing flight simulator and Autopilot connections");
 
-		connect(simulator, SIGNAL(processOutput(QString)), widget->textBrowser, SLOT(append(QString)));
 		connect(simulator, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()),Qt::QueuedConnection);
 		connect(simulator, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()),Qt::QueuedConnection);
 		connect(simulator, SIGNAL(simulatorConnected()), this, SLOT(onSimulatorConnect()),Qt::QueuedConnection);
@@ -169,9 +162,9 @@ void HITLWidget::stopButtonClicked()
 
 	widget->startButton->setEnabled(true);
 	widget->stopButton->setEnabled(false);
-	widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: transparent; color: white}"));
-	widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: transparent; color: white}"));
-	widget->apLabel->setText(strAutopilotDisconnected);
+    widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
+    widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
+    widget->apLabel->setText(strAutopilotDisconnected);
 	widget->simLabel->setText(strSimulatorDisconnected);
 	if(simulator)
 	{
@@ -185,31 +178,35 @@ void HITLWidget::buttonClearLogClicked()
 	widget->textBrowser->clear();
 }
 
+void HITLWidget::onProcessOutput(QString text)
+{
+    widget->textBrowser->append(text);
+}
 
 void HITLWidget::onAutopilotConnect()
 {
-	widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
-	widget->apLabel->setText(strAutopilotConnected);
+    widget->apLabel->setStyleSheet(strStyleEnable);
+    widget->apLabel->setText(strAutopilotConnected);
 	qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
 }
 
 void HITLWidget::onAutopilotDisconnect()
 {
-	widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: red; color: white}"));
+    widget->apLabel->setStyleSheet(strStyleDisable);
 	widget->apLabel->setText(strAutopilotDisconnected);
 	qxtLog->info(strAutopilotDisconnected);
 }
 
 void HITLWidget::onSimulatorConnect()
 {
-	widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
-	widget->simLabel->setText(" " + simulator->Name() +" connected ");
+    widget->simLabel->setStyleSheet(strStyleEnable);
+    widget->simLabel->setText(" " + simulator->Name() +" connected ");
 	qxtLog->info(QString("HITL: %1 connected").arg(simulator->Name()));
 }
 
 void HITLWidget::onSimulatorDisconnect()
 {
-	widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: red; color: white}"));
-	widget->simLabel->setText(" " + simulator->Name() +" disconnected ");
+    widget->simLabel->setStyleSheet(strStyleDisable);
+    widget->simLabel->setText(" " + simulator->Name() +" disconnected ");
 	qxtLog->info(QString("HITL: %1 disconnected").arg(simulator->Name()));
 }
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.h b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.h
index b5865a842..f63352f9e 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.h
+++ b/ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.h
@@ -50,6 +50,7 @@ private slots:
     void startButtonClicked();
     void stopButtonClicked();
 	void buttonClearLogClicked();
+    void onProcessOutput(QString text);
     void onAutopilotConnect();
     void onAutopilotDisconnect();
 	void onSimulatorConnect();
@@ -64,8 +65,8 @@ private:
 	QString strAutopilotDisconnected;
 	QString strSimulatorDisconnected;
 	QString strAutopilotConnected;
-	QString strSimulatorConnected;
-
+    QString strStyleEnable;
+    QString strStyleDisable;
 };
 
 #endif /* HITLWIDGET_H */
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp b/ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
index 2cb7f9ae8..103677199 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
+++ b/ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
@@ -40,6 +40,7 @@ const float Simulator::KT2MPS = 0.514444444;
 const float Simulator::INHG2KPA = 3.386;
 const float Simulator::FPS2CMPS = 30.48;
 const float Simulator::DEG2RAD = (M_PI/180.0);
+const float Simulator::RAD2DEG = (180.0/M_PI);
 
 
 Simulator::Simulator(const SimulatorSettings& params) :
diff --git a/ground/openpilotgcs/src/plugins/hitlnew/simulator.h b/ground/openpilotgcs/src/plugins/hitlnew/simulator.h
index b345f0a5e..8ca683654 100644
--- a/ground/openpilotgcs/src/plugins/hitlnew/simulator.h
+++ b/ground/openpilotgcs/src/plugins/hitlnew/simulator.h
@@ -32,22 +32,30 @@
 #include <QUdpSocket>
 #include <QTimer>
 #include <QProcess>
+#include <qmath.h>
+
 #include "qscopedpointer.h"
 #include "uavtalk/telemetrymanager.h"
 #include "uavobjectmanager.h"
-#include "actuatordesired.h"
-#include "manualcontrolcommand.h"
-// #include "altitudeactual.h"
-#include "positionactual.h"
-#include "velocityactual.h"
-#include "baroaltitude.h"
-#include "attitudeactual.h"
-#include "gpsposition.h"
-#include "homelocation.h"
+
 #include "accels.h"
-#include "gyros.h"
+#include "actuatordesired.h"
+#include "actuatorcommand.h"
+#include "attitudeactual.h"
+#include "attitudesettings.h"
+#include "baroaltitude.h"
+#include "baroairspeed.h"
+#include "gcsreceiver.h"
 #include "gcstelemetrystats.h"
+#include "gpsposition.h"
+#include "gpsvelocity.h"
+#include "gyros.h"
 #include "flightstatus.h"
+#include "homelocation.h"
+#include "manualcontrolcommand.h"
+#include "positionactual.h"
+#include "sonaraltitude.h"
+#include "velocityactual.h"
 
 #include "utils/coordinateconversions.h"
 
@@ -95,19 +103,46 @@
 
 typedef struct _CONNECTION
 {
-	QString simulatorId;
-	QString binPath;
-	QString dataPath;
-	QString hostAddress;
-        QString remoteHostAddress;
-	int outPort;
-	int inPort;
-	bool manual;
-        bool startSim;
-	QString latitude;
-	QString longitude;
+    QString simulatorId;
+    QString binPath;
+    QString dataPath;
+    QString hostAddress;
+    QString remoteHostAddress;
+    int outPort;
+    int inPort;
+    bool manual;
+    bool startSim;
+    QString latitude;
+    QString longitude;
 } SimulatorSettings;
 
+
+struct Output2OP{
+    float latitude;
+    float longitude;
+    float altitude;
+    float heading;
+    float groundspeed; //[m/s]
+    float calibratedAirspeed;    //[m/s]
+    float pitch;
+    float roll;
+    float pressure;
+    float temperature;
+    float velNorth;   //[m/s]
+    float velEast;    //[m/s]
+    float velDown;    //[m/s]
+    float dstN;       //[m]
+    float dstE;       //[m]
+    float dstD;       //[m]
+    float accX;       //[m/s^2]
+    float accY;       //[m/s^2]
+    float accZ;       //[m/s^2]
+    float rollRate;     //[deg/s]
+    float pitchRate;     //[deg/s]
+    float yawRate;     //[deg/s]
+};
+
+
 class Simulator : public QObject
 {
 	Q_OBJECT
@@ -158,36 +193,41 @@ private slots:
 	virtual void processUpdate(const QByteArray& data) = 0;
 
 protected:
-        static const float GEE;
-        static const float FT2M;
-        static const float KT2MPS;
-        static const float INHG2KPA;
-        static const float FPS2CMPS;
-        static const float DEG2RAD;
 
-        QProcess* simProcess;
-	QTime* time;
-	QUdpSocket* inSocket;//(new QUdpSocket());
-	QUdpSocket* outSocket;
+    static const float GEE;
+    static const float FT2M;
+    static const float KT2MPS;
+    static const float INHG2KPA;
+    static const float FPS2CMPS;
+    static const float DEG2RAD;
+    static const float RAD2DEG;
 
-	ActuatorDesired* actDesired;
-        ManualControlCommand* manCtrlCommand;
-        FlightStatus* flightStatus;
-        BaroAltitude* altActual;
-	AttitudeActual* attActual;
-	VelocityActual* velActual;
-	PositionActual* posActual;
-	HomeLocation* posHome;
-	Accels* accels;
-	Gyros*  gyros;
-        GPSPosition* gpsPos;
-	GCSTelemetryStats* telStats;
+    QProcess* simProcess;
+    QTime* time;
+    QUdpSocket* inSocket;//(new QUdpSocket());
+    QUdpSocket* outSocket;
 
-	SimulatorSettings settings;
+    ActuatorCommand* actCommand;
+    ActuatorDesired* actDesired;
+    ManualControlCommand* manCtrlCommand;
+    FlightStatus* flightStatus;
+    BaroAltitude* baroAlt;
+    BaroAirspeed* baroAirspeed;
+    AttitudeActual* attActual;
+    VelocityActual* velActual;
+    GPSPosition* gpsPos;
+    GPSVelocity* gpsVel;
+    PositionActual* posActual;
+    HomeLocation* posHome;
+    Accels* accels;
+    Gyros*  gyros;
+    GCSTelemetryStats* telStats;
 
-	FLIGHT_PARAM current;
-	FLIGHT_PARAM old;
-	QMutex lock;
+    SimulatorSettings settings;
+
+    FLIGHT_PARAM current;
+    FLIGHT_PARAM old;
+    QMutex lock;
 
 private: