diff --git a/flight/PiOS/STM32F10x/pios_sys.c b/flight/PiOS/STM32F10x/pios_sys.c
index 26e748171..cc35194e7 100644
--- a/flight/PiOS/STM32F10x/pios_sys.c
+++ b/flight/PiOS/STM32F10x/pios_sys.c
@@ -186,7 +186,7 @@ int32_t PIOS_SYS_SerialNumberGet(char *str)
 void NVIC_Configuration(void)
 {
 	/* Set the Vector Table base address as specified in .ld file */
-	extern void pios_isr_vector_table_base;
+	extern void *pios_isr_vector_table_base;
 	NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
 
 	/* 4 bits for Interrupt priorities so no sub priorities */
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 2fb7778e7..07f0ef0c9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -36,15 +36,13 @@
 
 #include "fancytabwidget.h"
 #include "fancyactionbar.h"
-#include "mainwindow.h"
 #include "qextserialport/src/qextserialenumerator.h"
 #include "qextserialport/src/qextserialport.h"
-
 #include <QDebug>
 #include <QLabel>
 #include <QHBoxLayout>
 #include <QComboBox>
-
+#include <QTimer>
 namespace Core {
 
 
@@ -52,9 +50,9 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, Internal:
 	QWidget(mainWindow),	// Pip
 	m_availableDevList(0),
     m_connectBtn(0),
-    m_ioDev(NULL)
+    m_ioDev(NULL),m_mainWindow(mainWindow)
 {
-    Q_UNUSED(mainWindow);
+ //   Q_UNUSED(mainWindow);
 
     QVBoxLayout *top = new QVBoxLayout;
     top->setSpacing(0);
@@ -344,7 +342,7 @@ void ConnectionManager::devChanged(IConnection *connection)
 
     //and add them back in the list
     QList <IConnection::device> availableDev = connection->availableDevices();
-        foreach (IConnection::device dev, availableDev)
+    foreach (IConnection::device dev, availableDev)
     {
         QString cbName = connection->shortName() + ": " + dev.name;
         QString disp = connection->shortName() + " : " + dev.displayName;
@@ -352,11 +350,27 @@ void ConnectionManager::devChanged(IConnection *connection)
     }
 
     //add all the list again to the combobox
-	foreach (devListItem d, m_devList)
+    foreach (devListItem d, m_devList)
     {
         m_availableDevList->addItem(d.displayName);
         m_availableDevList->setItemData(m_availableDevList->count()-1,(const QString)d.devName,Qt::ToolTipRole);
+        if(!m_ioDev && d.displayName.startsWith("USB"))
+        {
+            if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
+                m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
+            if(m_mainWindow->generalSettings()->autoConnect())
+                connectDevice();
+        }
     }
+    if(m_ioDev)//if a device is connected make it the one selected on the dropbox
+    {
+        for(int x=0;x<m_availableDevList->count();++x)
+        {
+            if(m_connectionDevice.devName==m_availableDevList->itemData(x,Qt::ToolTipRole).toString())
+                m_availableDevList->setCurrentIndex(x);
+        }
+    }
+
 
     //disable connection button if the liNameif (m_availableDevList->count() > 0)
     if (m_availableDevList->count() > 0)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 20da52ed4..085111700 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -30,7 +30,8 @@
 #define CONNECTIONMANAGER_H
 
 #include <QWidget>
-
+#include "mainwindow.h"
+#include "generalsettings.h"
 #include <QtCore/QVector>
 #include <QtCore/QIODevice>
 #include <QtCore/QLinkedList>
@@ -108,6 +109,7 @@ protected:
 
 private:
 	bool connectDevice();
+        Internal::MainWindow *m_mainWindow;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
index d1f047c15..e3e2602e8 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
@@ -45,7 +45,8 @@ using namespace Core::Internal;
 
 GeneralSettings::GeneralSettings():
     m_dialog(0),
-    m_saveSettingsOnExit(true)
+    m_saveSettingsOnExit(true),
+    m_autoConnect(true),m_autoSelect(true)
 {
 }
 
@@ -113,8 +114,10 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->setupUi(w);
 
     fillLanguageBox();
+    connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
-
+    m_page->checkAutoConnect->setChecked(m_autoConnect);
+    m_page->checkAutoSelect->setChecked(m_autoSelect);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 #ifdef Q_OS_UNIX
     m_page->terminalEdit->setText(ConsoleProcess::terminalEmulator(Core::ICore::instance()->settings()));
@@ -146,6 +149,8 @@ void GeneralSettings::apply()
     StyleHelper::setBaseColor(m_page->colorButton->color());
 
     m_saveSettingsOnExit = m_page->checkBoxSaveOnExit->isChecked();
+    m_autoConnect = m_page->checkAutoConnect->isChecked();
+    m_autoSelect = m_page->checkAutoSelect->isChecked();
 #ifdef Q_OS_UNIX
 	ConsoleProcess::setTerminalEmulator(Core::ICore::instance()->settings(),
                                         m_page->terminalEdit->text());
@@ -163,6 +168,8 @@ void GeneralSettings::readSettings(QSettings* qs)
     qs->beginGroup(QLatin1String("General"));
     m_language = qs->value(QLatin1String("OverrideLanguage"),QLocale::system().name()).toString();
     m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
+    m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
+    m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
     qs->endGroup();
 
 }
@@ -177,6 +184,8 @@ void GeneralSettings::saveSettings(QSettings* qs)
         qs->setValue(QLatin1String("OverrideLanguage"), m_language);
 
     qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
+    qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
+    qs->setValue(QLatin1String("AutoSelect"), m_autoSelect);
     qs->endGroup();
 }
 
@@ -241,3 +250,21 @@ bool GeneralSettings::saveSettingsOnExit() const
 {
     return m_saveSettingsOnExit;
 }
+
+bool GeneralSettings::autoConnect() const
+{
+    return m_autoConnect;
+}
+
+bool GeneralSettings::autoSelect() const
+{
+    return m_autoSelect;
+}
+
+void GeneralSettings::slotAutoConnect(int value)
+{
+    if (value==Qt::Checked)
+        m_page->checkAutoSelect->setEnabled(false);
+    else
+        m_page->checkAutoSelect->setEnabled(true);
+}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index 816deb8db..ad4790578 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -56,6 +56,8 @@ public:
     void apply();
     void finish();
     bool saveSettingsOnExit() const;
+    bool autoConnect() const;
+    bool autoSelect() const;
     void readSettings(QSettings* qs);
     void saveSettings(QSettings* qs);
 
@@ -64,6 +66,7 @@ private slots:
     void resetLanguage();
     void resetExternalEditor();
     void showHelpForExternalEditor();
+    void slotAutoConnect(int);
 #ifdef Q_OS_UNIX
     void resetTerminal();
 #endif
@@ -75,6 +78,8 @@ private:
     Ui::GeneralSettings *m_page;
     QString m_language;
     bool m_saveSettingsOnExit;
+    bool m_autoConnect;
+    bool m_autoSelect;
     QPointer<QWidget> m_dialog;
     QList<QTextCodec *> m_codecs;
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
index 3f009f4aa..752ba2bfb 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
@@ -241,6 +241,49 @@
         </property>
        </widget>
       </item>
+      <item row="12" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Automatically connect an OpenPilot USB device</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="1">
+       <widget class="QCheckBox" name="checkAutoConnect">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Automatically select an OpenPilot USB device</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="1">
+       <widget class="QCheckBox" name="checkAutoSelect">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 19df8dde2..5926e6c98 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -874,6 +874,11 @@ MimeDatabase *MainWindow::mimeDatabase() const
     return m_mimeDatabase;
 }
 
+GeneralSettings * MainWindow::generalSettings() const
+{
+    return m_generalSettings;
+}
+
 IContext *MainWindow::contextObject(QWidget *widget)
 {
     return m_contextWidgets.value(widget);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
index a7ce53419..585d4604a 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
@@ -111,7 +111,7 @@ public:
     Core::ThreadManager *threadManager() const;
     Core::ModeManager *modeManager() const;
     Core::MimeDatabase *mimeDatabase() const;
-
+    Internal::GeneralSettings *generalSettings() const;
     QSettings *settings(QSettings::Scope scope) const;
     inline SettingsDatabase *settingsDatabase() const { return m_settingsDatabase; }
     IContext * currentContextObject() const;
diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp
index 6681b8363..4eded8e7c 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_win.cpp
@@ -177,6 +177,7 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
                 info.devicePath=deviceID;
                 if( wParam == DBT_DEVICEARRIVAL )
                 {
+                    qDebug()<<"INSERTION";
                     if(infoFromHandle(guid,info,devInfo,i)==0)
                         break;
                     knowndevices.append(info);
@@ -186,19 +187,19 @@ bool USBMonitor::matchAndDispatchChangedDevice(const QString & deviceID, const G
                 }
                 else if( wParam == DBT_DEVICEREMOVECOMPLETE )
                 {
+                    bool found=false;
                     for(int x=0;x<knowndevices.count();++x)
                     {
                         if(knowndevices[x].devicePath==deviceID)
                         {
-                            emit deviceRemoved(knowndevices[x]);
-                            //qDebug()<<"REMOVED"<<knowndevices[x].product;
-                            knowndevices.removeAt(x);
+                            USBPortInfo temp=knowndevices.at(x);
+                            emit deviceRemoved(temp);
+                            found=true;
                             break;
                         }
                     }
-                    emit deviceRemoved(info);
-
-
+                    if(!found)
+                        emit deviceRemoved(info);
                 }
                 break;
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
index e72f468df..c7161bc64 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
@@ -27,6 +27,7 @@
  */
 #include "uavobject.h"
 #include <QtEndian>
+#include <QDebug>
 
 /**
  * Constructor
@@ -224,7 +225,7 @@ UAVObjectField* UAVObject::getField(const QString& name)
         }
     }
     // If this point is reached then the field was not found
-    Q_ASSERT_X(0,"UAVObject::getField",QString("Non existant field " + name + " requested.  This indicates a bug.  Make sure you also have null checking for non-debug code.").toAscii());
+    qWarning()<<"UAVObject::getField Non existant field "<<name<<" requested.  This indicates a bug.  Make sure you also have null checking for non-debug code.";
     return NULL;
 }