diff --git a/3DRRadio/ChangeLog.txt b/3DRRadio/ChangeLog.txt
index 4a9f34cc3f..35fa072712 100644
--- a/3DRRadio/ChangeLog.txt
+++ b/3DRRadio/ChangeLog.txt
@@ -1,11 +1,12 @@
-1.0a - fix 868 freq range
-1.0 - added rf freeq for 868
-0.9 - added rfd900a
-0.8 - fix settings saving.
-0.7 - fix typos - log rssi screen to log as well
-0.6 - add terminal logging to file, fix remote radio config
-0.5 - add terminal
-0.4 - adjust erase timeout - to prevent lost bootloader sync error.
-0.3 - add RFD900 support
-0.2 - change packet size to 32 bytes
-0.1 - Initial Release - Based off code by Mike Smith
+1.02 - fix frequency display and add device id
+1.0a - fix 868 freq range
+1.0 - added rf freeq for 868
+0.9 - added rfd900a
+0.8 - fix settings saving.
+0.7 - fix typos - log rssi screen to log as well
+0.6 - add terminal logging to file, fix remote radio config
+0.5 - add terminal
+0.4 - adjust erase timeout - to prevent lost bootloader sync error.
+0.3 - add RFD900 support
+0.2 - change packet size to 32 bytes
+0.1 - Initial Release - Based off code by Mike Smith
diff --git a/3DRRadio/Config.resx b/3DRRadio/Config.resx
index fb7244e7a0..71a1f3f567 100644
--- a/3DRRadio/Config.resx
+++ b/3DRRadio/Config.resx
@@ -1591,7 +1591,7 @@
 </value>
   </data>
   <data name="$this.Text" xml:space="preserve">
-    <value>3DRRadio Config 1.01</value>
+    <value>3DRRadio Config 1.02</value>
   </data>
   <data name="&gt;&gt;settingsToolStripMenuItem.Name" xml:space="preserve">
     <value>settingsToolStripMenuItem</value>
diff --git a/ChangeLog.txt b/ChangeLog.txt
index 4e26373a91..ddcbf8d717 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -1,4 +1,28 @@
-* Mission Planner 1.2.85
+* Mission Planner 1.2.86
+spline display support
+doublebuffer quick view
+move hud message text to bottom of hud & always ontop
+fix processreporterdialog size on mono
+add iris defaults to full param list
+fix rally point alt
+close comport on log download close
+close logbrowse on no file picked
+add internal plla to vector3
+make mavlink log selection form close on new log load
+increase multiple timeouts on mavlink interface - ms
+- setparam 500 > 700
+- get wp count 500 > 700
+- set wp 150 > 700
+- get fence point 500 > 700
+- get rally point 500 > 700
+add better high prio severity message parsing.
+fix 3dr radio config device id
+update H frame icons to I
+tweak wizard connect
+increase connect time - other boards compatability
+remove no rc receiver temp
+
+* Mission Planner 1.2.85
 update map library - this will invalidate your map prefetch
 remove arial narrow and Century Gothic font issues
 add ability to load a kml linestring as a mission
diff --git a/Controls/ConnectionStats.Designer.cs b/Controls/ConnectionStats.Designer.cs
index a764f12b21..3827137056 100644
--- a/Controls/ConnectionStats.Designer.cs
+++ b/Controls/ConnectionStats.Designer.cs
@@ -13,6 +13,9 @@ partial class ConnectionStats
         /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
         protected override void Dispose(bool disposing)
         {
+			if (_subscriptionsDisposable != null)
+    	        _subscriptionsDisposable.Dispose();
+
             if (disposing && (components != null))
             {
                 components.Dispose();
diff --git a/Controls/Waypoints/Spline.cs b/Controls/Waypoints/Spline.cs
new file mode 100644
index 0000000000..c64160e654
--- /dev/null
+++ b/Controls/Waypoints/Spline.cs
@@ -0,0 +1,121 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using MissionPlanner.HIL;
+using MissionPlanner.Utilities;
+
+namespace MissionPlanner.Controls.Waypoints
+{
+    public class Spline: MissionPlanner.HIL.Utils
+    {
+        float spline_t;
+        Vector3 current_position;
+        Vector3 spline_start_point;
+        Vector3 spline_target;
+        Vector3 spline_p0;
+        Vector3 spline_p0_prime;
+        Vector3 spline_p1;
+        Vector3 spline_p1_prime;
+        Vector3 spline_p2;
+        Vector3 spline_a;
+        Vector3 spline_b;
+        private float SPLINE_TENSION = 1.6f;
+        private float spline_t_sq;
+
+        List<PointLatLngAlt> wplist;
+        int wpindex = 0;
+
+        public List<PointLatLngAlt> doit(List<PointLatLngAlt> wplist, int steps)
+        {
+            SPLINE_TENSION = 1.6f;
+            this.wplist = wplist;
+
+            List<PointLatLngAlt> answer = new List<PointLatLngAlt>();
+
+            spline_t = spline_t_sq = 0.0f;
+
+            current_position = wplist[0];
+
+            // set spline p0, p1, p2, and p0 prime
+            spline_p0 = spline_start_point = current_position;
+            spline_p1 = next_spline_waypoint();
+            spline_p2 = next_spline_waypoint();
+            spline_p0_prime = new Vector3();
+            spline_p0_prime.x = 0;// cosf(heading_in_radians);
+            spline_p0_prime.y = 0;// sinf(heading_in_radians);
+            spline_p0_prime.z = spline_p1.z - spline_p0.z;
+
+            initialize_spline_segment();
+
+            foreach (int p in  range(wplist.Count-1)) {
+                foreach (var step in range(steps)) 
+                {
+                    spline_t = (1f / steps) * step;
+                    spline_t_sq = spline_t * spline_t;
+                    evaluate_spline();
+                    answer.Add(new PointLatLngAlt(spline_target.x,spline_target.y,spline_target.z,""));
+                }
+                next_spline_segment();
+            }
+
+
+            answer.Add(wplist[wplist.Count - 1]);
+
+
+
+            return answer;
+        }
+
+        // perform initialization in preparation for the new spline segment
+        void initialize_spline_segment()
+        {
+            // derivative of spline at p1 is based on difference of previous and next points
+            spline_p1_prime = (spline_p2 - spline_p0) / SPLINE_TENSION;
+
+
+            // compute a and b vectors used in spline formula
+            spline_a = spline_p0 * 2.0f - spline_p1 * 2.0f + spline_p0_prime + spline_p1_prime;
+            spline_b = spline_p1 * 3.0f - spline_p0 * 3.0f - spline_p0_prime * 2.0f - spline_p1_prime;
+        }
+
+        // continue to the next spline segment
+        void next_spline_segment()
+        {
+            // start t back at near the beginning of the new segment
+            spline_t -= 1.0f;
+
+
+            // p1 becomes the next p01, p2 the next p1, etc.
+            spline_p0 = spline_p1;
+            spline_p1 = spline_p2;
+            spline_p0_prime = spline_p1_prime;
+            spline_p2 = next_spline_waypoint();
+
+
+            initialize_spline_segment();
+        }
+
+        private Vector3 next_spline_waypoint()
+        {
+            wpindex++;
+
+            if (wpindex >= wplist.Count)
+            {
+                return wplist[wplist.Count - 1];
+            }
+
+            return wplist[wpindex];
+        }
+
+
+        //evaluate spline formula at point t
+        void evaluate_spline()
+        {
+            // evaluate spline t cubed
+            float t_cu = spline_t_sq * spline_t;
+
+            spline_target = spline_a * t_cu + spline_b * spline_t_sq + spline_p0_prime * spline_t + spline_p0;
+        }
+    }
+}
\ No newline at end of file
diff --git a/CurrentState.cs b/CurrentState.cs
index ab979040e7..87bb2f5c9f 100644
--- a/CurrentState.cs
+++ b/CurrentState.cs
@@ -826,8 +826,9 @@ enum gcs_severity {
                         }
                         else if (sensors_present.rc_receiver != sensors_enabled.rc_receiver)
                         {
-                            messageHigh = "NO RC Receiver";
-                            messageHighTime = DateTime.Now;
+                            int fixme;
+                            //messageHigh = "NO RC Receiver";
+                            //messageHighTime = DateTime.Now;
                         }
                         
 
diff --git a/ExtLibs/Controls/BackstageView/BackstageView.cs b/ExtLibs/Controls/BackstageView/BackstageView.cs
index fc979f9b40..96db9c0122 100644
--- a/ExtLibs/Controls/BackstageView/BackstageView.cs
+++ b/ExtLibs/Controls/BackstageView/BackstageView.cs
@@ -171,9 +171,10 @@ public BackstageViewPage AddPage(UserControl userControl, string headerText, Bac
                            {
                                Page =
                                    {
-                                       Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top,
-                                       Location = new Point(pnlMenu.Width, 0),
-                                       Dock = DockStyle.Fill
+                                       //Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top,
+                                       Location = new Point(0, 0),
+                                       Dock = DockStyle.Fill,
+                                       Visible = false,
                                    }
                            };
 
@@ -423,6 +424,7 @@ public void ActivatePage(BackstageViewPage associatedPage)
             MissionPlanner.Utilities.Tracking.AddPage(associatedPage.Page.GetType().ToString(), associatedPage.LinkText);
 
             this.SuspendLayout();
+            associatedPage.Page.SuspendLayout();
 
             DrawMenu(associatedPage , false);
 
@@ -458,6 +460,10 @@ public void ActivatePage(BackstageViewPage associatedPage)
                 ((IActivate)(associatedPage.Page)).Activate();
             }
 
+            //this.PerformLayout();
+
+            associatedPage.Page.ResumeLayout();
+            this.ResumeLayout();
             // show it
             associatedPage.Page.Visible = true;
 
@@ -469,8 +475,6 @@ public void ActivatePage(BackstageViewPage associatedPage)
             catch { }
 
             _activePage = associatedPage;
-
-            this.ResumeLayout();
         }
 
         public void Close()
diff --git a/ExtLibs/Controls/HUD.cs b/ExtLibs/Controls/HUD.cs
index 7264cd615d..cd4a3bd109 100644
--- a/ExtLibs/Controls/HUD.cs
+++ b/ExtLibs/Controls/HUD.cs
@@ -917,45 +917,8 @@ void doPaint(PaintEventArgs e)
                 graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));
 
                 graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
-                
-                graphicsObject.RotateTransform(-_roll);
-
-
-                // draw armed
-
-                if (status != statuslast)
-                {
-                    armedtimer = DateTime.Now;
-                }
-
-                if (status == false) // not armed
-                {
-                    //if ((armedtimer.AddSeconds(8) > DateTime.Now))
-                    {
-                        drawstring(graphicsObject, "DISARMED", font, fontsize + 10, (SolidBrush)Brushes.Red, -85, halfheight / -3);
-                        statuslast = status;
-                    }
-                }
-                else if (status == true) // armed
-                {
-                    if ((armedtimer.AddSeconds(8) > DateTime.Now))
-                    {
-                        drawstring(graphicsObject, "ARMED", font, fontsize + 20, (SolidBrush)Brushes.Red, -70, halfheight / -3);
-                        statuslast = status;
-                    }
-                }
-
-                if (failsafe == true)
-                {
-                    drawstring(graphicsObject, "FAILSAFE", font, fontsize + 20, (SolidBrush)Brushes.Red, -85, halfheight / -5);
-                    statuslast = status;
-                }
-
-                if (message != "" && messagetime.AddSeconds(20) > DateTime.Now)
-                {
-                    drawstring(graphicsObject, message, font, fontsize + 10, (SolidBrush)Brushes.Red, -halfwidth + 50, halfheight / -2);
-                }
 
+                graphicsObject.RotateTransform(-_roll);
 
                 //draw pitch           
 
@@ -1542,6 +1505,53 @@ void doPaint(PaintEventArgs e)
                     catch { }
 
                 }
+
+
+
+
+                graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
+
+                // draw armed
+
+                if (status != statuslast)
+                {
+                    armedtimer = DateTime.Now;
+                }
+
+                if (status == false) // not armed
+                {
+                    //if ((armedtimer.AddSeconds(8) > DateTime.Now))
+                    {
+                        drawstring(graphicsObject, "DISARMED", font, fontsize + 10, (SolidBrush)Brushes.Red, -85, halfheight / -3);
+                        statuslast = status;
+                    }
+                }
+                else if (status == true) // armed
+                {
+                    if ((armedtimer.AddSeconds(8) > DateTime.Now))
+                    {
+                        drawstring(graphicsObject, "ARMED", font, fontsize + 20, (SolidBrush)Brushes.Red, -70, halfheight / -3);
+                        statuslast = status;
+                    }
+                }
+
+                if (failsafe == true)
+                {
+                    drawstring(graphicsObject, "FAILSAFE", font, fontsize + 20, (SolidBrush)Brushes.Red, -85, halfheight / -5);
+                    statuslast = status;
+                }
+
+                if (message != "" && messagetime.AddSeconds(20) > DateTime.Now)
+                {
+                    drawstring(graphicsObject, message, font, fontsize + 10, (SolidBrush)Brushes.Red, -halfwidth + 50, halfheight / 3);
+                }
+
+
+
+                graphicsObject.ResetTransform();
+
+
+
                 
 
                 if (!opengl)
diff --git a/ExtLibs/Controls/MainSwitcher.cs b/ExtLibs/Controls/MainSwitcher.cs
index 965cf75eff..5c86a189cd 100644
--- a/ExtLibs/Controls/MainSwitcher.cs
+++ b/ExtLibs/Controls/MainSwitcher.cs
@@ -79,6 +79,9 @@ public void ShowScreen(string name)
             // find next screen
             Screen nextscreen = screens.Single(s => s.Name == name);
 
+            MainControl.SuspendLayout();
+            nextscreen.Control.SuspendLayout();
+
             nextscreen.Control.Location = new Point(0, 0);
 
             nextscreen.Control.AutoScaleMode = AutoScaleMode.None;
@@ -87,13 +90,8 @@ public void ShowScreen(string name)
 
             nextscreen.Control.Dock = DockStyle.Fill;
 
-            nextscreen.Control.PerformLayout();
-
             MissionPlanner.Utilities.Tracking.AddPage(nextscreen.Control.GetType().ToString(), name);
 
-            MainControl.SuspendLayout();
-            nextscreen.Control.SuspendLayout();
-
             if (nextscreen.Control is IActivate)
             {
                 ((IActivate)(nextscreen.Control)).Activate();
@@ -104,8 +102,8 @@ public void ShowScreen(string name)
 
             MainControl.Controls.Add(nextscreen.Control);
 
+            nextscreen.Control.ResumeLayout();
             MainControl.ResumeLayout();
-			nextscreen.Control.ResumeLayout();
 
             nextscreen.Visible = true;
 
diff --git a/ExtLibs/Controls/MyUserControl.cs b/ExtLibs/Controls/MyUserControl.cs
index 27fb8df739..42aa318d0f 100644
--- a/ExtLibs/Controls/MyUserControl.cs
+++ b/ExtLibs/Controls/MyUserControl.cs
@@ -6,12 +6,14 @@
 using System.ComponentModel;
 using log4net;
 using System.Reflection;
+using System.Runtime.InteropServices;
 
 namespace System.Windows.Forms
 {
     /// <summary>
     /// This is a mono fix, windows handles this error, mono crashs
     /// </summary>
+    //[assembly: ComVisible(true)]
     public class MyUserControl : System.Windows.Forms.UserControl
     {
         /// <summary>
diff --git a/ExtLibs/Controls/ProgressReporterDialogue.cs b/ExtLibs/Controls/ProgressReporterDialogue.cs
index 4c83612eef..b98b377bf1 100644
--- a/ExtLibs/Controls/ProgressReporterDialogue.cs
+++ b/ExtLibs/Controls/ProgressReporterDialogue.cs
@@ -47,6 +47,11 @@ public ProgressReporterDialogue()
         public void RunBackgroundOperationAsync()
         {
             ThreadPool.QueueUserWorkItem(RunBackgroundOperation);
+
+            var t = Type.GetType("Mono.Runtime");
+            if ((t != null))
+                this.Height += 25;
+
             this.ShowDialog();
         }
 
diff --git a/ExtLibs/Controls/ProgressReporterDialogue.designer.cs b/ExtLibs/Controls/ProgressReporterDialogue.designer.cs
index 78e541eacc..0c631e34e1 100644
--- a/ExtLibs/Controls/ProgressReporterDialogue.designer.cs
+++ b/ExtLibs/Controls/ProgressReporterDialogue.designer.cs
@@ -131,14 +131,13 @@ private void InitializeComponent()
             this.Controls.Add(this.btnCancel);
             this.Controls.Add(this.lblProgressMessage);
             this.Controls.Add(this.progressBar1);
-            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedToolWindow;
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
             this.MaximizeBox = false;
             this.MinimizeBox = false;
             this.Name = "ProgressReporterDialogue";
             this.SizeGripStyle = System.Windows.Forms.SizeGripStyle.Hide;
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterParent;
             this.Text = "Progress";
-            this.TopMost = true;
             this.Load += new System.EventHandler(this.ProgressReporterDialogue_Load);
             ((System.ComponentModel.ISupportInitialize)(this.imgWarning)).EndInit();
             this.ResumeLayout(false);
diff --git a/ExtLibs/Controls/QuickView.Designer.cs b/ExtLibs/Controls/QuickView.Designer.cs
index 69ec525f45..12ed4ae574 100644
--- a/ExtLibs/Controls/QuickView.Designer.cs
+++ b/ExtLibs/Controls/QuickView.Designer.cs
@@ -29,9 +29,9 @@ protected override void Dispose(bool disposing)
         private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
-            this.labelWithPseudoOpacity1 = new Controls.LabelWithPseudoOpacity();
+            this.labelWithPseudoOpacity1 = new MissionPlanner.Controls.LabelWithPseudoOpacity();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.labelWithPseudoOpacity2 = new Controls.LabelWithPseudoOpacity();
+            this.labelWithPseudoOpacity2 = new MissionPlanner.Controls.LabelWithPseudoOpacity();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.tableLayoutPanel1.SuspendLayout();
             this.SuspendLayout();
@@ -68,7 +68,7 @@ private void InitializeComponent()
             // labelWithPseudoOpacity2
             // 
             this.labelWithPseudoOpacity2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.labelWithPseudoOpacity2.DoubleBuffered = false;
+            this.labelWithPseudoOpacity2.DoubleBuffered = true;
             this.labelWithPseudoOpacity2.Font = new System.Drawing.Font("Microsoft Sans Serif", 21.75F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
             this.labelWithPseudoOpacity2.Location = new System.Drawing.Point(3, 20);
             this.labelWithPseudoOpacity2.Name = "labelWithPseudoOpacity2";
diff --git a/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs b/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs
index dfcc1684e3..80c5c16040 100644
--- a/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs
+++ b/GCSViews/ConfigurationView/ConfigFailSafe.Designer.cs
@@ -47,14 +47,14 @@ private void InitializeComponent()
             this.mavlinkCheckBoxthr_fs = new MissionPlanner.Controls.MavlinkCheckBox();
             this.mavlinkComboBox_fs_thr_enable = new MissionPlanner.Controls.MavlinkComboBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.mavlinkCheckBoxFS_GCS_ENABLE = new MissionPlanner.Controls.MavlinkCheckBox();
+            this.mavlinkCheckBoxfs_gps_enable = new MissionPlanner.Controls.MavlinkCheckBox();
+            this.mavlinkCheckBoxfs_batt_enable = new MissionPlanner.Controls.MavlinkCheckBox();
             this.pnlmah = new System.Windows.Forms.Panel();
             this.label5 = new System.Windows.Forms.Label();
             this.mavlinkNumericUpDownFS_BATT_MAH = new MissionPlanner.Controls.MavlinkNumericUpDown();
-            this.mavlinkCheckBoxFS_GCS_ENABLE = new MissionPlanner.Controls.MavlinkCheckBox();
-            this.mavlinkCheckBoxfs_gps_enable = new MissionPlanner.Controls.MavlinkCheckBox();
             this.PNL_low_bat = new System.Windows.Forms.Panel();
             this.label4 = new System.Windows.Forms.Label();
-            this.mavlinkCheckBoxfs_batt_enable = new MissionPlanner.Controls.MavlinkCheckBox();
             this.PNL_thr_fs_value = new System.Windows.Forms.Panel();
             this.label3 = new System.Windows.Forms.Label();
             this.lbl_armed = new MissionPlanner.Controls.MyLabel();
@@ -232,20 +232,50 @@ private void InitializeComponent()
             // 
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxFS_GCS_ENABLE);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxfs_gps_enable);
-            this.groupBox1.Controls.Add(this.mavlinkCheckBoxfs_batt_enable);
             this.groupBox1.Controls.Add(this.pnlmah);
             this.groupBox1.Controls.Add(this.PNL_low_bat);
+            this.groupBox1.Controls.Add(this.PNL_thr_fs_value);
+            this.groupBox1.Controls.Add(this.mavlinkCheckBoxfs_batt_enable);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxlong_fs);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxshort_fs);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxgcs_fs);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxthr_fs_action);
-            this.groupBox1.Controls.Add(this.PNL_thr_fs_value);
             this.groupBox1.Controls.Add(this.mavlinkCheckBoxthr_fs);
             this.groupBox1.Controls.Add(this.mavlinkComboBox_fs_thr_enable);
             resources.ApplyResources(this.groupBox1, "groupBox1");
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.TabStop = false;
             // 
+            // mavlinkCheckBoxFS_GCS_ENABLE
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxFS_GCS_ENABLE, "mavlinkCheckBoxFS_GCS_ENABLE");
+            this.mavlinkCheckBoxFS_GCS_ENABLE.Name = "mavlinkCheckBoxFS_GCS_ENABLE";
+            this.mavlinkCheckBoxFS_GCS_ENABLE.OffValue = 0F;
+            this.mavlinkCheckBoxFS_GCS_ENABLE.OnValue = 1F;
+            this.mavlinkCheckBoxFS_GCS_ENABLE.param = null;
+            this.mavlinkCheckBoxFS_GCS_ENABLE.ParamName = null;
+            this.mavlinkCheckBoxFS_GCS_ENABLE.UseVisualStyleBackColor = true;
+            // 
+            // mavlinkCheckBoxfs_gps_enable
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxfs_gps_enable, "mavlinkCheckBoxfs_gps_enable");
+            this.mavlinkCheckBoxfs_gps_enable.Name = "mavlinkCheckBoxfs_gps_enable";
+            this.mavlinkCheckBoxfs_gps_enable.OffValue = 0F;
+            this.mavlinkCheckBoxfs_gps_enable.OnValue = 1F;
+            this.mavlinkCheckBoxfs_gps_enable.param = null;
+            this.mavlinkCheckBoxfs_gps_enable.ParamName = null;
+            this.mavlinkCheckBoxfs_gps_enable.UseVisualStyleBackColor = true;
+            // 
+            // mavlinkCheckBoxfs_batt_enable
+            // 
+            resources.ApplyResources(this.mavlinkCheckBoxfs_batt_enable, "mavlinkCheckBoxfs_batt_enable");
+            this.mavlinkCheckBoxfs_batt_enable.Name = "mavlinkCheckBoxfs_batt_enable";
+            this.mavlinkCheckBoxfs_batt_enable.OffValue = 0F;
+            this.mavlinkCheckBoxfs_batt_enable.OnValue = 1F;
+            this.mavlinkCheckBoxfs_batt_enable.param = null;
+            this.mavlinkCheckBoxfs_batt_enable.ParamName = null;
+            this.mavlinkCheckBoxfs_batt_enable.UseVisualStyleBackColor = true;
+            // 
             // pnlmah
             // 
             this.pnlmah.Controls.Add(this.label5);
@@ -278,26 +308,6 @@ private void InitializeComponent()
             0,
             65536});
             // 
-            // mavlinkCheckBoxFS_GCS_ENABLE
-            // 
-            resources.ApplyResources(this.mavlinkCheckBoxFS_GCS_ENABLE, "mavlinkCheckBoxFS_GCS_ENABLE");
-            this.mavlinkCheckBoxFS_GCS_ENABLE.Name = "mavlinkCheckBoxFS_GCS_ENABLE";
-            this.mavlinkCheckBoxFS_GCS_ENABLE.OffValue = 0F;
-            this.mavlinkCheckBoxFS_GCS_ENABLE.OnValue = 1F;
-            this.mavlinkCheckBoxFS_GCS_ENABLE.param = null;
-            this.mavlinkCheckBoxFS_GCS_ENABLE.ParamName = null;
-            this.mavlinkCheckBoxFS_GCS_ENABLE.UseVisualStyleBackColor = true;
-            // 
-            // mavlinkCheckBoxfs_gps_enable
-            // 
-            resources.ApplyResources(this.mavlinkCheckBoxfs_gps_enable, "mavlinkCheckBoxfs_gps_enable");
-            this.mavlinkCheckBoxfs_gps_enable.Name = "mavlinkCheckBoxfs_gps_enable";
-            this.mavlinkCheckBoxfs_gps_enable.OffValue = 0F;
-            this.mavlinkCheckBoxfs_gps_enable.OnValue = 1F;
-            this.mavlinkCheckBoxfs_gps_enable.param = null;
-            this.mavlinkCheckBoxfs_gps_enable.ParamName = null;
-            this.mavlinkCheckBoxfs_gps_enable.UseVisualStyleBackColor = true;
-            // 
             // PNL_low_bat
             // 
             this.PNL_low_bat.Controls.Add(this.label4);
@@ -310,21 +320,11 @@ private void InitializeComponent()
             resources.ApplyResources(this.label4, "label4");
             this.label4.Name = "label4";
             // 
-            // mavlinkCheckBoxfs_batt_enable
-            // 
-            resources.ApplyResources(this.mavlinkCheckBoxfs_batt_enable, "mavlinkCheckBoxfs_batt_enable");
-            this.mavlinkCheckBoxfs_batt_enable.Name = "mavlinkCheckBoxfs_batt_enable";
-            this.mavlinkCheckBoxfs_batt_enable.OffValue = 0F;
-            this.mavlinkCheckBoxfs_batt_enable.OnValue = 1F;
-            this.mavlinkCheckBoxfs_batt_enable.param = null;
-            this.mavlinkCheckBoxfs_batt_enable.ParamName = null;
-            this.mavlinkCheckBoxfs_batt_enable.UseVisualStyleBackColor = true;
-            // 
             // PNL_thr_fs_value
             // 
+            this.PNL_thr_fs_value.Controls.Add(this.label3);
             this.PNL_thr_fs_value.Controls.Add(this.mavlinkNumericUpDownfs_thr_value);
             this.PNL_thr_fs_value.Controls.Add(this.mavlinkNumericUpDownthr_fs_value);
-            this.PNL_thr_fs_value.Controls.Add(this.label3);
             resources.ApplyResources(this.PNL_thr_fs_value, "PNL_thr_fs_value");
             this.PNL_thr_fs_value.Name = "PNL_thr_fs_value";
             // 
diff --git a/GCSViews/ConfigurationView/ConfigFailSafe.cs b/GCSViews/ConfigurationView/ConfigFailSafe.cs
index d9b45a057e..2057a456a2 100644
--- a/GCSViews/ConfigurationView/ConfigFailSafe.cs
+++ b/GCSViews/ConfigurationView/ConfigFailSafe.cs
@@ -53,8 +53,14 @@ public void Activate()
             mavlinkNumericUpDownfs_thr_value.setup(800, 1200, 1, 1, "FS_THR_VALUE", MainV2.comPort.MAV.param);
 
             // low battery
-            mavlinkNumericUpDownlow_voltage.setup(6, 99, 1, 0.1f, "LOW_VOLT", MainV2.comPort.MAV.param, PNL_low_bat);
-            mavlinkNumericUpDownlow_voltage.setup(6, 99, 1, 0.1f, "FS_BATT_VOLTAGE", MainV2.comPort.MAV.param, PNL_low_bat);
+            if (MainV2.comPort.MAV.param.ContainsKey("LOW_VOLT"))
+            {
+                mavlinkNumericUpDownlow_voltage.setup(6, 99, 1, 0.1f, "LOW_VOLT", MainV2.comPort.MAV.param, PNL_low_bat);
+            }
+            else
+            {
+                mavlinkNumericUpDownlow_voltage.setup(6, 99, 1, 0.1f, "FS_BATT_VOLTAGE", MainV2.comPort.MAV.param, PNL_low_bat);
+            }
 
             mavlinkNumericUpDownFS_BATT_MAH.setup(1000, 99999, 1, 1, "FS_BATT_MAH", MainV2.comPort.MAV.param, pnlmah);
             mavlinkCheckBoxfs_gps_enable.setup(1, 0, "FS_GPS_ENABLE", MainV2.comPort.MAV.param);
diff --git a/GCSViews/ConfigurationView/ConfigFailSafe.resx b/GCSViews/ConfigurationView/ConfigFailSafe.resx
index 042e795665..4c74c46cd8 100644
--- a/GCSViews/ConfigurationView/ConfigFailSafe.resx
+++ b/GCSViews/ConfigurationView/ConfigFailSafe.resx
@@ -274,7 +274,7 @@
     <value>mavlinkNumericUpDownlow_voltage</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownlow_voltage.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownlow_voltage.Parent" xml:space="preserve">
     <value>PNL_low_bat</value>
@@ -295,7 +295,7 @@
     <value>NoControl</value>
   </data>
   <data name="mavlinkCheckBoxlong_fs.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 130</value>
+    <value>3, 105</value>
   </data>
   <data name="mavlinkCheckBoxlong_fs.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 17</value>
@@ -316,13 +316,13 @@
     <value>mavlinkCheckBoxlong_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxlong_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxlong_fs.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="mavlinkCheckBoxshort_fs.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -337,7 +337,7 @@
     <value>NoControl</value>
   </data>
   <data name="mavlinkCheckBoxshort_fs.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 113</value>
+    <value>3, 88</value>
   </data>
   <data name="mavlinkCheckBoxshort_fs.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 17</value>
@@ -358,13 +358,13 @@
     <value>mavlinkCheckBoxshort_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxshort_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxshort_fs.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="mavlinkCheckBoxgcs_fs.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -379,7 +379,7 @@
     <value>NoControl</value>
   </data>
   <data name="mavlinkCheckBoxgcs_fs.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 96</value>
+    <value>3, 71</value>
   </data>
   <data name="mavlinkCheckBoxgcs_fs.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 17</value>
@@ -400,13 +400,13 @@
     <value>mavlinkCheckBoxgcs_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxgcs_fs.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="mavlinkCheckBoxthr_fs_action.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -421,7 +421,7 @@
     <value>NoControl</value>
   </data>
   <data name="mavlinkCheckBoxthr_fs_action.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 79</value>
+    <value>3, 54</value>
   </data>
   <data name="mavlinkCheckBoxthr_fs_action.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 17</value>
@@ -443,13 +443,13 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxthr_fs_action</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.Parent" xml:space="preserve">
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs_action.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="mavlinkNumericUpDownfs_thr_value.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Right</value>
@@ -476,13 +476,13 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkNumericUpDownfs_thr_value</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownfs_thr_value.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownfs_thr_value.Parent" xml:space="preserve">
     <value>PNL_thr_fs_value</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownfs_thr_value.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="mavlinkNumericUpDownthr_fs_value.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Right</value>
@@ -509,13 +509,13 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkNumericUpDownthr_fs_value</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.Parent" xml:space="preserve">
     <value>PNL_thr_fs_value</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownthr_fs_value.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="mavlinkCheckBoxthr_fs.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -551,7 +551,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxthr_fs</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxthr_fs.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -587,7 +587,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkComboBox_fs_thr_enable</value>
   </data>
   <data name="&gt;&gt;mavlinkComboBox_fs_thr_enable.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkComboBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkComboBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkComboBox_fs_thr_enable.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -626,7 +626,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxFS_GCS_ENABLE</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxFS_GCS_ENABLE.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxFS_GCS_ENABLE.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -665,7 +665,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkCheckBoxfs_gps_enable</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxfs_gps_enable.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkCheckBoxfs_gps_enable.Parent" xml:space="preserve">
     <value>groupBox1</value>
@@ -673,45 +673,6 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
   <data name="&gt;&gt;mavlinkCheckBoxfs_gps_enable.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.AutoSize" type="System.Boolean, mscorlib">
-    <value>True</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
-    <value>Top</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Enabled" type="System.Boolean, mscorlib">
-    <value>False</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 193</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Size" type="System.Drawing.Size, System.Drawing">
-    <value>199, 17</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.TabIndex" type="System.Int32, mscorlib">
-    <value>150</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Text" xml:space="preserve">
-    <value>Battery Failsafe</value>
-  </data>
-  <data name="mavlinkCheckBoxfs_batt_enable.Visible" type="System.Boolean, mscorlib">
-    <value>False</value>
-  </data>
-  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Name" xml:space="preserve">
-    <value>mavlinkCheckBoxfs_batt_enable</value>
-  </data>
-  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Parent" xml:space="preserve">
-    <value>groupBox1</value>
-  </data>
-  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.ZOrder" xml:space="preserve">
-    <value>2</value>
-  </data>
   <data name="label5.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -722,13 +683,13 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>4, 3</value>
   </data>
   <data name="label5.Size" type="System.Drawing.Size, System.Drawing">
-    <value>67, 13</value>
+    <value>80, 13</value>
   </data>
   <data name="label5.TabIndex" type="System.Int32, mscorlib">
     <value>154</value>
   </data>
   <data name="label5.Text" xml:space="preserve">
-    <value>Battery MAH</value>
+    <value>Reserved MAH</value>
   </data>
   <data name="&gt;&gt;label5.Name" xml:space="preserve">
     <value>label5</value>
@@ -758,7 +719,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>mavlinkNumericUpDownFS_BATT_MAH</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownFS_BATT_MAH.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5033.14547, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MavlinkNumericUpDown, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;mavlinkNumericUpDownFS_BATT_MAH.Parent" xml:space="preserve">
     <value>pnlmah</value>
@@ -770,7 +731,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>Top</value>
   </data>
   <data name="pnlmah.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 170</value>
+    <value>3, 187</value>
   </data>
   <data name="pnlmah.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 23</value>
@@ -791,7 +752,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;pnlmah.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>2</value>
   </data>
   <data name="label4.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -827,7 +788,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>Top</value>
   </data>
   <data name="PNL_low_bat.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 147</value>
+    <value>3, 164</value>
   </data>
   <data name="PNL_low_bat.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 23</value>
@@ -848,7 +809,7 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;PNL_low_bat.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>3</value>
   </data>
   <data name="label3.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -881,13 +842,13 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>PNL_thr_fs_value</value>
   </data>
   <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>0</value>
   </data>
   <data name="PNL_thr_fs_value.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Top</value>
   </data>
   <data name="PNL_thr_fs_value.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 54</value>
+    <value>3, 139</value>
   </data>
   <data name="PNL_thr_fs_value.Size" type="System.Drawing.Size, System.Drawing">
     <value>199, 25</value>
@@ -905,7 +866,46 @@ Arducopter Other: if have gps, RTL, Otherwise Land</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;PNL_thr_fs_value.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>4</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
+    <value>Top</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Enabled" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Location" type="System.Drawing.Point, System.Drawing">
+    <value>3, 122</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Size" type="System.Drawing.Size, System.Drawing">
+    <value>199, 17</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.TabIndex" type="System.Int32, mscorlib">
+    <value>150</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Text" xml:space="preserve">
+    <value>Battery Failsafe</value>
+  </data>
+  <data name="mavlinkCheckBoxfs_batt_enable.Visible" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Name" xml:space="preserve">
+    <value>mavlinkCheckBoxfs_batt_enable</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.MavlinkCheckBox, MissionPlanner, Version=1.1.5051.38332, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;mavlinkCheckBoxfs_batt_enable.ZOrder" xml:space="preserve">
+    <value>5</value>
   </data>
   <data name="groupBox1.Location" type="System.Drawing.Point, System.Drawing">
     <value>480, 174</value>
diff --git a/GCSViews/ConfigurationView/ConfigFirmware.resx b/GCSViews/ConfigurationView/ConfigFirmware.resx
index c83bc4736f..e1630e3ff7 100644
--- a/GCSViews/ConfigurationView/ConfigFirmware.resx
+++ b/GCSViews/ConfigurationView/ConfigFirmware.resx
@@ -123,10 +123,10 @@
   </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="pictureBoxAPM.Location" type="System.Drawing.Point, System.Drawing">
-    <value>187, 0</value>
+    <value>186, 0</value>
   </data>
   <data name="pictureBoxAPM.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <assembly alias="mscorlib" name="mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="pictureBoxAPM.TabIndex" type="System.Int32, mscorlib">
@@ -148,10 +148,10 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxQuad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>363, 0</value>
+    <value>342, 0</value>
   </data>
   <data name="pictureBoxQuad.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxQuad.TabIndex" type="System.Int32, mscorlib">
     <value>2</value>
@@ -172,10 +172,10 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxHexa.Location" type="System.Drawing.Point, System.Drawing">
-    <value>539, 0</value>
+    <value>498, 0</value>
   </data>
   <data name="pictureBoxHexa.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxHexa.TabIndex" type="System.Int32, mscorlib">
     <value>3</value>
@@ -196,10 +196,10 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxTri.Location" type="System.Drawing.Point, System.Drawing">
-    <value>363, 176</value>
+    <value>342, 176</value>
   </data>
   <data name="pictureBoxTri.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxTri.TabIndex" type="System.Int32, mscorlib">
     <value>4</value>
@@ -220,10 +220,10 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxY6.Location" type="System.Drawing.Point, System.Drawing">
-    <value>539, 176</value>
+    <value>498, 176</value>
   </data>
   <data name="pictureBoxY6.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxY6.TabIndex" type="System.Int32, mscorlib">
     <value>5</value>
@@ -247,7 +247,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_status.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 443</value>
+    <value>3, 443</value>
   </data>
   <data name="lbl_status.Size" type="System.Drawing.Size, System.Drawing">
     <value>37, 13</value>
@@ -274,10 +274,10 @@
     <value>NoControl</value>
   </data>
   <data name="progress.Location" type="System.Drawing.Point, System.Drawing">
-    <value>11, 417</value>
+    <value>3, 417</value>
   </data>
   <data name="progress.Size" type="System.Drawing.Size, System.Drawing">
-    <value>874, 23</value>
+    <value>821, 23</value>
   </data>
   <data name="progress.TabIndex" type="System.Int32, mscorlib">
     <value>6</value>
@@ -301,7 +301,7 @@
     <value>NoControl</value>
   </data>
   <data name="label2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>763, 443</value>
+    <value>711, 443</value>
   </data>
   <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
     <value>113, 13</value>
@@ -328,10 +328,10 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxHeli.Location" type="System.Drawing.Point, System.Drawing">
-    <value>187, 176</value>
+    <value>186, 176</value>
   </data>
   <data name="pictureBoxHeli.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxHeli.TabIndex" type="System.Int32, mscorlib">
     <value>17</value>
@@ -352,7 +352,7 @@
     <value>NoControl</value>
   </data>
   <data name="BUT_setup.Location" type="System.Drawing.Point, System.Drawing">
-    <value>327, 379</value>
+    <value>297, 381</value>
   </data>
   <data name="BUT_setup.Size" type="System.Drawing.Size, System.Drawing">
     <value>190, 32</value>
@@ -382,7 +382,7 @@
     <value />
   </data>
   <data name="pictureBoxHilimage.Location" type="System.Drawing.Point, System.Drawing">
-    <value>10, 362</value>
+    <value>3, 364</value>
   </data>
   <data name="pictureBoxHilimage.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -409,7 +409,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxAPHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>149, 362</value>
+    <value>142, 364</value>
   </data>
   <data name="pictureBoxAPHil.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -436,7 +436,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxACHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>202, 362</value>
+    <value>195, 364</value>
   </data>
   <data name="pictureBoxACHil.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -463,7 +463,7 @@
     <value>NoControl</value>
   </data>
   <data name="pictureBoxACHHil.Location" type="System.Drawing.Point, System.Drawing">
-    <value>251, 362</value>
+    <value>244, 364</value>
   </data>
   <data name="pictureBoxACHHil.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
     <value>0, 0, 0, 0</value>
@@ -487,10 +487,10 @@
     <value>13</value>
   </data>
   <data name="pictureBoxOcta.Location" type="System.Drawing.Point, System.Drawing">
-    <value>715, 176</value>
+    <value>654, 176</value>
   </data>
   <data name="pictureBoxOcta.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxOcta.TabIndex" type="System.Int32, mscorlib">
     <value>24</value>
@@ -508,10 +508,10 @@
     <value>18</value>
   </data>
   <data name="pictureBoxOctaQuad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>715, 0</value>
+    <value>654, 0</value>
   </data>
   <data name="pictureBoxOctaQuad.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxOctaQuad.TabIndex" type="System.Int32, mscorlib">
     <value>25</value>
@@ -529,10 +529,10 @@
     <value>17</value>
   </data>
   <data name="pictureBoxRover.Location" type="System.Drawing.Point, System.Drawing">
-    <value>11, 0</value>
+    <value>30, 0</value>
   </data>
   <data name="pictureBoxRover.Size" type="System.Drawing.Size, System.Drawing">
-    <value>170, 170</value>
+    <value>150, 150</value>
   </data>
   <data name="pictureBoxRover.TabIndex" type="System.Int32, mscorlib">
     <value>0</value>
@@ -553,7 +553,7 @@
     <value>True</value>
   </data>
   <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>304, 349</value>
+    <value>274, 351</value>
   </data>
   <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
     <value>246, 13</value>
@@ -577,7 +577,7 @@
     <value>8</value>
   </data>
   <data name="CMB_history.Location" type="System.Drawing.Point, System.Drawing">
-    <value>757, 387</value>
+    <value>684, 389</value>
   </data>
   <data name="CMB_history.Size" type="System.Drawing.Size, System.Drawing">
     <value>121, 21</value>
@@ -604,7 +604,7 @@
     <value>True</value>
   </data>
   <data name="CMB_history_label.Location" type="System.Drawing.Point, System.Drawing">
-    <value>763, 391</value>
+    <value>690, 393</value>
   </data>
   <data name="CMB_history_label.Size" type="System.Drawing.Size, System.Drawing">
     <value>113, 13</value>
@@ -634,7 +634,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_Custom_firmware_label.Location" type="System.Drawing.Point, System.Drawing">
-    <value>763, 371</value>
+    <value>690, 373</value>
   </data>
   <data name="lbl_Custom_firmware_label.Size" type="System.Drawing.Size, System.Drawing">
     <value>110, 13</value>
@@ -664,7 +664,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_devfw.Location" type="System.Drawing.Point, System.Drawing">
-    <value>650, 392</value>
+    <value>601, 393</value>
   </data>
   <data name="lbl_devfw.Size" type="System.Drawing.Size, System.Drawing">
     <value>76, 13</value>
@@ -694,7 +694,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_px4io.Location" type="System.Drawing.Point, System.Drawing">
-    <value>650, 371</value>
+    <value>601, 373</value>
   </data>
   <data name="lbl_px4io.Size" type="System.Drawing.Size, System.Drawing">
     <value>83, 13</value>
@@ -724,7 +724,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_dlfw.Location" type="System.Drawing.Point, System.Drawing">
-    <value>536, 371</value>
+    <value>493, 373</value>
   </data>
   <data name="lbl_dlfw.Size" type="System.Drawing.Size, System.Drawing">
     <value>102, 13</value>
@@ -754,7 +754,7 @@
     <value>NoControl</value>
   </data>
   <data name="lbl_px4bl.Location" type="System.Drawing.Point, System.Drawing">
-    <value>536, 392</value>
+    <value>493, 394</value>
   </data>
   <data name="lbl_px4bl.Size" type="System.Drawing.Size, System.Drawing">
     <value>81, 13</value>
@@ -784,7 +784,7 @@
     <value>6, 13</value>
   </data>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
-    <value>899, 461</value>
+    <value>827, 461</value>
   </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigFirmware</value>
diff --git a/GCSViews/ConfigurationView/ConfigFlightModes.Designer.cs b/GCSViews/ConfigurationView/ConfigFlightModes.Designer.cs
index 6ad71cc3ec..d9790b724d 100644
--- a/GCSViews/ConfigurationView/ConfigFlightModes.Designer.cs
+++ b/GCSViews/ConfigurationView/ConfigFlightModes.Designer.cs
@@ -250,12 +250,14 @@ private void InitializeComponent()
             // labelfm6
             // 
             this.labelfm6.AutoSize = true;
+            this.labelfm6.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm6.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm6.Location = new System.Drawing.Point(3, 140);
             this.labelfm6.Name = "labelfm6";
-            this.labelfm6.Size = new System.Drawing.Size(71, 13);
+            this.labelfm6.Size = new System.Drawing.Size(88, 28);
             this.labelfm6.TabIndex = 131;
             this.labelfm6.Text = "Flight Mode 6";
+            this.labelfm6.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode6
             // 
@@ -271,12 +273,14 @@ private void InitializeComponent()
             // labelfm5
             // 
             this.labelfm5.AutoSize = true;
+            this.labelfm5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm5.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm5.Location = new System.Drawing.Point(3, 112);
             this.labelfm5.Name = "labelfm5";
-            this.labelfm5.Size = new System.Drawing.Size(71, 13);
+            this.labelfm5.Size = new System.Drawing.Size(88, 28);
             this.labelfm5.TabIndex = 129;
             this.labelfm5.Text = "Flight Mode 5";
+            this.labelfm5.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode5
             // 
@@ -292,12 +296,14 @@ private void InitializeComponent()
             // labelfm4
             // 
             this.labelfm4.AutoSize = true;
+            this.labelfm4.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm4.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm4.Location = new System.Drawing.Point(3, 84);
             this.labelfm4.Name = "labelfm4";
-            this.labelfm4.Size = new System.Drawing.Size(71, 13);
+            this.labelfm4.Size = new System.Drawing.Size(88, 28);
             this.labelfm4.TabIndex = 127;
             this.labelfm4.Text = "Flight Mode 4";
+            this.labelfm4.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode4
             // 
@@ -313,12 +319,14 @@ private void InitializeComponent()
             // labelfm3
             // 
             this.labelfm3.AutoSize = true;
+            this.labelfm3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm3.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm3.Location = new System.Drawing.Point(3, 56);
             this.labelfm3.Name = "labelfm3";
-            this.labelfm3.Size = new System.Drawing.Size(71, 13);
+            this.labelfm3.Size = new System.Drawing.Size(88, 28);
             this.labelfm3.TabIndex = 125;
             this.labelfm3.Text = "Flight Mode 3";
+            this.labelfm3.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode3
             // 
@@ -334,12 +342,14 @@ private void InitializeComponent()
             // labelfm2
             // 
             this.labelfm2.AutoSize = true;
+            this.labelfm2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm2.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm2.Location = new System.Drawing.Point(3, 28);
             this.labelfm2.Name = "labelfm2";
-            this.labelfm2.Size = new System.Drawing.Size(71, 13);
+            this.labelfm2.Size = new System.Drawing.Size(88, 28);
             this.labelfm2.TabIndex = 123;
             this.labelfm2.Text = "Flight Mode 2";
+            this.labelfm2.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode2
             // 
@@ -355,12 +365,14 @@ private void InitializeComponent()
             // labelfm1
             // 
             this.labelfm1.AutoSize = true;
+            this.labelfm1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.labelfm1.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.labelfm1.Location = new System.Drawing.Point(3, 0);
             this.labelfm1.Name = "labelfm1";
-            this.labelfm1.Size = new System.Drawing.Size(71, 13);
+            this.labelfm1.Size = new System.Drawing.Size(88, 28);
             this.labelfm1.TabIndex = 121;
             this.labelfm1.Text = "Flight Mode 1";
+            this.labelfm1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
             // 
             // CMB_fmode1
             // 
diff --git a/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs b/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
index 75e783a172..c0c934e628 100644
--- a/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
+++ b/GCSViews/ConfigurationView/ConfigRawParams.Designer.cs
@@ -30,14 +30,14 @@ private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(ConfigRawParams));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
-            this.BUT_compare = new Controls.MyButton();
-            this.BUT_rerequestparams = new Controls.MyButton();
-            this.BUT_writePIDS = new Controls.MyButton();
-            this.BUT_save = new Controls.MyButton();
-            this.BUT_load = new Controls.MyButton();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle6 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle5 = new System.Windows.Forms.DataGridViewCellStyle();
+            this.BUT_compare = new MissionPlanner.Controls.MyButton();
+            this.BUT_rerequestparams = new MissionPlanner.Controls.MyButton();
+            this.BUT_writePIDS = new MissionPlanner.Controls.MyButton();
+            this.BUT_save = new MissionPlanner.Controls.MyButton();
+            this.BUT_load = new MissionPlanner.Controls.MyButton();
             this.Params = new System.Windows.Forms.DataGridView();
             this.Command = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Value = new System.Windows.Forms.DataGridViewTextBoxColumn();
@@ -46,62 +46,43 @@ private void InitializeComponent()
             this.Desc = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.label1 = new System.Windows.Forms.Label();
-            this.BUT_find = new Controls.MyButton();
+            this.BUT_find = new MissionPlanner.Controls.MyButton();
+            this.but_iris = new MissionPlanner.Controls.MyButton();
             ((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
             this.SuspendLayout();
             // 
             // BUT_compare
             // 
             resources.ApplyResources(this.BUT_compare, "BUT_compare");
-            this.BUT_compare.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_compare.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_compare.Name = "BUT_compare";
-            this.BUT_compare.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_compare.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_compare.UseVisualStyleBackColor = true;
             this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
             // 
             // BUT_rerequestparams
             // 
             resources.ApplyResources(this.BUT_rerequestparams, "BUT_rerequestparams");
-            this.BUT_rerequestparams.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_rerequestparams.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_rerequestparams.Name = "BUT_rerequestparams";
-            this.BUT_rerequestparams.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_rerequestparams.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_rerequestparams.UseVisualStyleBackColor = true;
             this.BUT_rerequestparams.Click += new System.EventHandler(this.BUT_rerequestparams_Click);
             // 
             // BUT_writePIDS
             // 
             resources.ApplyResources(this.BUT_writePIDS, "BUT_writePIDS");
-            this.BUT_writePIDS.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_writePIDS.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_writePIDS.Name = "BUT_writePIDS";
-            this.BUT_writePIDS.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_writePIDS.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_writePIDS.UseVisualStyleBackColor = true;
             this.BUT_writePIDS.Click += new System.EventHandler(this.BUT_writePIDS_Click);
             // 
             // BUT_save
             // 
             resources.ApplyResources(this.BUT_save, "BUT_save");
-            this.BUT_save.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_save.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_save.Name = "BUT_save";
-            this.BUT_save.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_save.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_save.UseVisualStyleBackColor = true;
             this.BUT_save.Click += new System.EventHandler(this.BUT_save_Click);
             // 
             // BUT_load
             // 
             resources.ApplyResources(this.BUT_load, "BUT_load");
-            this.BUT_load.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_load.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_load.Name = "BUT_load";
-            this.BUT_load.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_load.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_load.UseVisualStyleBackColor = true;
             this.BUT_load.Click += new System.EventHandler(this.BUT_load_Click);
             // 
@@ -111,14 +92,14 @@ private void InitializeComponent()
             this.Params.AllowUserToDeleteRows = false;
             resources.ApplyResources(this.Params, "Params");
             this.Params.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
-            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle1.BackColor = System.Drawing.Color.Maroon;
-            dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle1.ForeColor = System.Drawing.Color.White;
-            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
+            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle4.BackColor = System.Drawing.Color.Maroon;
+            dataGridViewCellStyle4.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle4.ForeColor = System.Drawing.Color.White;
+            dataGridViewCellStyle4.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle4.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle4.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            this.Params.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle4;
             this.Params.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
             this.Params.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
@@ -127,14 +108,14 @@ private void InitializeComponent()
             this.Options,
             this.Desc});
             this.Params.Name = "Params";
-            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle3.BackColor = System.Drawing.SystemColors.ActiveCaption;
-            dataGridViewCellStyle3.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle3.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle3;
+            dataGridViewCellStyle6.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle6.BackColor = System.Drawing.SystemColors.ActiveCaption;
+            dataGridViewCellStyle6.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle6.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle6.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle6.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle6.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            this.Params.RowHeadersDefaultCellStyle = dataGridViewCellStyle6;
             this.Params.RowHeadersVisible = false;
             this.Params.RowHeadersWidthSizeMode = System.Windows.Forms.DataGridViewRowHeadersWidthSizeMode.AutoSizeToDisplayedHeaders;
             this.Params.CellValueChanged += new System.Windows.Forms.DataGridViewCellEventHandler(this.Params_CellValueChanged);
@@ -165,8 +146,8 @@ private void InitializeComponent()
             // Desc
             // 
             this.Desc.AutoSizeMode = System.Windows.Forms.DataGridViewAutoSizeColumnMode.Fill;
-            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Desc.DefaultCellStyle = dataGridViewCellStyle2;
+            dataGridViewCellStyle5.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            this.Desc.DefaultCellStyle = dataGridViewCellStyle5;
             resources.ApplyResources(this.Desc, "Desc");
             this.Desc.Name = "Desc";
             this.Desc.ReadOnly = true;
@@ -185,17 +166,21 @@ private void InitializeComponent()
             // BUT_find
             // 
             resources.ApplyResources(this.BUT_find, "BUT_find");
-            this.BUT_find.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_find.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_find.Name = "BUT_find";
-            this.BUT_find.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_find.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_find.UseVisualStyleBackColor = true;
             this.BUT_find.Click += new System.EventHandler(this.BUT_find_Click);
             // 
+            // but_iris
+            // 
+            resources.ApplyResources(this.but_iris, "but_iris");
+            this.but_iris.Name = "but_iris";
+            this.but_iris.UseVisualStyleBackColor = true;
+            this.but_iris.Click += new System.EventHandler(this.but_iris_Click);
+            // 
             // ConfigRawParams
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.Controls.Add(this.but_iris);
             this.Controls.Add(this.BUT_find);
             this.Controls.Add(this.label1);
             this.Controls.Add(this.BUT_compare);
@@ -228,5 +213,6 @@ private void InitializeComponent()
         private System.Windows.Forms.DataGridViewTextBoxColumn Options;
         private System.Windows.Forms.DataGridViewTextBoxColumn Desc;
         private Controls.MyButton BUT_find;
+        private Controls.MyButton but_iris;
     }
 }
diff --git a/GCSViews/ConfigurationView/ConfigRawParams.cs b/GCSViews/ConfigurationView/ConfigRawParams.cs
index b383f3f2e0..1aee821c71 100644
--- a/GCSViews/ConfigurationView/ConfigRawParams.cs
+++ b/GCSViews/ConfigurationView/ConfigRawParams.cs
@@ -9,6 +9,7 @@
 using log4net;
 using MissionPlanner.Controls;
 using System.Collections.Generic;
+using System.Net;
 
 namespace MissionPlanner.GCSViews.ConfigurationView
 {
@@ -126,42 +127,47 @@ private void BUT_load_Click(object sender, EventArgs e)
 
             if (dr == DialogResult.OK)
             {
-                Hashtable param2 = loadParamFile(ofd.FileName);
+                loadparamsfromfile(ofd.FileName);
+            }
+        }
+
+        void loadparamsfromfile(string fn)
+        {
+            Hashtable param2 = loadParamFile(fn);
 
-                foreach (string name in param2.Keys)
+            foreach (string name in param2.Keys)
+            {
+                string value = param2[name].ToString();
+                // set param table as well
+                foreach (DataGridViewRow row in Params.Rows)
                 {
-                    string value = param2[name].ToString();
-                    // set param table as well
-                    foreach (DataGridViewRow row in Params.Rows)
+                    if (name == "SYSID_SW_MREV")
+                        continue;
+                    if (name == "WP_TOTAL")
+                        continue;
+                    if (name == "CMD_TOTAL")
+                        continue;
+                    if (name == "FENCE_TOTAL")
+                        continue;
+                    if (name == "SYS_NUM_RESETS")
+                        continue;
+                    if (name == "ARSPD_OFFSET")
+                        continue;
+                    if (name == "GND_ABS_PRESS")
+                        continue;
+                    if (name == "GND_TEMP")
+                        continue;
+                    if (name == "CMD_INDEX")
+                        continue;
+                    if (name == "LOG_LASTFILE")
+                        continue;
+                    if (name == "FORMAT_VERSION")
+                        continue;
+                    if (row.Cells[0].Value.ToString() == name)
                     {
-                        if (name == "SYSID_SW_MREV")
-                            continue;
-                        if (name == "WP_TOTAL")
-                            continue;
-                        if (name == "CMD_TOTAL")
-                            continue;
-                        if (name == "FENCE_TOTAL")
-                            continue;
-                        if (name == "SYS_NUM_RESETS")
-                            continue;
-                        if (name == "ARSPD_OFFSET")
-                            continue;
-                        if (name == "GND_ABS_PRESS")
-                            continue;
-                        if (name == "GND_TEMP")
-                            continue;
-                        if (name == "CMD_INDEX")
-                            continue;
-                        if (name == "LOG_LASTFILE")
-                            continue;
-                        if (name == "FORMAT_VERSION")
-                            continue;
-                        if (row.Cells[0].Value.ToString() == name)
-                        {
-                            if (row.Cells[1].Value.ToString() != value.ToString())
-                                row.Cells[1].Value = value;
-                            break;
-                        }
+                        if (row.Cells[1].Value.ToString() != value.ToString())
+                            row.Cells[1].Value = value;
+                        break;
                     }
                 }
             }
@@ -488,5 +494,25 @@ private void BUT_find_Click(object sender, EventArgs e)
                 }
             }
         }
+
+        private void but_iris_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                string filepath = Application.StartupPath + Path.DirectorySeparatorChar + "Iris.param";
+
+                if (Common.getFilefromNet("https://github.com/diydrones/ardupilot/raw/master/Tools/Frame_params/Iris.param", filepath))
+                {
+                    loadparamsfromfile(filepath);
+
+                    CustomMessageBox.Show("Loaded parameters, please make sure you write them!","Loaded");
+                }
+                else
+                {
+                    CustomMessageBox.Show("Error getting Iris param file");
+                }
+            }
+            catch (Exception ex) { CustomMessageBox.Show("Error getting Iris param file" + ex.ToString()); }
+        }
     }
 }
diff --git a/GCSViews/ConfigurationView/ConfigRawParams.resx b/GCSViews/ConfigurationView/ConfigRawParams.resx
index e27e23afc0..07f4092fa9 100644
--- a/GCSViews/ConfigurationView/ConfigRawParams.resx
+++ b/GCSViews/ConfigurationView/ConfigRawParams.resx
@@ -112,26 +112,26 @@
     <value>2.0</value>
   </resheader>
   <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="BUT_compare.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
   </data>
   <data name="BUT_compare.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="BUT_compare.Location" type="System.Drawing.Point, System.Drawing">
     <value>631, 119</value>
   </data>
   <data name="BUT_compare.Size" type="System.Drawing.Size, System.Drawing">
     <value>103, 19</value>
   </data>
-  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <assembly alias="mscorlib" name="mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="BUT_compare.TabIndex" type="System.Int32, mscorlib">
     <value>72</value>
   </data>
@@ -142,13 +142,13 @@
     <value>BUT_compare</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_compare.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_compare.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_rerequestparams.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -172,13 +172,13 @@
     <value>BUT_rerequestparams</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_rerequestparams.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="BUT_writePIDS.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -202,13 +202,13 @@
     <value>BUT_writePIDS</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_writePIDS.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="BUT_save.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -235,13 +235,13 @@
     <value>BUT_save</value>
   </data>
   <data name="&gt;&gt;BUT_save.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_save.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_save.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_load.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -268,18 +268,18 @@
     <value>BUT_load</value>
   </data>
   <data name="&gt;&gt;BUT_load.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_load.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_load.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="Params.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Bottom, Left, Right</value>
   </data>
-  <metadata name="Command.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Command.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Command.HeaderText" xml:space="preserve">
@@ -288,7 +288,7 @@
   <data name="Command.Width" type="System.Int32, mscorlib">
     <value>150</value>
   </data>
-  <metadata name="Value.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Value.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Value.HeaderText" xml:space="preserve">
@@ -297,7 +297,7 @@
   <data name="Value.Width" type="System.Int32, mscorlib">
     <value>80</value>
   </data>
-  <metadata name="Units.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Units.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Units.HeaderText" xml:space="preserve">
@@ -306,13 +306,13 @@
   <data name="Units.Width" type="System.Int32, mscorlib">
     <value>60</value>
   </data>
-  <metadata name="Options.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Options.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Options.HeaderText" xml:space="preserve">
     <value>Options</value>
   </data>
-  <metadata name="Desc.UserAddedColumn" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="Desc.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="Desc.HeaderText" xml:space="preserve">
@@ -331,15 +331,15 @@
     <value>Params</value>
   </data>
   <data name="&gt;&gt;Params.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridView, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridView, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Params.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;Params.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
   <data name="label1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
@@ -368,13 +368,13 @@ format with no scaling</value>
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_find.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Top, Right</value>
@@ -398,15 +398,48 @@ format with no scaling</value>
     <value>BUT_find</value>
   </data>
   <data name="&gt;&gt;BUT_find.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_find.Parent" xml:space="preserve">
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_find.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="but_iris.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Right</value>
+  </data>
+  <data name="but_iris.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="but_iris.Location" type="System.Drawing.Point, System.Drawing">
+    <value>631, 276</value>
+  </data>
+  <data name="but_iris.Margin" type="System.Windows.Forms.Padding, System.Windows.Forms">
+    <value>0, 0, 0, 0</value>
+  </data>
+  <data name="but_iris.Size" type="System.Drawing.Size, System.Drawing">
+    <value>104, 19</value>
+  </data>
+  <data name="but_iris.TabIndex" type="System.Int32, mscorlib">
+    <value>75</value>
+  </data>
+  <data name="but_iris.Text" xml:space="preserve">
+    <value>Load Iris Defaults</value>
+  </data>
+  <data name="&gt;&gt;but_iris.Name" xml:space="preserve">
+    <value>but_iris</value>
+  </data>
+  <data name="&gt;&gt;but_iris.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;but_iris.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;but_iris.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
-  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="$this.Size" type="System.Drawing.Size, System.Drawing">
@@ -416,42 +449,42 @@ format with no scaling</value>
     <value>Command</value>
   </data>
   <data name="&gt;&gt;Command.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Value.Name" xml:space="preserve">
     <value>Value</value>
   </data>
   <data name="&gt;&gt;Value.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Units.Name" xml:space="preserve">
     <value>Units</value>
   </data>
   <data name="&gt;&gt;Units.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Options.Name" xml:space="preserve">
     <value>Options</value>
   </data>
   <data name="&gt;&gt;Options.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;Desc.Name" xml:space="preserve">
     <value>Desc</value>
   </data>
   <data name="&gt;&gt;Desc.Type" xml:space="preserve">
-    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.DataGridViewTextBoxColumn, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;toolTip1.Name" xml:space="preserve">
     <value>toolTip1</value>
   </data>
   <data name="&gt;&gt;toolTip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.ToolTip, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>ConfigRawParams</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.UserControl, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>
\ No newline at end of file
diff --git a/GCSViews/ConfigurationView/ConfigSimplePids.cs b/GCSViews/ConfigurationView/ConfigSimplePids.cs
index 31676fb4cc..e97fc312a0 100644
--- a/GCSViews/ConfigurationView/ConfigSimplePids.cs
+++ b/GCSViews/ConfigurationView/ConfigSimplePids.cs
@@ -24,7 +24,7 @@ public partial class ConfigSimplePids: MyUserControl, IActivate
 
         int y = 10;
 
-        class configitem
+        class configitem: IDisposable
         {
             public string title;
             public string desc;
@@ -39,6 +39,12 @@ class configitem
             public Label lbl_max = new Label();
             // use increments
 
+
+            public void Dispose()
+            {
+                lbl_max.Dispose();
+                lbl_min.Dispose();
+            }
         }
 
         class relationitem
diff --git a/GCSViews/FlightData.cs b/GCSViews/FlightData.cs
index aeae3d80da..634923c6b5 100644
--- a/GCSViews/FlightData.cs
+++ b/GCSViews/FlightData.cs
@@ -119,6 +119,19 @@ protected override void Dispose(bool disposing)
             }
             catch { }
 
+            if (polygons != null)
+                polygons.Dispose();
+            if (routes != null)
+                routes.Dispose();
+            if (route != null)
+                route.Dispose();
+            if (polygon != null)
+                polygon.Dispose();
+            if (marker != null)
+                marker.Dispose();
+            if (aviwriter != null)
+                aviwriter.Dispose();
+
             if (disposing && (components != null))
             {
                 components.Dispose();
diff --git a/GCSViews/FlightPlanner.Designer.cs b/GCSViews/FlightPlanner.Designer.cs
index 0e6f301b1c..cd89ac8eda 100644
--- a/GCSViews/FlightPlanner.Designer.cs
+++ b/GCSViews/FlightPlanner.Designer.cs
@@ -31,14 +31,14 @@ private void InitializeComponent()
         {
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FlightPlanner));
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle5 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle6 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle4 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle7 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle8 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle9 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle13 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle14 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle10 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle11 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle12 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle15 = new System.Windows.Forms.DataGridViewCellStyle();
+            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle16 = new System.Windows.Forms.DataGridViewCellStyle();
             this.CHK_altmode = new System.Windows.Forms.CheckBox();
             this.Commands = new System.Windows.Forms.DataGridView();
             this.Command = new System.Windows.Forms.DataGridViewComboBoxColumn();
@@ -96,6 +96,7 @@ private void InitializeComponent()
             this.splitter1 = new BSE.Windows.Forms.Splitter();
             this.BUT_Add = new MissionPlanner.Controls.MyButton();
             this.panelAction = new BSE.Windows.Forms.Panel();
+            this.lnk_kml = new System.Windows.Forms.LinkLabel();
             this.chk_grid = new System.Windows.Forms.CheckBox();
             this.comboBoxMapType = new System.Windows.Forms.ComboBox();
             this.panelMap = new System.Windows.Forms.Panel();
@@ -160,7 +161,7 @@ private void InitializeComponent()
             this.panelBASE = new System.Windows.Forms.Panel();
             this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.lnk_kml = new System.Windows.Forms.LinkLabel();
+            this.splineToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             ((System.ComponentModel.ISupportInitialize)(this.Commands)).BeginInit();
             this.panel5.SuspendLayout();
             this.panel1.SuspendLayout();
@@ -184,14 +185,14 @@ private void InitializeComponent()
             // 
             this.Commands.AllowUserToAddRows = false;
             resources.ApplyResources(this.Commands, "Commands");
-            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle1.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
+            dataGridViewCellStyle9.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle9.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle9.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle9.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle9.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle9.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            dataGridViewCellStyle9.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
+            this.Commands.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle9;
             this.Commands.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
             this.Command,
             this.Param1,
@@ -206,17 +207,17 @@ private void InitializeComponent()
             this.Down,
             this.Grad});
             this.Commands.Name = "Commands";
-            dataGridViewCellStyle5.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle5.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle5.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            dataGridViewCellStyle5.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle5.Format = "N0";
-            dataGridViewCellStyle5.NullValue = "0";
-            dataGridViewCellStyle5.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle5.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle5;
-            dataGridViewCellStyle6.ForeColor = System.Drawing.Color.Black;
-            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle6;
+            dataGridViewCellStyle13.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
+            dataGridViewCellStyle13.BackColor = System.Drawing.SystemColors.Control;
+            dataGridViewCellStyle13.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            dataGridViewCellStyle13.ForeColor = System.Drawing.SystemColors.WindowText;
+            dataGridViewCellStyle13.Format = "N0";
+            dataGridViewCellStyle13.NullValue = "0";
+            dataGridViewCellStyle13.SelectionBackColor = System.Drawing.SystemColors.Highlight;
+            dataGridViewCellStyle13.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
+            this.Commands.RowHeadersDefaultCellStyle = dataGridViewCellStyle13;
+            dataGridViewCellStyle14.ForeColor = System.Drawing.Color.Black;
+            this.Commands.RowsDefaultCellStyle = dataGridViewCellStyle14;
             this.Commands.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellContentClick);
             this.Commands.CellEndEdit += new System.Windows.Forms.DataGridViewCellEventHandler(this.Commands_CellEndEdit);
             this.Commands.DataError += new System.Windows.Forms.DataGridViewDataErrorEventHandler(this.Commands_DataError);
@@ -228,9 +229,9 @@ private void InitializeComponent()
             // 
             // Command
             // 
-            dataGridViewCellStyle2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
-            dataGridViewCellStyle2.ForeColor = System.Drawing.Color.White;
-            this.Command.DefaultCellStyle = dataGridViewCellStyle2;
+            dataGridViewCellStyle10.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(67)))), ((int)(((byte)(68)))), ((int)(((byte)(69)))));
+            dataGridViewCellStyle10.ForeColor = System.Drawing.Color.White;
+            this.Command.DefaultCellStyle = dataGridViewCellStyle10;
             this.Command.DisplayStyle = System.Windows.Forms.DataGridViewComboBoxDisplayStyle.ComboBox;
             resources.ApplyResources(this.Command, "Command");
             this.Command.Name = "Command";
@@ -296,7 +297,7 @@ private void InitializeComponent()
             // 
             // Up
             // 
-            this.Up.DefaultCellStyle = dataGridViewCellStyle3;
+            this.Up.DefaultCellStyle = dataGridViewCellStyle11;
             resources.ApplyResources(this.Up, "Up");
             this.Up.Image = global::MissionPlanner.Properties.Resources.up;
             this.Up.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -304,8 +305,8 @@ private void InitializeComponent()
             // 
             // Down
             // 
-            dataGridViewCellStyle4.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.Down.DefaultCellStyle = dataGridViewCellStyle4;
+            dataGridViewCellStyle12.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.Down.DefaultCellStyle = dataGridViewCellStyle12;
             resources.ApplyResources(this.Down, "Down");
             this.Down.Image = global::MissionPlanner.Properties.Resources.down;
             this.Down.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -435,8 +436,8 @@ private void InitializeComponent()
             // 
             // dataGridViewImageColumn1
             // 
-            dataGridViewCellStyle7.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle7;
+            dataGridViewCellStyle15.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn1.DefaultCellStyle = dataGridViewCellStyle15;
             resources.ApplyResources(this.dataGridViewImageColumn1, "dataGridViewImageColumn1");
             this.dataGridViewImageColumn1.Image = global::MissionPlanner.Properties.Resources.up;
             this.dataGridViewImageColumn1.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -444,8 +445,8 @@ private void InitializeComponent()
             // 
             // dataGridViewImageColumn2
             // 
-            dataGridViewCellStyle8.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
-            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle8;
+            dataGridViewCellStyle16.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleCenter;
+            this.dataGridViewImageColumn2.DefaultCellStyle = dataGridViewCellStyle16;
             resources.ApplyResources(this.dataGridViewImageColumn2, "dataGridViewImageColumn2");
             this.dataGridViewImageColumn2.Image = global::MissionPlanner.Properties.Resources.down;
             this.dataGridViewImageColumn2.ImageLayout = System.Windows.Forms.DataGridViewImageCellLayout.Stretch;
@@ -652,6 +653,13 @@ private void InitializeComponent()
             this.panelAction.ToolTipTextExpandIconPanelCollapsed = null;
             this.panelAction.ToolTipTextExpandIconPanelExpanded = null;
             // 
+            // lnk_kml
+            // 
+            resources.ApplyResources(this.lnk_kml, "lnk_kml");
+            this.lnk_kml.Name = "lnk_kml";
+            this.lnk_kml.TabStop = true;
+            this.lnk_kml.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.lnk_kml_LinkClicked);
+            // 
             // chk_grid
             // 
             resources.ApplyResources(this.chk_grid, "chk_grid");
@@ -741,7 +749,8 @@ private void InitializeComponent()
             this.mapToolToolStripMenuItem,
             this.fileLoadSaveToolStripMenuItem,
             this.trackerHomeToolStripMenuItem,
-            this.flyToHereToolStripMenuItem});
+            this.flyToHereToolStripMenuItem,
+            this.splineToolStripMenuItem});
             this.contextMenuStrip1.Name = "contextMenuStrip1";
             resources.ApplyResources(this.contextMenuStrip1, "contextMenuStrip1");
             this.contextMenuStrip1.Opening += new System.ComponentModel.CancelEventHandler(this.contextMenuStrip1_Opening);
@@ -1114,12 +1123,11 @@ private void InitializeComponent()
             this.timer1.Interval = 1200;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // lnk_kml
+            // splineToolStripMenuItem
             // 
-            resources.ApplyResources(this.lnk_kml, "lnk_kml");
-            this.lnk_kml.Name = "lnk_kml";
-            this.lnk_kml.TabStop = true;
-            this.lnk_kml.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.lnk_kml_LinkClicked);
+            this.splineToolStripMenuItem.Name = "splineToolStripMenuItem";
+            resources.ApplyResources(this.splineToolStripMenuItem, "splineToolStripMenuItem");
+            this.splineToolStripMenuItem.Click += new System.EventHandler(this.splineToolStripMenuItem_Click);
             // 
             // FlightPlanner
             // 
@@ -1274,5 +1282,6 @@ private void InitializeComponent()
         private System.Windows.Forms.DataGridViewTextBoxColumn Grad;
         private System.Windows.Forms.ToolStripMenuItem loadKMLFileToolStripMenuItem;
         private System.Windows.Forms.LinkLabel lnk_kml;
+        private System.Windows.Forms.ToolStripMenuItem splineToolStripMenuItem;
     }
 }
\ No newline at end of file
diff --git a/GCSViews/FlightPlanner.cs b/GCSViews/FlightPlanner.cs
index fa5fea22ee..f90c91d1c9 100644
--- a/GCSViews/FlightPlanner.cs
+++ b/GCSViews/FlightPlanner.cs
@@ -43,6 +43,7 @@ public partial class FlightPlanner : MyUserControl, IDeactivate, IActivate
         bool isonline = true;
         bool sethome = false;
         bool polygongridmode = false;
+        bool splinemode = false;
         Hashtable param = new Hashtable();
 
         bool grid = false;
@@ -299,6 +300,7 @@ public FlightPlanner()
             InitializeComponent();
 
             // config map             
+            MainMap.MapProvider = GoogleSatelliteMapProvider.Instance;
             MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/gmapcache/";
 
             // map events
@@ -393,7 +395,10 @@ public FlightPlanner()
             {
                 try
                 {
-                    comboBoxMapType.SelectedIndex = GMapProviders.List.FindIndex(x =>  (x.Name == MainV2.getConfig("MapType")) );
+                    var index = GMapProviders.List.FindIndex(x =>  (x.Name == MainV2.getConfig("MapType")) );
+
+                    if (index != -1)
+                        comboBoxMapType.SelectedIndex = index;
                 }
                 catch { }
             }
@@ -1023,6 +1028,9 @@ private void writeKML()
 
                 RegeneratePolygon();
 
+                if (splinemode)
+                    dospline();
+
                 if (wppolygon != null && wppolygon.Points.Count > 0)
                 {
                     double homedist = 0;
@@ -2431,7 +2439,7 @@ private void comboBoxMapType_SelectedValueChanged(object sender, EventArgs e)
                 FlightData.mymap.MapProvider = (GMapProvider)comboBoxMapType.SelectedItem;
                 MainV2.config["MapType"] = comboBoxMapType.Text;
             }
-            catch { CustomMessageBox.Show("Map change failed. try zomming out first."); }
+            catch { CustomMessageBox.Show("Map change failed. try zooming out first."); }
         }
 
         private void Commands_EditingControlShowing(object sender, DataGridViewEditingControlShowingEventArgs e)
@@ -4768,7 +4776,7 @@ private void getRallyPointsToolStripMenuItem_Click(object sender, EventArgs e)
                 try
                 {
                     PointLatLngAlt plla = MainV2.comPort.getRallyPoint(a, ref count);
-                    rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(new PointLatLng(plla.Lat, plla.Lng)) { ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "Rally Point" });
+                    rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(new PointLatLng(plla.Lat, plla.Lng)) { Alt = (int)plla.Alt, ToolTipMode = MarkerTooltipMode.OnMouseOver, ToolTipText = "Rally Point" });
                 }
                 catch { CustomMessageBox.Show("Failed to get rally point", "Error"); return; }
             }
@@ -4784,11 +4792,11 @@ private void saveRallyPointsToolStripMenuItem_Click(object sender, EventArgs e)
 
             MainV2.comPort.setParam("RALLY_TOTAL", rallypointoverlay.Markers.Count );
 
-            foreach (var pnt in rallypointoverlay.Markers)
+            foreach (GMapMarkerRallyPt pnt in rallypointoverlay.Markers)
             {
                 try
                 {
-                    MainV2.comPort.setRallyPoint(count, new PointLatLngAlt(pnt.Position) { Alt = int.Parse(TXT_DefaultAlt.Text) }, (short)int.Parse(TXT_DefaultAlt.Text), 0, 0, (byte)(float)MainV2.comPort.MAV.param["RALLY_TOTAL"]);
+                    MainV2.comPort.setRallyPoint(count, new PointLatLngAlt(pnt.Position) { Alt = pnt.Alt }, (short)pnt.Alt, 0, 0, (byte)(float)MainV2.comPort.MAV.param["RALLY_TOTAL"]);
                     count++;
                 }
                 catch { CustomMessageBox.Show("Failed to save rally point", "Error"); return; }
@@ -4797,15 +4805,29 @@ private void saveRallyPointsToolStripMenuItem_Click(object sender, EventArgs e)
 
         private void setRallyPointToolStripMenuItem_Click(object sender, EventArgs e)
         {
-            PointLatLngAlt rallypt = new PointLatLngAlt(MouseDownStart.Lat, MouseDownStart.Lng, int.Parse(TXT_DefaultAlt.Text), "Rally Point");
-            rallypointoverlay.Markers.Add(
-                    new GMapMarkerRallyPt(rallypt)
-                    {
-                        ToolTipMode = MarkerTooltipMode.OnMouseOver,
-                        ToolTipText = "Rally Point",
-                        Tag = rallypointoverlay.Markers.Count,
-                    }
-            );
+            string altstring = TXT_DefaultAlt.Text;
+
+            InputBox.Show("Altitude", "Altitude", ref altstring);
+
+            int alt = 0;
+
+            if (int.TryParse(altstring, out alt))
+            {
+                PointLatLngAlt rallypt = new PointLatLngAlt(MouseDownStart.Lat, MouseDownStart.Lng, alt * MainV2.comPort.MAV.cs.multiplierdist, "Rally Point");
+                rallypointoverlay.Markers.Add(
+                        new GMapMarkerRallyPt(rallypt)
+                        {
+                            ToolTipMode = MarkerTooltipMode.OnMouseOver,
+                            ToolTipText = "Rally Point" + "\nAlt: " + alt,
+                            Tag = rallypointoverlay.Markers.Count,
+                            Alt = alt,
+                        }
+                );
+            }
+            else
+            {
+                CustomMessageBox.Show("Bad Altitude","error");
+            }
         }
 
         private void clearRallyPointsToolStripMenuItem_Click(object sender, EventArgs e)
@@ -4925,5 +4947,31 @@ private void lnk_kml_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
             System.Diagnostics.Process.Start("http://127.0.0.1:56781/network.kml");
         }
 
+        private void splineToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            splinemode = !splinemode;
+
+            dospline();
+        }
+
+        void dospline()
+        {
+            if (pointlist.Count > 3 && pointlist[0] != pointlist[pointlist.Count - 1])
+                pointlist.Add(pointlist[0]);
+
+            MissionPlanner.Controls.Waypoints.Spline sp = new Controls.Waypoints.Spline();
+
+            List<PointLatLngAlt> spline = sp.doit(pointlist, 10);
+
+            List<PointLatLng> list = new List<PointLatLng>();
+            spline.ForEach(x => { list.Add(x); });
+
+            polygonsoverlay.Routes.Clear();
+
+            polygonsoverlay.Routes.Add(new GMapRoute(list, "spline") { Stroke = Pens.Yellow });
+
+            polygonsoverlay.Polygons.Clear();
+        }
+
     }
 }
diff --git a/GCSViews/FlightPlanner.resx b/GCSViews/FlightPlanner.resx
index bb26de56ac..f74fd0f39e 100644
--- a/GCSViews/FlightPlanner.resx
+++ b/GCSViews/FlightPlanner.resx
@@ -513,6 +513,51 @@
   <data name="panel5.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
+  <data name="&gt;&gt;BUT_write.Name" xml:space="preserve">
+    <value>BUT_write</value>
+  </data>
+  <data name="&gt;&gt;BUT_write.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_write.Parent" xml:space="preserve">
+    <value>panel5</value>
+  </data>
+  <data name="&gt;&gt;BUT_write.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="&gt;&gt;BUT_read.Name" xml:space="preserve">
+    <value>BUT_read</value>
+  </data>
+  <data name="&gt;&gt;BUT_read.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;BUT_read.Parent" xml:space="preserve">
+    <value>panel5</value>
+  </data>
+  <data name="&gt;&gt;BUT_read.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
+    <value>8, 301</value>
+  </data>
+  <data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
+    <value>117, 63</value>
+  </data>
+  <data name="panel5.TabIndex" type="System.Int32, mscorlib">
+    <value>29</value>
+  </data>
+  <data name="&gt;&gt;panel5.Name" xml:space="preserve">
+    <value>panel5</value>
+  </data>
+  <data name="&gt;&gt;panel5.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel5.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
   <data name="BUT_write.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -567,29 +612,113 @@
   <data name="&gt;&gt;BUT_read.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
-  <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 301</value>
+  <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Bottom, Right</value>
   </data>
-  <data name="panel5.Size" type="System.Drawing.Size, System.Drawing">
-    <value>117, 63</value>
+  <data name="&gt;&gt;label4.Name" xml:space="preserve">
+    <value>label4</value>
   </data>
-  <data name="panel5.TabIndex" type="System.Int32, mscorlib">
-    <value>29</value>
+  <data name="&gt;&gt;label4.Type" xml:space="preserve">
+    <value>System.Windows.Forms.LinkLabel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;panel5.Name" xml:space="preserve">
-    <value>panel5</value>
+  <data name="&gt;&gt;label4.Parent" xml:space="preserve">
+    <value>panel1</value>
   </data>
-  <data name="&gt;&gt;panel5.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  <data name="&gt;&gt;label4.ZOrder" xml:space="preserve">
+    <value>0</value>
   </data>
-  <data name="&gt;&gt;panel5.Parent" xml:space="preserve">
-    <value>panelAction</value>
+  <data name="&gt;&gt;label3.Name" xml:space="preserve">
+    <value>label3</value>
   </data>
-  <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;label3.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="&gt;&gt;label2.Name" xml:space="preserve">
+    <value>label2</value>
+  </data>
+  <data name="&gt;&gt;label2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
     <value>2</value>
   </data>
-  <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Bottom, Right</value>
+  <data name="&gt;&gt;Label1.Name" xml:space="preserve">
+    <value>Label1</value>
+  </data>
+  <data name="&gt;&gt;Label1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;Label1.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;Label1.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="&gt;&gt;TXT_homealt.Name" xml:space="preserve">
+    <value>TXT_homealt</value>
+  </data>
+  <data name="&gt;&gt;TXT_homealt.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_homealt.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;TXT_homealt.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelng.Name" xml:space="preserve">
+    <value>TXT_homelng</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelng.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelng.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelng.ZOrder" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelat.Name" xml:space="preserve">
+    <value>TXT_homelat</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelat.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelat.Parent" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>8, 365</value>
+  </data>
+  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>117, 89</value>
+  </data>
+  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
+    <value>31</value>
+  </data>
+  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
+    <value>panelAction</value>
+  </data>
+  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+    <value>3</value>
   </data>
   <data name="label4.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -774,66 +903,258 @@
   <data name="&gt;&gt;TXT_homelat.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
-  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>8, 365</value>
+  <data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve">
+    <value>Up</value>
   </data>
-  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>117, 89</value>
+  <data name="dataGridViewImageColumn1.Width" type="System.Int32, mscorlib">
+    <value>20</value>
   </data>
-  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
-    <value>31</value>
+  <data name="dataGridViewImageColumn2.HeaderText" xml:space="preserve">
+    <value>Down</value>
   </data>
-  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
-    <value>panel1</value>
+  <data name="dataGridViewImageColumn2.Width" type="System.Int32, mscorlib">
+    <value>20</value>
   </data>
-  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  <data name="label6.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
   </data>
-  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
-    <value>panelAction</value>
+  <data name="label6.Location" type="System.Drawing.Point, System.Drawing">
+    <value>0, 0</value>
   </data>
-  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+  <data name="label6.Size" type="System.Drawing.Size, System.Drawing">
+    <value>100, 23</value>
+  </data>
+  <data name="label6.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="&gt;&gt;label6.Name" xml:space="preserve">
+    <value>label6</value>
+  </data>
+  <data name="&gt;&gt;label6.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label6.Parent" xml:space="preserve">
+    <value>panelBASE</value>
+  </data>
+  <data name="&gt;&gt;label6.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Bottom, Right</value>
+  </data>
+  <data name="&gt;&gt;label16.Name" xml:space="preserve">
+    <value>label16</value>
+  </data>
+  <data name="&gt;&gt;label16.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label16.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label16.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_mgrs.Name" xml:space="preserve">
+    <value>txt_mouse_mgrs</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_mgrs.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_mgrs.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_mgrs.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="&gt;&gt;label15.Name" xml:space="preserve">
+    <value>label15</value>
+  </data>
+  <data name="&gt;&gt;label15.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label15.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label15.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmzone.Name" xml:space="preserve">
+    <value>txt_mouse_utmzone</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmzone.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmzone.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmzone.ZOrder" xml:space="preserve">
     <value>3</value>
   </data>
-  <data name="dataGridViewImageColumn1.HeaderText" xml:space="preserve">
-    <value>Up</value>
+  <data name="&gt;&gt;label14.Name" xml:space="preserve">
+    <value>label14</value>
   </data>
-  <data name="dataGridViewImageColumn1.Width" type="System.Int32, mscorlib">
-    <value>20</value>
+  <data name="&gt;&gt;label14.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="dataGridViewImageColumn2.HeaderText" xml:space="preserve">
-    <value>Down</value>
+  <data name="&gt;&gt;label14.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label14.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="&gt;&gt;label12.Name" xml:space="preserve">
+    <value>label12</value>
+  </data>
+  <data name="&gt;&gt;label12.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label12.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label12.ZOrder" xml:space="preserve">
+    <value>5</value>
+  </data>
+  <data name="&gt;&gt;label13.Name" xml:space="preserve">
+    <value>label13</value>
+  </data>
+  <data name="&gt;&gt;label13.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label13.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label13.ZOrder" xml:space="preserve">
+    <value>6</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmy.Name" xml:space="preserve">
+    <value>txt_mouse_utmy</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmy.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmy.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmy.ZOrder" xml:space="preserve">
+    <value>7</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmx.Name" xml:space="preserve">
+    <value>txt_mouse_utmx</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmx.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmx.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;txt_mouse_utmx.ZOrder" xml:space="preserve">
+    <value>8</value>
+  </data>
+  <data name="&gt;&gt;label7.Name" xml:space="preserve">
+    <value>label7</value>
+  </data>
+  <data name="&gt;&gt;label7.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label7.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label7.ZOrder" xml:space="preserve">
+    <value>9</value>
+  </data>
+  <data name="&gt;&gt;label8.Name" xml:space="preserve">
+    <value>label8</value>
+  </data>
+  <data name="&gt;&gt;label8.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label8.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label8.ZOrder" xml:space="preserve">
+    <value>10</value>
+  </data>
+  <data name="&gt;&gt;label9.Name" xml:space="preserve">
+    <value>label9</value>
+  </data>
+  <data name="&gt;&gt;label9.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label9.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
+    <value>11</value>
+  </data>
+  <data name="&gt;&gt;label10.Name" xml:space="preserve">
+    <value>label10</value>
+  </data>
+  <data name="&gt;&gt;label10.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label10.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;label10.ZOrder" xml:space="preserve">
+    <value>12</value>
+  </data>
+  <data name="&gt;&gt;TXT_mousealt.Name" xml:space="preserve">
+    <value>TXT_mousealt</value>
+  </data>
+  <data name="&gt;&gt;TXT_mousealt.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_mousealt.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;TXT_mousealt.ZOrder" xml:space="preserve">
+    <value>13</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselong.Name" xml:space="preserve">
+    <value>TXT_mouselong</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselong.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselong.Parent" xml:space="preserve">
+    <value>panel2</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselong.ZOrder" xml:space="preserve">
+    <value>14</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselat.Name" xml:space="preserve">
+    <value>TXT_mouselat</value>
+  </data>
+  <data name="&gt;&gt;TXT_mouselat.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="dataGridViewImageColumn2.Width" type="System.Int32, mscorlib">
-    <value>20</value>
+  <data name="&gt;&gt;TXT_mouselat.Parent" xml:space="preserve">
+    <value>panel2</value>
   </data>
-  <data name="label6.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
+  <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
+    <value>15</value>
   </data>
-  <data name="label6.Location" type="System.Drawing.Point, System.Drawing">
-    <value>0, 0</value>
+  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>4, 25</value>
   </data>
-  <data name="label6.Size" type="System.Drawing.Size, System.Drawing">
-    <value>100, 23</value>
+  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>123, 212</value>
   </data>
-  <data name="label6.TabIndex" type="System.Int32, mscorlib">
-    <value>47</value>
+  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
+    <value>38</value>
   </data>
-  <data name="&gt;&gt;label6.Name" xml:space="preserve">
-    <value>label6</value>
+  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
+    <value>panel2</value>
   </data>
-  <data name="&gt;&gt;label6.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;label6.Parent" xml:space="preserve">
-    <value>panelBASE</value>
+  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
+    <value>panelAction</value>
   </data>
-  <data name="&gt;&gt;label6.ZOrder" xml:space="preserve">
+  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
     <value>4</value>
   </data>
-  <data name="panel2.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Bottom, Right</value>
-  </data>
   <data name="label16.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -1251,27 +1572,6 @@
   <data name="&gt;&gt;TXT_mouselat.ZOrder" xml:space="preserve">
     <value>15</value>
   </data>
-  <data name="panel2.Location" type="System.Drawing.Point, System.Drawing">
-    <value>4, 25</value>
-  </data>
-  <data name="panel2.Size" type="System.Drawing.Size, System.Drawing">
-    <value>123, 212</value>
-  </data>
-  <data name="panel2.TabIndex" type="System.Int32, mscorlib">
-    <value>38</value>
-  </data>
-  <data name="&gt;&gt;panel2.Name" xml:space="preserve">
-    <value>panel2</value>
-  </data>
-  <data name="&gt;&gt;panel2.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panel2.Parent" xml:space="preserve">
-    <value>panelAction</value>
-  </data>
-  <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
   <data name="lbl_status.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Right</value>
   </data>
@@ -1332,6 +1632,9 @@
   <data name="&gt;&gt;splitter1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>172, 17</value>
+  </metadata>
   <data name="BUT_Add.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -1347,9 +1650,6 @@
   <data name="BUT_Add.Text" xml:space="preserve">
     <value>Add Below</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>172, 17</value>
-  </metadata>
   <data name="BUT_Add.ToolTip" xml:space="preserve">
     <value>Add a line to the grid bellow</value>
   </data>
@@ -1593,35 +1893,260 @@
   <data name="lbl_prevdist.Text" xml:space="preserve">
     <value>Prev</value>
   </data>
-  <data name="&gt;&gt;lbl_prevdist.Name" xml:space="preserve">
-    <value>lbl_prevdist</value>
+  <data name="&gt;&gt;lbl_prevdist.Name" xml:space="preserve">
+    <value>lbl_prevdist</value>
+  </data>
+  <data name="&gt;&gt;lbl_prevdist.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;lbl_prevdist.Parent" xml:space="preserve">
+    <value>panelMap</value>
+  </data>
+  <data name="&gt;&gt;lbl_prevdist.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="MainMap.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Bottom, Left, Right</value>
+  </data>
+  <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+  <data name="deleteWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
+    <value>Delete WP</value>
+  </data>
+  <data name="insertWpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="insertWpToolStripMenuItem.Text" xml:space="preserve">
+    <value>Insert Wp</value>
+  </data>
+  <data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="loiterToolStripMenuItem.Text" xml:space="preserve">
+    <value>Loiter</value>
+  </data>
+  <data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="jumpToolStripMenuItem.Text" xml:space="preserve">
+    <value>Jump</value>
+  </data>
+  <data name="rTLToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="rTLToolStripMenuItem.Text" xml:space="preserve">
+    <value>RTL</value>
+  </data>
+  <data name="landToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="landToolStripMenuItem.Text" xml:space="preserve">
+    <value>Land</value>
+  </data>
+  <data name="takeoffToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="takeoffToolStripMenuItem.Text" xml:space="preserve">
+    <value>Takeoff</value>
+  </data>
+  <data name="setROIToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="setROIToolStripMenuItem.Text" xml:space="preserve">
+    <value>Set ROI</value>
+  </data>
+  <data name="clearMissionToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="clearMissionToolStripMenuItem.Text" xml:space="preserve">
+    <value>Clear Mission</value>
+  </data>
+  <data name="toolStripSeparator1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>149, 6</value>
+  </data>
+  <data name="polygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="polygonToolStripMenuItem.Text" xml:space="preserve">
+    <value>Draw Polygon</value>
+  </data>
+  <data name="rallyPointsToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="rallyPointsToolStripMenuItem.Text" xml:space="preserve">
+    <value>Rally Points</value>
+  </data>
+  <data name="geoFenceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="geoFenceToolStripMenuItem.Text" xml:space="preserve">
+    <value>Geo-Fence</value>
+  </data>
+  <data name="autoWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="autoWPToolStripMenuItem.Text" xml:space="preserve">
+    <value>Auto WP</value>
+  </data>
+  <data name="mapToolToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="mapToolToolStripMenuItem.Text" xml:space="preserve">
+    <value>Map Tool</value>
+  </data>
+  <data name="fileLoadSaveToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="fileLoadSaveToolStripMenuItem.Text" xml:space="preserve">
+    <value>File Load/Save</value>
+  </data>
+  <data name="trackerHomeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="trackerHomeToolStripMenuItem.Text" xml:space="preserve">
+    <value>Tracker Home</value>
+  </data>
+  <data name="flyToHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="flyToHereToolStripMenuItem.Text" xml:space="preserve">
+    <value>Fly To Here</value>
+  </data>
+  <data name="flyToHereToolStripMenuItem.Visible" type="System.Boolean, mscorlib">
+    <value>False</value>
+  </data>
+  <data name="splineToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
+    <value>152, 22</value>
+  </data>
+  <data name="splineToolStripMenuItem.Text" xml:space="preserve">
+    <value>View As Spline</value>
+  </data>
+  <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>153, 428</value>
+  </data>
+  <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
+    <value>contextMenuStrip1</value>
+  </data>
+  <data name="&gt;&gt;contextMenuStrip1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
+    <value>0, 0</value>
+  </data>
+  <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
+    <value>577, 320</value>
+  </data>
+  <data name="MainMap.TabIndex" type="System.Int32, mscorlib">
+    <value>45</value>
+  </data>
+  <data name="&gt;&gt;MainMap.Name" xml:space="preserve">
+    <value>MainMap</value>
+  </data>
+  <data name="&gt;&gt;MainMap.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.myGMAP, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
+    <value>panelMap</value>
+  </data>
+  <data name="&gt;&gt;MainMap.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="trackBar1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Bottom, Right</value>
+  </data>
+  <data name="trackBar1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="trackBar1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>586, 21</value>
+  </data>
+  <data name="trackBar1.Orientation" type="System.Windows.Forms.Orientation, System.Windows.Forms">
+    <value>Vertical</value>
+  </data>
+  <data name="trackBar1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>45, 300</value>
+  </data>
+  <data name="trackBar1.TabIndex" type="System.Int32, mscorlib">
+    <value>46</value>
+  </data>
+  <data name="&gt;&gt;trackBar1.Name" xml:space="preserve">
+    <value>trackBar1</value>
+  </data>
+  <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
+    <value>MissionPlanner.Controls.MyTrackBar, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
+  </data>
+  <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
+    <value>panelMap</value>
+  </data>
+  <data name="&gt;&gt;trackBar1.ZOrder" xml:space="preserve">
+    <value>4</value>
+  </data>
+  <data name="label11.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Right</value>
+  </data>
+  <data name="label11.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label11.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label11.Location" type="System.Drawing.Point, System.Drawing">
+    <value>583, 5</value>
+  </data>
+  <data name="label11.Size" type="System.Drawing.Size, System.Drawing">
+    <value>34, 13</value>
+  </data>
+  <data name="label11.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="label11.Text" xml:space="preserve">
+    <value>Zoom</value>
+  </data>
+  <data name="&gt;&gt;label11.Name" xml:space="preserve">
+    <value>label11</value>
   </data>
-  <data name="&gt;&gt;lbl_prevdist.Type" xml:space="preserve">
+  <data name="&gt;&gt;label11.Type" xml:space="preserve">
     <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
-  <data name="&gt;&gt;lbl_prevdist.Parent" xml:space="preserve">
+  <data name="&gt;&gt;label11.Parent" xml:space="preserve">
     <value>panelMap</value>
   </data>
-  <data name="&gt;&gt;lbl_prevdist.ZOrder" xml:space="preserve">
-    <value>2</value>
+  <data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
+    <value>5</value>
   </data>
-  <data name="MainMap.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Top, Bottom, Left, Right</value>
+  <data name="panelMap.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
+    <value>Fill</value>
   </data>
-  <metadata name="contextMenuStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
-  <data name="deleteWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
+  <data name="panelMap.Location" type="System.Drawing.Point, System.Drawing">
+    <value>0, 0</value>
   </data>
-  <data name="deleteWPToolStripMenuItem.Text" xml:space="preserve">
-    <value>Delete WP</value>
+  <data name="panelMap.MinimumSize" type="System.Drawing.Size, System.Drawing">
+    <value>27, 27</value>
   </data>
-  <data name="insertWpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
+  <data name="panelMap.Size" type="System.Drawing.Size, System.Drawing">
+    <value>617, 327</value>
   </data>
-  <data name="insertWpToolStripMenuItem.Text" xml:space="preserve">
-    <value>Insert Wp</value>
+  <data name="panelMap.TabIndex" type="System.Int32, mscorlib">
+    <value>51</value>
+  </data>
+  <data name="panelMap.Text" xml:space="preserve">
+    <value>panel6</value>
+  </data>
+  <data name="&gt;&gt;panelMap.Name" xml:space="preserve">
+    <value>panelMap</value>
+  </data>
+  <data name="&gt;&gt;panelMap.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panelMap.Parent" xml:space="preserve">
+    <value>panelBASE</value>
+  </data>
+  <data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
+    <value>1</value>
   </data>
   <data name="loiterForeverToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>113, 22</value>
@@ -1641,12 +2166,6 @@
   <data name="loitercirclesToolStripMenuItem.Text" xml:space="preserve">
     <value>Circles</value>
   </data>
-  <data name="loiterToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="loiterToolStripMenuItem.Text" xml:space="preserve">
-    <value>Loiter</value>
-  </data>
   <data name="jumpstartToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>102, 22</value>
   </data>
@@ -1659,45 +2178,6 @@
   <data name="jumpwPToolStripMenuItem.Text" xml:space="preserve">
     <value>WP #</value>
   </data>
-  <data name="jumpToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="jumpToolStripMenuItem.Text" xml:space="preserve">
-    <value>Jump</value>
-  </data>
-  <data name="rTLToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="rTLToolStripMenuItem.Text" xml:space="preserve">
-    <value>RTL</value>
-  </data>
-  <data name="landToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="landToolStripMenuItem.Text" xml:space="preserve">
-    <value>Land</value>
-  </data>
-  <data name="takeoffToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="takeoffToolStripMenuItem.Text" xml:space="preserve">
-    <value>Takeoff</value>
-  </data>
-  <data name="setROIToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="setROIToolStripMenuItem.Text" xml:space="preserve">
-    <value>Set ROI</value>
-  </data>
-  <data name="clearMissionToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="clearMissionToolStripMenuItem.Text" xml:space="preserve">
-    <value>Clear Mission</value>
-  </data>
-  <data name="toolStripSeparator1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>147, 6</value>
-  </data>
   <data name="addPolygonPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>174, 22</value>
   </data>
@@ -1722,12 +2202,6 @@
   <data name="loadPolygonToolStripMenuItem.Text" xml:space="preserve">
     <value>Load Polygon</value>
   </data>
-  <data name="polygonToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="polygonToolStripMenuItem.Text" xml:space="preserve">
-    <value>Draw Polygon</value>
-  </data>
   <data name="setRallyPointToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>165, 22</value>
   </data>
@@ -1752,12 +2226,6 @@
   <data name="clearRallyPointsToolStripMenuItem.Text" xml:space="preserve">
     <value>Clear Rally Points</value>
   </data>
-  <data name="rallyPointsToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="rallyPointsToolStripMenuItem.Text" xml:space="preserve">
-    <value>Rally Points</value>
-  </data>
   <data name="toolStripMenuItem1.Size" type="System.Drawing.Size, System.Drawing">
     <value>177, 22</value>
   </data>
@@ -1797,12 +2265,6 @@
   <data name="saveToFileToolStripMenuItem.Text" xml:space="preserve">
     <value>Save to File</value>
   </data>
-  <data name="geoFenceToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="geoFenceToolStripMenuItem.Text" xml:space="preserve">
-    <value>Geo-Fence</value>
-  </data>
   <data name="createWpCircleToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>162, 22</value>
   </data>
@@ -1815,12 +2277,6 @@
   <data name="areaToolStripMenuItem.Text" xml:space="preserve">
     <value>Area</value>
   </data>
-  <data name="autoWPToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="autoWPToolStripMenuItem.Text" xml:space="preserve">
-    <value>Auto WP</value>
-  </data>
   <data name="ContextMeasure.Size" type="System.Drawing.Size, System.Drawing">
     <value>167, 22</value>
   </data>
@@ -1863,12 +2319,6 @@
   <data name="reverseWPsToolStripMenuItem.Text" xml:space="preserve">
     <value>Reverse WPs</value>
   </data>
-  <data name="mapToolToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="mapToolToolStripMenuItem.Text" xml:space="preserve">
-    <value>Map Tool</value>
-  </data>
   <data name="loadWPFileToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
     <value>168, 22</value>
   </data>
@@ -1893,150 +2343,6 @@
   <data name="loadKMLFileToolStripMenuItem.Text" xml:space="preserve">
     <value>Load KML File</value>
   </data>
-  <data name="fileLoadSaveToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="fileLoadSaveToolStripMenuItem.Text" xml:space="preserve">
-    <value>File Load/Save</value>
-  </data>
-  <data name="trackerHomeToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="trackerHomeToolStripMenuItem.Text" xml:space="preserve">
-    <value>Tracker Home</value>
-  </data>
-  <data name="flyToHereToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
-    <value>150, 22</value>
-  </data>
-  <data name="flyToHereToolStripMenuItem.Text" xml:space="preserve">
-    <value>Fly To Here</value>
-  </data>
-  <data name="flyToHereToolStripMenuItem.Visible" type="System.Boolean, mscorlib">
-    <value>False</value>
-  </data>
-  <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>151, 384</value>
-  </data>
-  <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
-    <value>contextMenuStrip1</value>
-  </data>
-  <data name="&gt;&gt;contextMenuStrip1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>0, 0</value>
-  </data>
-  <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
-    <value>577, 320</value>
-  </data>
-  <data name="MainMap.TabIndex" type="System.Int32, mscorlib">
-    <value>45</value>
-  </data>
-  <data name="&gt;&gt;MainMap.Name" xml:space="preserve">
-    <value>MainMap</value>
-  </data>
-  <data name="&gt;&gt;MainMap.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.myGMAP, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;MainMap.Parent" xml:space="preserve">
-    <value>panelMap</value>
-  </data>
-  <data name="&gt;&gt;MainMap.ZOrder" xml:space="preserve">
-    <value>3</value>
-  </data>
-  <data name="trackBar1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Top, Bottom, Right</value>
-  </data>
-  <data name="trackBar1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="trackBar1.Location" type="System.Drawing.Point, System.Drawing">
-    <value>586, 21</value>
-  </data>
-  <data name="trackBar1.Orientation" type="System.Windows.Forms.Orientation, System.Windows.Forms">
-    <value>Vertical</value>
-  </data>
-  <data name="trackBar1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>45, 300</value>
-  </data>
-  <data name="trackBar1.TabIndex" type="System.Int32, mscorlib">
-    <value>46</value>
-  </data>
-  <data name="&gt;&gt;trackBar1.Name" xml:space="preserve">
-    <value>trackBar1</value>
-  </data>
-  <data name="&gt;&gt;trackBar1.Type" xml:space="preserve">
-    <value>MissionPlanner.Controls.MyTrackBar, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
-  </data>
-  <data name="&gt;&gt;trackBar1.Parent" xml:space="preserve">
-    <value>panelMap</value>
-  </data>
-  <data name="&gt;&gt;trackBar1.ZOrder" xml:space="preserve">
-    <value>4</value>
-  </data>
-  <data name="label11.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
-    <value>Top, Right</value>
-  </data>
-  <data name="label11.AutoSize" type="System.Boolean, mscorlib">
-    <value>True</value>
-  </data>
-  <data name="label11.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
-    <value>NoControl</value>
-  </data>
-  <data name="label11.Location" type="System.Drawing.Point, System.Drawing">
-    <value>583, 5</value>
-  </data>
-  <data name="label11.Size" type="System.Drawing.Size, System.Drawing">
-    <value>34, 13</value>
-  </data>
-  <data name="label11.TabIndex" type="System.Int32, mscorlib">
-    <value>47</value>
-  </data>
-  <data name="label11.Text" xml:space="preserve">
-    <value>Zoom</value>
-  </data>
-  <data name="&gt;&gt;label11.Name" xml:space="preserve">
-    <value>label11</value>
-  </data>
-  <data name="&gt;&gt;label11.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;label11.Parent" xml:space="preserve">
-    <value>panelMap</value>
-  </data>
-  <data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
-    <value>5</value>
-  </data>
-  <data name="panelMap.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
-    <value>Fill</value>
-  </data>
-  <data name="panelMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>0, 0</value>
-  </data>
-  <data name="panelMap.MinimumSize" type="System.Drawing.Size, System.Drawing">
-    <value>27, 27</value>
-  </data>
-  <data name="panelMap.Size" type="System.Drawing.Size, System.Drawing">
-    <value>617, 327</value>
-  </data>
-  <data name="panelMap.TabIndex" type="System.Int32, mscorlib">
-    <value>51</value>
-  </data>
-  <data name="panelMap.Text" xml:space="preserve">
-    <value>panel6</value>
-  </data>
-  <data name="&gt;&gt;panelMap.Name" xml:space="preserve">
-    <value>panelMap</value>
-  </data>
-  <data name="&gt;&gt;panelMap.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
-  <data name="&gt;&gt;panelMap.Parent" xml:space="preserve">
-    <value>panelBASE</value>
-  </data>
-  <data name="&gt;&gt;panelMap.ZOrder" xml:space="preserve">
-    <value>1</value>
-  </data>
   <data name="panelBASE.Dock" type="System.Windows.Forms.DockStyle, System.Windows.Forms">
     <value>Fill</value>
   </data>
@@ -2061,6 +2367,9 @@
   <data name="&gt;&gt;panelBASE.ZOrder" xml:space="preserve">
     <value>1</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>172, 17</value>
+  </metadata>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>269, 17</value>
   </metadata>
@@ -2478,6 +2787,12 @@
   <data name="&gt;&gt;timer1.Type" xml:space="preserve">
     <value>System.Windows.Forms.Timer, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
+  <data name="&gt;&gt;splineToolStripMenuItem.Name" xml:space="preserve">
+    <value>splineToolStripMenuItem</value>
+  </data>
+  <data name="&gt;&gt;splineToolStripMenuItem.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ToolStripMenuItem, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
   <data name="&gt;&gt;$this.Name" xml:space="preserve">
     <value>FlightPlanner</value>
   </data>
diff --git a/GCSViews/Simple.cs b/GCSViews/Simple.cs
index 3b33df4166..4fdbf4b397 100644
--- a/GCSViews/Simple.cs
+++ b/GCSViews/Simple.cs
@@ -94,8 +94,25 @@ protected override void Dispose(bool disposing)
         {
             threadrun = 0;
             MainV2.comPort.logreadmode = false;
-  
+
             System.Threading.Thread.Sleep(100);
+
+            if (routes != null)
+                route.Dispose();
+            if (routes != null)
+                routes.Dispose();
+            if (swlog != null)
+                swlog.Dispose();
+            if (polygon != null)
+                polygon.Dispose();
+            if (polygons != null)
+                polygons.Dispose();
+            if (marker != null)
+                marker.Dispose();
+
+            if (components != null)
+                components.Dispose();
+
             base.Dispose(disposing);
         }
 
diff --git a/GCSViews/Simulation.cs b/GCSViews/Simulation.cs
index 8685916210..54163cab95 100644
--- a/GCSViews/Simulation.cs
+++ b/GCSViews/Simulation.cs
@@ -20,7 +20,7 @@
 // Written by Michael Oborne
 namespace MissionPlanner.GCSViews
 {
-    public partial class Simulation : MyUserControl, IActivate
+    public partial class Simulation : MyUserControl
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         MAVLinkInterface comPort = MainV2.comPort;
@@ -242,9 +242,12 @@ public struct TDataFromAeroSimRC
             if (threadrun == 1)
                 ConnectComPort_Click(new object(), new EventArgs());
 
+            this.Dispose(false);
+
             MavLink = null;
             XplanesSEND = null;
             SimulatorRECV = null;
+            SITLSEND = null;
         }
 
         public Simulation()
@@ -252,10 +255,6 @@ public Simulation()
             InitializeComponent();
         }
 
-        public void Activate()
-        {
-        }
-
         private void Simulation_Load(object sender, EventArgs e)
         {
             timer_servo_graph.Stop();
diff --git a/GCSViews/Terminal.cs b/GCSViews/Terminal.cs
index b9a9d06667..3b8471192c 100644
--- a/GCSViews/Terminal.cs
+++ b/GCSViews/Terminal.cs
@@ -591,6 +591,9 @@ private void BUT_logbrowse_Click(object sender, EventArgs e)
 
         private void BUT_RebootAPM_Click(object sender, EventArgs e)
         {
+            if (MainV2.comPort.BaseStream.IsOpen)
+                MainV2.comPort.BaseStream.Close();
+
             if (comPort.IsOpen)
             {
                 BUT_disconnect.Enabled = true;
diff --git a/GenOTP.cs b/GenOTP.cs
index 354cc52ae4..f01e27a465 100644
--- a/GenOTP.cs
+++ b/GenOTP.cs
@@ -76,8 +76,6 @@ private void BUT_makeotp_Click(object sender, EventArgs e)
 
              //   bw.Seek(32, SeekOrigin.Begin);
                 bw.Write(signedhash);
-
-                bw.Close();
             }
 
             CustomMessageBox.Show("Done");
diff --git a/HIL/Vector3.cs b/HIL/Vector3.cs
index 35a57421ad..db84d970ba 100644
--- a/HIL/Vector3.cs
+++ b/HIL/Vector3.cs
@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using MissionPlanner.Utilities;
 
 namespace MissionPlanner.HIL
 {
@@ -35,6 +36,11 @@ public Vector3(Vector3 copyme)
                                                   self.z);
         }
 
+        public static implicit operator Vector3(PointLatLngAlt a)
+        {
+            return new Vector3(a.Lat,a.Lng,a.Alt);
+        }
+
         public static Vector3 operator +(Vector3 self, Vector3 v)
         {
 
diff --git a/HIL/XPlane.cs b/HIL/XPlane.cs
index 94812f699a..b5ea9f55a0 100644
--- a/HIL/XPlane.cs
+++ b/HIL/XPlane.cs
@@ -7,7 +7,7 @@
 
 namespace MissionPlanner.HIL
 {
-    public class XPlane : Hil
+    public class XPlane : Hil, IDisposable
     {
         Socket SimulatorRECV;
         UdpClient XplanesSEND;
@@ -401,5 +401,11 @@ void setupXplane()
             catch (Exception e) { log.Info("Xplanes udp send error " + e.Message); }
 
         }
+
+        public void Dispose()
+        {
+            if (SimulatorRECV != null)
+                SimulatorRECV.Dispose();
+        }
     }
 }
\ No newline at end of file
diff --git a/Joystick.cs b/Joystick.cs
index 0f64613d06..0bb92c59d3 100644
--- a/Joystick.cs
+++ b/Joystick.cs
@@ -9,7 +9,7 @@
 
 namespace MissionPlanner
 {
-    public class Joystick
+    public class Joystick: IDisposable
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         Device joystick;
@@ -697,5 +697,11 @@ ushort pickchannel(int chan, joystickaxis axis, bool rev, int expo)
 
             return (ushort)working;
         }
+
+        public void Dispose()
+        {
+            if (joystick != null)
+                joystick.Dispose();
+        }
     }
 }
diff --git a/Log/Log.Designer.cs b/Log/Log.Designer.cs
index b0975c1e37..a6eab47d28 100644
--- a/Log/Log.Designer.cs
+++ b/Log/Log.Designer.cs
@@ -30,15 +30,15 @@ private void InitializeComponent()
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Log));
             this.TXT_seriallog = new System.Windows.Forms.TextBox();
-            this.BUT_DLall = new Controls.MyButton();
-            this.BUT_DLthese = new Controls.MyButton();
-            this.BUT_clearlogs = new Controls.MyButton();
+            this.BUT_DLall = new MissionPlanner.Controls.MyButton();
+            this.BUT_DLthese = new MissionPlanner.Controls.MyButton();
+            this.BUT_clearlogs = new MissionPlanner.Controls.MyButton();
             this.CHK_logs = new System.Windows.Forms.CheckedListBox();
             this.TXT_status = new System.Windows.Forms.TextBox();
-            this.BUT_redokml = new Controls.MyButton();
-            this.BUT_firstperson = new Controls.MyButton();
-            this.BUT_dumpdf = new Controls.MyButton();
-            this.BUT_bintolog = new Controls.MyButton();
+            this.BUT_redokml = new MissionPlanner.Controls.MyButton();
+            this.BUT_firstperson = new MissionPlanner.Controls.MyButton();
+            this.BUT_dumpdf = new MissionPlanner.Controls.MyButton();
+            this.BUT_bintolog = new MissionPlanner.Controls.MyButton();
             this.CHK_arducopter = new System.Windows.Forms.RadioButton();
             this.CHK_arduplane = new System.Windows.Forms.RadioButton();
             this.CHK_ardurover = new System.Windows.Forms.RadioButton();
@@ -52,34 +52,22 @@ private void InitializeComponent()
             // 
             // BUT_DLall
             // 
-            this.BUT_DLall.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_DLall.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_DLall, "BUT_DLall");
             this.BUT_DLall.Name = "BUT_DLall";
-            this.BUT_DLall.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_DLall.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_DLall.UseVisualStyleBackColor = true;
             this.BUT_DLall.Click += new System.EventHandler(this.BUT_DLall_Click);
             // 
             // BUT_DLthese
             // 
-            this.BUT_DLthese.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_DLthese.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_DLthese, "BUT_DLthese");
             this.BUT_DLthese.Name = "BUT_DLthese";
-            this.BUT_DLthese.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_DLthese.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_DLthese.UseVisualStyleBackColor = true;
             this.BUT_DLthese.Click += new System.EventHandler(this.BUT_DLthese_Click);
             // 
             // BUT_clearlogs
             // 
-            this.BUT_clearlogs.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_clearlogs.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_clearlogs, "BUT_clearlogs");
             this.BUT_clearlogs.Name = "BUT_clearlogs";
-            this.BUT_clearlogs.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_clearlogs.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_clearlogs.UseVisualStyleBackColor = true;
             this.BUT_clearlogs.Click += new System.EventHandler(this.BUT_clearlogs_Click);
             // 
@@ -99,45 +87,29 @@ private void InitializeComponent()
             // 
             // BUT_redokml
             // 
-            this.BUT_redokml.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_redokml.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_redokml, "BUT_redokml");
             this.BUT_redokml.Name = "BUT_redokml";
-            this.BUT_redokml.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_redokml.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_redokml.UseVisualStyleBackColor = true;
             this.BUT_redokml.Click += new System.EventHandler(this.BUT_redokml_Click);
             // 
             // BUT_firstperson
             // 
-            this.BUT_firstperson.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_firstperson.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_firstperson, "BUT_firstperson");
             this.BUT_firstperson.Name = "BUT_firstperson";
-            this.BUT_firstperson.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_firstperson.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_firstperson.UseVisualStyleBackColor = true;
             this.BUT_firstperson.Click += new System.EventHandler(this.BUT_firstperson_Click);
             // 
             // BUT_dumpdf
             // 
-            this.BUT_dumpdf.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_dumpdf.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_dumpdf, "BUT_dumpdf");
             this.BUT_dumpdf.Name = "BUT_dumpdf";
-            this.BUT_dumpdf.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_dumpdf.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_dumpdf.UseVisualStyleBackColor = true;
             this.BUT_dumpdf.Click += new System.EventHandler(this.BUT_dumpdf_Click);
             // 
             // BUT_bintolog
             // 
-            this.BUT_bintolog.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_bintolog.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             resources.ApplyResources(this.BUT_bintolog, "BUT_bintolog");
             this.BUT_bintolog.Name = "BUT_bintolog";
-            this.BUT_bintolog.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
-            this.BUT_bintolog.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_bintolog.UseVisualStyleBackColor = true;
             this.BUT_bintolog.Click += new System.EventHandler(this.BUT_bintolog_Click);
             // 
diff --git a/Log/Log.cs b/Log/Log.cs
index a27f5330d8..ebf9a6837f 100644
--- a/Log/Log.cs
+++ b/Log/Log.cs
@@ -849,7 +849,7 @@ private void Log_FormClosing(object sender, FormClosingEventArgs e)
             System.Threading.Thread.Sleep(500);
             if (comPort.IsOpen)
             {
-                //comPort.Close();
+                comPort.Close();
             }
         }
 
diff --git a/Log/Log.resx b/Log/Log.resx
index dbc62ebe04..f97d772a96 100644
--- a/Log/Log.resx
+++ b/Log/Log.resx
@@ -112,16 +112,20 @@
     <value>2.0</value>
   </resheader>
   <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="TXT_seriallog.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Bottom, Left, Right</value>
+  </data>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="TXT_seriallog.Location" type="System.Drawing.Point, System.Drawing">
     <value>135, 43</value>
   </data>
-  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <assembly alias="mscorlib" name="mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="TXT_seriallog.Multiline" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -135,7 +139,7 @@
     <value>TXT_seriallog</value>
   </data>
   <data name="&gt;&gt;TXT_seriallog.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;TXT_seriallog.Parent" xml:space="preserve">
     <value>$this</value>
@@ -159,7 +163,7 @@
     <value>BUT_DLall</value>
   </data>
   <data name="&gt;&gt;BUT_DLall.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_DLall.Parent" xml:space="preserve">
     <value>$this</value>
@@ -183,7 +187,7 @@
     <value>BUT_DLthese</value>
   </data>
   <data name="&gt;&gt;BUT_DLthese.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_DLthese.Parent" xml:space="preserve">
     <value>$this</value>
@@ -207,7 +211,7 @@
     <value>BUT_clearlogs</value>
   </data>
   <data name="&gt;&gt;BUT_clearlogs.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_clearlogs.Parent" xml:space="preserve">
     <value>$this</value>
@@ -228,7 +232,7 @@
     <value>CHK_logs</value>
   </data>
   <data name="&gt;&gt;CHK_logs.Type" xml:space="preserve">
-    <value>System.Windows.Forms.CheckedListBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.CheckedListBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;CHK_logs.Parent" xml:space="preserve">
     <value>$this</value>
@@ -252,7 +256,7 @@
     <value>TXT_status</value>
   </data>
   <data name="&gt;&gt;TXT_status.Type" xml:space="preserve">
-    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;TXT_status.Parent" xml:space="preserve">
     <value>$this</value>
@@ -276,7 +280,7 @@
     <value>BUT_redokml</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_redokml.Parent" xml:space="preserve">
     <value>$this</value>
@@ -300,7 +304,7 @@
     <value>BUT_firstperson</value>
   </data>
   <data name="&gt;&gt;BUT_firstperson.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_firstperson.Parent" xml:space="preserve">
     <value>$this</value>
@@ -308,7 +312,6 @@
   <data name="&gt;&gt;BUT_firstperson.ZOrder" xml:space="preserve">
     <value>6</value>
   </data>
-  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="BUT_dumpdf.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
   </data>
@@ -328,7 +331,7 @@
     <value>BUT_dumpdf</value>
   </data>
   <data name="&gt;&gt;BUT_dumpdf.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_dumpdf.Parent" xml:space="preserve">
     <value>$this</value>
@@ -355,7 +358,7 @@
     <value>BUT_bintolog</value>
   </data>
   <data name="&gt;&gt;BUT_bintolog.Type" xml:space="preserve">
-    <value>Controls.MyButton, MissionPlanner.lanner10, Version=1.1.4932.13202, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_bintolog.Parent" xml:space="preserve">
     <value>$this</value>
@@ -385,7 +388,7 @@
     <value>CHK_arducopter</value>
   </data>
   <data name="&gt;&gt;CHK_arducopter.Type" xml:space="preserve">
-    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;CHK_arducopter.Parent" xml:space="preserve">
     <value>$this</value>
@@ -415,7 +418,7 @@
     <value>CHK_arduplane</value>
   </data>
   <data name="&gt;&gt;CHK_arduplane.Type" xml:space="preserve">
-    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;CHK_arduplane.Parent" xml:space="preserve">
     <value>$this</value>
@@ -445,7 +448,7 @@
     <value>CHK_ardurover</value>
   </data>
   <data name="&gt;&gt;CHK_ardurover.Type" xml:space="preserve">
-    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.RadioButton, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;CHK_ardurover.Parent" xml:space="preserve">
     <value>$this</value>
@@ -472,7 +475,7 @@
     <value>label1</value>
   </data>
   <data name="&gt;&gt;label1.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="&gt;&gt;label1.Parent" xml:space="preserve">
     <value>$this</value>
@@ -480,7 +483,7 @@
   <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
-  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
   <data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
@@ -572,6 +575,6 @@
     <value>Log</value>
   </data>
   <data name="&gt;&gt;$this.Type" xml:space="preserve">
-    <value>System.Windows.Forms.Form, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Windows.Forms.Form, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
 </root>
\ No newline at end of file
diff --git a/Log/LogBrowse.cs b/Log/LogBrowse.cs
index 5e73fbdbd5..4c3952b501 100644
--- a/Log/LogBrowse.cs
+++ b/Log/LogBrowse.cs
@@ -147,6 +147,7 @@ private void Form1_Load(object sender, EventArgs e)
             }
             else
             {
+                this.Close();
                 return;
             }
         }
diff --git a/Log/MavlinkLog.cs b/Log/MavlinkLog.cs
index ad8ec3e5ef..c2dd4433de 100644
--- a/Log/MavlinkLog.cs
+++ b/Log/MavlinkLog.cs
@@ -651,11 +651,15 @@ private void BUT_graphmavlog_Click(object sender, EventArgs e)
         0x600000,0x006000,0x000060,0x606000,0x600060,0x006060,  
         0xA00000,0x00A000,0x0000A0,0xA0A000,0xA000A0,0x00A0A0, 
         0xE00000,0x00E000,0x0000E0,0xE0E000,0xE000E0,0x00E0E0,  */
-    }; 
+    };
+        Form selectform;
 
         private List<string> GetLogFileValidFields(string logfile)
         {
-            Form selectform = SelectDataToGraphForm();
+            if (selectform != null && !selectform.IsDisposed)
+                selectform.Close();
+
+            selectform = SelectDataToGraphForm();
 
             Hashtable seenIt = new Hashtable();
 
@@ -967,7 +971,7 @@ public MethodInfo RunCode(CompilerResults results)
             }
             catch (Exception ex)
             {
-                Console.WriteLine("Error:  An exception occurred while executing the script", ex);
+                Console.WriteLine("Error: An exception occurred while executing the script\n{0}", ex);
             }
             return null;
         }
diff --git a/MainV2.Designer.cs b/MainV2.Designer.cs
index 9125d439c8..2069ce207b 100644
--- a/MainV2.Designer.cs
+++ b/MainV2.Designer.cs
@@ -15,6 +15,7 @@ partial class MainV2
         protected override void Dispose(bool disposing)
         {
             Console.WriteLine("mainv2_Dispose");
+            PluginThreadrunner.Dispose();
             if (disposing && (components != null))
             {
                 components.Dispose();
diff --git a/Maps/MyImageCache.cs b/Maps/MyImageCache.cs
index 2d41abab51..6617e00a42 100644
--- a/Maps/MyImageCache.cs
+++ b/Maps/MyImageCache.cs
@@ -68,8 +68,6 @@ bool PureImageCache.PutImageToCache(byte[] tile, int type, GPoint pos, int zoom)
                     using (BinaryWriter sw = new BinaryWriter(File.OpenWrite(file)))
                     {
                         sw.Write(tile.ToArray());
-
-                        sw.Close();
                     }
                 }
                 catch (Exception ex)
@@ -103,7 +101,6 @@ PureImage PureImageCache.GetImageFromCache(int type, GPoint pos, int zoom)
                         {
                             ret.Data = stm;
                         }
-                        sr.Close();
                     }
                 }
             }
diff --git a/Mavlink/MAVLink.cs b/Mavlink/MAVLink.cs
index d48c4b3f37..a6fade9605 100644
--- a/Mavlink/MAVLink.cs
+++ b/Mavlink/MAVLink.cs
@@ -19,7 +19,7 @@
 
 namespace MissionPlanner
 {
-    public class MAVLinkInterface: MAVLink, IDisposable
+    public class  MAVLinkInterface: MAVLink, IDisposable
     {
         private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public ICommsSerial BaseStream { get; set; }
@@ -325,7 +325,8 @@ private void OpenBg(object PRsender, bool getparams, ProgressWorkerEventArgs pro
 
                     BaseStream.DiscardInBuffer();
 
-                    Thread.Sleep(500);
+                    // other boards seem to have issues if there is no delay? posible bootloader timeout issue
+                    Thread.Sleep(1000);
                 }
 
                 byte[] buffer = new byte[0];
@@ -673,7 +674,7 @@ public bool setParam(string paramname, float value)
 
             while (true)
             {
-                if (!(start.AddMilliseconds(500) > DateTime.Now))
+                if (!(start.AddMilliseconds(700) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -1457,7 +1458,7 @@ public byte getWPCount()
 
             while (true)
             {
-                if (!(start.AddMilliseconds(500) > DateTime.Now))
+                if (!(start.AddMilliseconds(700) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -1858,7 +1859,7 @@ public MAV_MISSION_RESULT setWP(Locationwp loc, ushort index, MAV_FRAME frame, b
 
             while (true)
             {
-                if (!(start.AddMilliseconds(150) > DateTime.Now))
+                if (!(start.AddMilliseconds(700) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -2441,17 +2442,26 @@ public byte[] readPacket()
 
                     if (buffer[5] == (byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT) // status text
                     {
+                        var msg = MAV.packets[(byte)MAVLink.MAVLINK_MSG_ID.STATUSTEXT].ByteArrayToStructure<MAVLink.mavlink_statustext_t>(6);
+
+                        byte sev = msg.severity;
+
                         string logdata = Encoding.ASCII.GetString(buffer, 7, buffer.Length - 7);
                         int ind = logdata.IndexOf('\0');
                         if (ind != -1)
                             logdata = logdata.Substring(0, ind);
                         log.Info(DateTime.Now + " " + logdata);
 
-                        if (MainV2.speechEngine != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
+                        if (sev >= 3)
                         {
-                            //MainV2.talk.SpeakAsync(logdata);
-                        }
+                            MAV.cs.messageHigh = logdata;
+                            MAV.cs.messageHighTime = DateTime.Now;
 
+                            if (MainV2.speechEngine != null && MainV2.speechEngine.State == System.Speech.Synthesis.SynthesizerState.Ready && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
+                            {
+                                MainV2.speechEngine.SpeakAsync(logdata);
+                            }
+                        }
                     }
 
                     // set ap type
@@ -2597,7 +2607,7 @@ public PointLatLngAlt getFencePoint(int no, ref int total)
 
             while (true)
             {
-                if (!(start.AddMilliseconds(500) > DateTime.Now))
+                if (!(start.AddMilliseconds(700) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -2675,7 +2685,7 @@ public PointLatLngAlt getRallyPoint(int no, ref int total)
 
             while (true)
             {
-                if (!(start.AddMilliseconds(500) > DateTime.Now))
+                if (!(start.AddMilliseconds(700) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -2981,6 +2991,10 @@ public override string ToString()
 
         public void Dispose()
         {
+            if (_bytesReceivedSubj != null)
+                _bytesReceivedSubj.Dispose();
+            if (_bytesSentSubj != null)
+                _bytesSentSubj.Dispose();
             this.Close();
         }
     }
diff --git a/MissionPlanner.csproj b/MissionPlanner.csproj
index e7f2aed607..6c464e18bc 100644
--- a/MissionPlanner.csproj
+++ b/MissionPlanner.csproj
@@ -322,6 +322,8 @@
     <Compile Include="Controls\Waypoints\Command.Designer.cs">
       <DependentUpon>Command.cs</DependentUpon>
     </Compile>
+    <Compile Include="Controls\Waypoints\Spline.cs" />
+    <Compile Include="GlobalSuppressions.cs" />
     <Compile Include="Maps\Custom.cs" />
     <Compile Include="Maps\MyImageCache.cs" />
     <Compile Include="Maps\WMSProvider.cs" />
diff --git a/Msi/installer.wxs b/Msi/installer.wxs
index c9f2089d3b..503c227517 100644
--- a/Msi/installer.wxs
+++ b/Msi/installer.wxs
@@ -2,14 +2,14 @@
 <Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension" xmlns:iis='http://schemas.microsoft.com/wix/IIsExtension' >
 
 
-    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.85" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+    <Product Id="*" Name="Mission Planner" Language="1033" Version="1.2.86" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
 
         <Package Description="Mission Planner Installer" Comments="Mission Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
 
 
 <Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
-    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.85" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
-    <UpgradeVersion OnlyDetect="no" Minimum="0.0.0" Maximum="1.2.85" Property="OLDERVERSIONBEINGUPGRADED" IncludeMinimum="yes" IncludeMaximum="yes" />
+    <UpgradeVersion OnlyDetect="yes" Minimum="1.2.86" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+    <UpgradeVersion OnlyDetect="no" Minimum="0.0.0" Maximum="1.2.86" Property="OLDERVERSIONBEINGUPGRADED" IncludeMinimum="yes" IncludeMaximum="yes" />
 </Upgrade>
 
 <InstallExecuteSequence>
@@ -32,7 +32,7 @@
                             <Permission User="Everyone" GenericAll="yes" /> 
                         </CreateFolder>
                     </Component>
-<Component Id="_1" Guid="56210204-7491-4b3c-9e39-ba5e5ed6de5f">
+<Component Id="_1" Guid="9c6b40d9-f0c1-4a58-84b8-34bbb4b8d8e8">
 <File Id="_acsimplepids_xml_2" Source="..\bin\release\acsimplepids.xml" />
 <File Id="_alglibnet2_dll_3" Source="..\bin\release\alglibnet2.dll" />
 <File Id="_aotall_4" Source="..\bin\release\aotall" />
@@ -68,52 +68,52 @@
 <File Id="_hud_html_34" Source="..\bin\release\hud.html" />
 <File Id="_ICSharpCode_SharpZipLib_dll_35" Source="..\bin\release\ICSharpCode.SharpZipLib.dll" />
 <File Id="_Ionic_Zip_Reduced_dll_36" Source="..\bin\release\Ionic.Zip.Reduced.dll" />
-<File Id="_IronPython_dll_37" Source="..\bin\release\IronPython.dll" />
-<File Id="_IronPython_Modules_dll_38" Source="..\bin\release\IronPython.Modules.dll" />
-<File Id="_KMLib_dll_39" Source="..\bin\release\KMLib.dll" />
-<File Id="_KMLib_pdb_40" Source="..\bin\release\KMLib.pdb" />
-<File Id="_log4net_dll_41" Source="..\bin\release\log4net.dll" />
-<File Id="_mavcmd_xml_42" Source="..\bin\release\mavcmd.xml" />
-<File Id="_MAVLink_dll_43" Source="..\bin\release\MAVLink.dll" />
-<File Id="_MAVLink_pdb_44" Source="..\bin\release\MAVLink.pdb" />
-<File Id="_MAVLink_xml_45" Source="..\bin\release\MAVLink.xml" />
-<File Id="_MetaDataExtractor_dll_46" Source="..\bin\release\MetaDataExtractor.dll" />
-<File Id="_MetadataExtractor_dtd_47" Source="..\bin\release\MetadataExtractor.dtd" />
-<File Id="_MetadataExtractorNew_dtd_48" Source="..\bin\release\MetadataExtractorNew.dtd" />
-<File Id="_Microsoft_DirectX_DirectInput_dll_49" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
-<File Id="_Microsoft_DirectX_dll_50" Source="..\bin\release\Microsoft.DirectX.dll" />
-<File Id="_Microsoft_Dynamic_dll_51" Source="..\bin\release\Microsoft.Dynamic.dll" />
-<File Id="_Microsoft_Scripting_Core_dll_52" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
-<File Id="_Microsoft_Scripting_Debugging_dll_53" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
-<File Id="_Microsoft_Scripting_dll_54" Source="..\bin\release\Microsoft.Scripting.dll" />
-<File Id="_Microsoft_Scripting_ExtensionAttribute_dll_55" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
-<File Id="_MissionPlanner_application_56" Source="..\bin\release\MissionPlanner.application" />
-<File Id="_MissionPlanner_Comms_dll_57" Source="..\bin\release\MissionPlanner.Comms.dll" />
-<File Id="_MissionPlanner_Comms_pdb_58" Source="..\bin\release\MissionPlanner.Comms.pdb" />
-<File Id="_MissionPlanner_Controls_dll_59" Source="..\bin\release\MissionPlanner.Controls.dll" />
-<File Id="_MissionPlanner_Controls_pdb_60" Source="..\bin\release\MissionPlanner.Controls.pdb" />
-<File Id="_61" Source="..\bin\release\MissionPlanner.exe" ><netfx:NativeImage Id="ngen_MissionPlannerexe"/> </File>
+<File Id="_Iris_param_37" Source="..\bin\release\Iris.param" />
+<File Id="_IronPython_dll_38" Source="..\bin\release\IronPython.dll" />
+<File Id="_IronPython_Modules_dll_39" Source="..\bin\release\IronPython.Modules.dll" />
+<File Id="_KMLib_dll_40" Source="..\bin\release\KMLib.dll" />
+<File Id="_KMLib_pdb_41" Source="..\bin\release\KMLib.pdb" />
+<File Id="_log4net_dll_42" Source="..\bin\release\log4net.dll" />
+<File Id="_mavcmd_xml_43" Source="..\bin\release\mavcmd.xml" />
+<File Id="_MAVLink_dll_44" Source="..\bin\release\MAVLink.dll" />
+<File Id="_MAVLink_pdb_45" Source="..\bin\release\MAVLink.pdb" />
+<File Id="_MAVLink_xml_46" Source="..\bin\release\MAVLink.xml" />
+<File Id="_MetaDataExtractor_dll_47" Source="..\bin\release\MetaDataExtractor.dll" />
+<File Id="_MetadataExtractor_dtd_48" Source="..\bin\release\MetadataExtractor.dtd" />
+<File Id="_MetadataExtractorNew_dtd_49" Source="..\bin\release\MetadataExtractorNew.dtd" />
+<File Id="_Microsoft_DirectX_DirectInput_dll_50" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
+<File Id="_Microsoft_DirectX_dll_51" Source="..\bin\release\Microsoft.DirectX.dll" />
+<File Id="_Microsoft_Dynamic_dll_52" Source="..\bin\release\Microsoft.Dynamic.dll" />
+<File Id="_Microsoft_Scripting_Core_dll_53" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
+<File Id="_Microsoft_Scripting_Debugging_dll_54" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
+<File Id="_Microsoft_Scripting_dll_55" Source="..\bin\release\Microsoft.Scripting.dll" />
+<File Id="_Microsoft_Scripting_ExtensionAttribute_dll_56" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
+<File Id="_MissionPlanner_application_57" Source="..\bin\release\MissionPlanner.application" />
+<File Id="_MissionPlanner_Comms_dll_58" Source="..\bin\release\MissionPlanner.Comms.dll" />
+<File Id="_MissionPlanner_Comms_pdb_59" Source="..\bin\release\MissionPlanner.Comms.pdb" />
+<File Id="_MissionPlanner_Controls_dll_60" Source="..\bin\release\MissionPlanner.Controls.dll" />
+<File Id="_MissionPlanner_Controls_pdb_61" Source="..\bin\release\MissionPlanner.Controls.pdb" />
+<File Id="_62" Source="..\bin\release\MissionPlanner.exe" ><netfx:NativeImage Id="ngen_MissionPlannerexe"/> </File>
 <ProgId Id='MissionPlanner.tlog' Description='Telemetry Log'>
   <Extension Id='tlog' ContentType='application/tlog'>
-     <Verb Id='open' Command='Open' TargetFile='_61' Argument='"%1"' />
+     <Verb Id='open' Command='Open' TargetFile='_62' Argument='"%1"' />
   </Extension>
 </ProgId>
-<File Id="_MissionPlanner_exe_config_62" Source="..\bin\release\MissionPlanner.exe.config" />
-<File Id="_MissionPlanner_exe_manifest_63" Source="..\bin\release\MissionPlanner.exe.manifest" />
-<File Id="_MissionPlanner_pdb_64" Source="..\bin\release\MissionPlanner.pdb" />
-<File Id="_MissionPlanner_Utilities_dll_65" Source="..\bin\release\MissionPlanner.Utilities.dll" />
-<File Id="_MissionPlanner_Utilities_pdb_66" Source="..\bin\release\MissionPlanner.Utilities.pdb" />
-<File Id="_MissionPlanner_vshost_application_67" Source="..\bin\release\MissionPlanner.vshost.application" />
-<File Id="_MissionPlanner_vshost_exe_68" Source="..\bin\release\MissionPlanner.vshost.exe" />
-<File Id="_MissionPlanner_vshost_exe_config_69" Source="..\bin\release\MissionPlanner.vshost.exe.config" />
-<File Id="_MissionPlanner_vshost_exe_manifest_70" Source="..\bin\release\MissionPlanner.vshost.exe.manifest" />
-<File Id="_netDxf_dll_71" Source="..\bin\release\netDxf.dll" />
-<File Id="_OpenTK_dll_72" Source="..\bin\release\OpenTK.dll" />
-<File Id="_OpenTK_GLControl_dll_73" Source="..\bin\release\OpenTK.GLControl.dll" />
-<File Id="_OpenTK_GLControl_xml_74" Source="..\bin\release\OpenTK.GLControl.xml" />
-<File Id="_ParameterMetaDataBackup_xml_75" Source="..\bin\release\ParameterMetaDataBackup.xml" />
-<File Id="_ProjNet_dll_76" Source="..\bin\release\ProjNet.dll" />
-<File Id="_px4fw_bin_77" Source="..\bin\release\px4fw.bin" />
+<File Id="_MissionPlanner_exe_config_63" Source="..\bin\release\MissionPlanner.exe.config" />
+<File Id="_MissionPlanner_exe_manifest_64" Source="..\bin\release\MissionPlanner.exe.manifest" />
+<File Id="_MissionPlanner_pdb_65" Source="..\bin\release\MissionPlanner.pdb" />
+<File Id="_MissionPlanner_Utilities_dll_66" Source="..\bin\release\MissionPlanner.Utilities.dll" />
+<File Id="_MissionPlanner_Utilities_pdb_67" Source="..\bin\release\MissionPlanner.Utilities.pdb" />
+<File Id="_MissionPlanner_vshost_application_68" Source="..\bin\release\MissionPlanner.vshost.application" />
+<File Id="_MissionPlanner_vshost_exe_69" Source="..\bin\release\MissionPlanner.vshost.exe" />
+<File Id="_MissionPlanner_vshost_exe_config_70" Source="..\bin\release\MissionPlanner.vshost.exe.config" />
+<File Id="_MissionPlanner_vshost_exe_manifest_71" Source="..\bin\release\MissionPlanner.vshost.exe.manifest" />
+<File Id="_netDxf_dll_72" Source="..\bin\release\netDxf.dll" />
+<File Id="_OpenTK_dll_73" Source="..\bin\release\OpenTK.dll" />
+<File Id="_OpenTK_GLControl_dll_74" Source="..\bin\release\OpenTK.GLControl.dll" />
+<File Id="_OpenTK_GLControl_xml_75" Source="..\bin\release\OpenTK.GLControl.xml" />
+<File Id="_ParameterMetaDataBackup_xml_76" Source="..\bin\release\ParameterMetaDataBackup.xml" />
+<File Id="_ProjNet_dll_77" Source="..\bin\release\ProjNet.dll" />
 <File Id="_px4uploader_exe_78" Source="..\bin\release\px4uploader.exe" />
 <File Id="_quadhil_xml_79" Source="..\bin\release\quadhil.xml" />
 <File Id="_sampleFile_xml_80" Source="..\bin\release\sampleFile.xml" />
@@ -138,11 +138,11 @@
 <File Id="_zlib_net_dll_99" Source="..\bin\release\zlib.net.dll" />
 </Component>
 <Directory Id="aircraft99" Name="aircraft">
-<Component Id="aircraft_100" Guid="dd2db35e-4072-474c-967e-1bcee27375ed">
+<Component Id="aircraft_100" Guid="3d7e2144-25a3-46ed-8a8c-2836d7b4fb15">
 <File Id="_placeholder_txt_101" Source="..\bin\release\aircraft\placeholder.txt" />
 </Component>
 <Directory Id="arducopter101" Name="arducopter">
-<Component Id="arducopter_102" Guid="a3f786e5-960f-42eb-b482-6221240d667c">
+<Component Id="arducopter_102" Guid="56b26bcb-0ca0-42d0-98b4-4a3fb61ededd">
 <File Id="_arducopter_set_xml_103" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
 <File Id="_arducopter_jpg_104" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
 <File Id="_arducopter_xml_105" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
@@ -153,20 +153,20 @@
 <File Id="_README_110" Source="..\bin\release\aircraft\arducopter\README" />
 </Component>
 <Directory Id="data110" Name="data">
-<Component Id="data_111" Guid="684ac687-3e85-4128-90d4-1b0519c07cdb">
+<Component Id="data_111" Guid="926b1df4-e160-4ac3-951c-dcfe38a2ffa1">
 <File Id="_arducopter_half_step_txt_112" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
 <File Id="_arducopter_step_txt_113" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
 <File Id="_rw_generic_pylon_ac_114" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
 </Component>
 </Directory>
 <Directory Id="Engines114" Name="Engines">
-<Component Id="Engines_115" Guid="8fad3670-4209-4e6c-b276-c17f3619481d">
+<Component Id="Engines_115" Guid="755cb277-2aac-4acd-a2ba-2409911aaab1">
 <File Id="_a2830_12_xml_116" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
 <File Id="_prop10x4_5_xml_117" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
 </Component>
 </Directory>
 <Directory Id="Models117" Name="Models">
-<Component Id="Models_118" Guid="2c5c6c6a-d4d0-44bf-9db1-a23bf9e3faae">
+<Component Id="Models_118" Guid="98d96001-ade0-447e-bfbf-0ebd35e753b4">
 <File Id="_arducopter_ac_119" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
 <File Id="_arducopter_xml_120" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
 <File Id="_plus_quad_ac_121" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
@@ -180,7 +180,7 @@
 </Directory>
 </Directory>
 <Directory Id="Rascal127" Name="Rascal">
-<Component Id="Rascal_128" Guid="57840e3c-0220-475b-8432-1e4bb7699f27">
+<Component Id="Rascal_128" Guid="970b9f5c-e604-4279-b6e4-e50d7010cf5d">
 <File Id="_Rascal_keyboard_xml_129" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
 <File Id="_Rascal_submodels_xml_130" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
 <File Id="_Rascal_xml_131" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
@@ -192,13 +192,13 @@
 <File Id="_thumbnail_jpg_137" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
 </Component>
 <Directory Id="Engines137" Name="Engines">
-<Component Id="Engines_138" Guid="1dc7450b-fb80-47aa-a781-ee36be53c44d">
+<Component Id="Engines_138" Guid="b4b1d452-d1a6-4af5-836a-78695d3dab16">
 <File Id="_18x8_xml_139" Source="..\bin\release\aircraft\Rascal\Engines\18x8.xml" />
 <File Id="_Zenoah_G_26A_xml_140" Source="..\bin\release\aircraft\Rascal\Engines\Zenoah_G-26A.xml" />
 </Component>
 </Directory>
 <Directory Id="Models140" Name="Models">
-<Component Id="Models_141" Guid="8018b829-f0c3-40a7-9014-2da0e952e4a4">
+<Component Id="Models_141" Guid="4bc4595f-1716-4caa-ab59-3f1ccecd5f1e">
 <File Id="_Rascal_rgb_142" Source="..\bin\release\aircraft\Rascal\Models\Rascal.rgb" />
 <File Id="_Rascal110_000_013_ac_143" Source="..\bin\release\aircraft\Rascal\Models\Rascal110-000-013.ac" />
 <File Id="_Rascal110_xml_144" Source="..\bin\release\aircraft\Rascal\Models\Rascal110.xml" />
@@ -209,7 +209,7 @@
 </Component>
 </Directory>
 <Directory Id="Systems148" Name="Systems">
-<Component Id="Systems_149" Guid="82a8593d-1e05-4f17-b6c5-4d76bc5a3650">
+<Component Id="Systems_149" Guid="dc218e80-a4da-4e36-8b08-7826656da810">
 <File Id="_110_autopilot_xml_150" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
 <File Id="_airdata_nas_151" Source="..\bin\release\aircraft\Rascal\Systems\airdata.nas" />
 <File Id="_electrical_xml_152" Source="..\bin\release\aircraft\Rascal\Systems\electrical.xml" />
@@ -220,12 +220,12 @@
 </Directory>
 </Directory>
 <Directory Id="de_DE154" Name="de-DE">
-<Component Id="de_DE_155" Guid="45172679-72d0-4c84-87aa-374cd8d14ac5">
+<Component Id="de_DE_155" Guid="30865ace-05af-44f8-9cff-6099276fabd6">
 <File Id="_MissionPlanner_resources_dll_156" Source="..\bin\release\de-DE\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="Driver156" Name="Driver">
-<Component Id="Driver_157" Guid="3792a53a-8937-48f0-b374-1317a649bcef">
+<Component Id="Driver_157" Guid="ad78a65c-4370-4028-8eb2-b0bdc35b8d62">
 <File Id="_arduinomega2560_cat_158" Source="..\bin\release\Driver\arduinomega2560.cat" />
 <File Id="_ArduinoMEGA2560_inf_159" Source="..\bin\release\Driver\ArduinoMEGA2560.inf" />
 <File Id="_dpinst_xml_160" Source="..\bin\release\Driver\dpinst.xml" />
@@ -239,28 +239,28 @@
 </Component>
 </Directory>
 <Directory Id="es_ES167" Name="es-ES">
-<Component Id="es_ES_168" Guid="55d002de-cf1c-4460-aa8d-5213523e176b">
+<Component Id="es_ES_168" Guid="9480dd3e-0cbe-49bb-a0c2-c6d1dd8ebcd9">
 <File Id="_MissionPlanner_resources_dll_169" Source="..\bin\release\es-ES\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="fr169" Name="fr">
-<Component Id="fr_170" Guid="5198301b-c887-4a42-b237-f2be9aeed65a">
+<Component Id="fr_170" Guid="3e6de8d3-e26d-4fa6-b153-de517a6debde">
 <File Id="_MissionPlanner_resources_dll_171" Source="..\bin\release\fr\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="it_IT171" Name="it-IT">
-<Component Id="it_IT_172" Guid="0564abe1-9ae9-41e4-9b82-bd131ae3b933">
+<Component Id="it_IT_172" Guid="02dabe54-08ad-4137-9634-07b451af7621">
 <File Id="_MissionPlanner_resources_dll_173" Source="..\bin\release\it-IT\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="jsbsim173" Name="jsbsim">
-<Component Id="jsbsim_174" Guid="6ea56cb0-61cc-4ec9-90bd-099b9ccc86d0">
+<Component Id="jsbsim_174" Guid="87db96b4-bd80-4ae4-8475-73e66ac56538">
 <File Id="_fgout_xml_175" Source="..\bin\release\jsbsim\fgout.xml" />
 <File Id="_rascal_test_xml_176" Source="..\bin\release\jsbsim\rascal_test.xml" />
 </Component>
 </Directory>
 <Directory Id="m3u176" Name="m3u">
-<Component Id="m3u_177" Guid="12096bc2-b7a9-435a-b649-0070604e3cea">
+<Component Id="m3u_177" Guid="54ced46b-958a-4bb4-a537-08cc15d7b221">
 <File Id="_both_m3u_178" Source="..\bin\release\m3u\both.m3u" />
 <File Id="_GeoRefnetworklink_kml_179" Source="..\bin\release\m3u\GeoRefnetworklink.kml" />
 <File Id="_hud_m3u_180" Source="..\bin\release\m3u\hud.m3u" />
@@ -269,17 +269,17 @@
 </Component>
 </Directory>
 <Directory Id="mavelous_web182" Name="mavelous_web">
-<Component Id="mavelous_web_183" Guid="4ec2d2f6-e5e4-47b2-a98a-cc6583ffbe9d">
+<Component Id="mavelous_web_183" Guid="758e39a1-d0e9-41e5-9070-f1d77da8a2b4">
 <File Id="_index_html_184" Source="..\bin\release\mavelous_web\index.html" />
 </Component>
 </Directory>
 <Directory Id="pl184" Name="pl">
-<Component Id="pl_185" Guid="f9024666-51e8-41ce-8b7e-e8e19ab1726f">
+<Component Id="pl_185" Guid="e2a62e50-4c45-4d0f-9b7d-3422a95f3f94">
 <File Id="_MissionPlanner_resources_dll_186" Source="..\bin\release\pl\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="plugins186" Name="plugins">
-<Component Id="plugins_187" Guid="6918966d-dea1-415c-8778-99088d8fa67e">
+<Component Id="plugins_187" Guid="53bd100c-c639-439f-b428-7ae63d96987d">
 <File Id="_MissionPlanner_Grid_dll_188" Source="..\bin\release\plugins\MissionPlanner.Grid.dll" />
 <File Id="_MissionPlanner_Grid_pdb_189" Source="..\bin\release\plugins\MissionPlanner.Grid.pdb" />
 <File Id="_MissionPlanner_Stats_dll_190" Source="..\bin\release\plugins\MissionPlanner.Stats.dll" />
@@ -289,22 +289,22 @@
 </Component>
 </Directory>
 <Directory Id="Resources193" Name="Resources">
-<Component Id="Resources_194" Guid="052b10fd-b3b3-4b8c-8948-01d1918bcb50">
+<Component Id="Resources_194" Guid="937c2c0d-d30d-4c46-99be-09f6c8752754">
 <File Id="_MAVCmd_txt_195" Source="..\bin\release\Resources\MAVCmd.txt" />
 </Component>
 </Directory>
 <Directory Id="ru_RU195" Name="ru-RU">
-<Component Id="ru_RU_196" Guid="21354e41-16f6-4c74-a783-baca7f2bd08c">
+<Component Id="ru_RU_196" Guid="6d97a9cc-5bcf-4762-ae6a-5a21dfe8923b">
 <File Id="_MissionPlanner_resources_dll_197" Source="..\bin\release\ru-RU\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_Hans197" Name="zh-Hans">
-<Component Id="zh_Hans_198" Guid="0b84047d-77c6-490b-a048-d14d69b68c66">
+<Component Id="zh_Hans_198" Guid="39b64fdb-3d1c-4a92-9bdd-946929ee5c3c">
 <File Id="_MissionPlanner_resources_dll_199" Source="..\bin\release\zh-Hans\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
 <Directory Id="zh_TW199" Name="zh-TW">
-<Component Id="zh_TW_200" Guid="04ce2dc3-6c48-45d9-b3c1-8e064a00593e">
+<Component Id="zh_TW_200" Guid="ac68280a-4db9-49f9-ab4e-8a9a19577ffe">
 <File Id="_MissionPlanner_resources_dll_201" Source="..\bin\release\zh-TW\MissionPlanner.resources.dll" />
 </Component>
 </Directory>
@@ -411,7 +411,7 @@
     <Property Id="WIXUI_EXITDIALOGOPTIONALCHECKBOXTEXT" Value="Launch Mission Planner" />
 
     <!-- Step 3: Include the custom action -->
-    <Property Id="WixShellExecTarget" Value="[#_61]" />
+    <Property Id="WixShellExecTarget" Value="[#_62]" />
     <CustomAction Id="LaunchApplication" 
         BinaryKey="WixCA" 
         DllEntry="WixShellExec"
diff --git a/Msi/wix.exe b/Msi/wix.exe
index 73e055d281..14c0c3ce1b 100755
Binary files a/Msi/wix.exe and b/Msi/wix.exe differ
diff --git a/OSDVideo.cs b/OSDVideo.cs
index e2d85e2b6a..3c8007987a 100644
--- a/OSDVideo.cs
+++ b/OSDVideo.cs
@@ -54,7 +54,7 @@ public partial class OSDVideo : Form, ISampleGrabberCB
         private bool m_bRunning = false;
 
         /// <summary> Dimensions of the image, calculated once in constructor. </summary>
-        public IntPtr m_handle = IntPtr.Zero;
+        private IntPtr m_handle = IntPtr.Zero;
         private int m_videoWidth;
         private int m_videoHeight;
         private int m_stride;
@@ -95,7 +95,6 @@ private void saveconfig()
                     sw.WriteLine(txtAviFileName.Text);
                     sw.WriteLine(txt_tlog.Text);
                     sw.WriteLine(trackBar1.Value);
-                    sw.Close();
                 }
             }
             catch { }
@@ -110,7 +109,6 @@ private void loadconfig()
                     txtAviFileName.Text = sr.ReadLine();
                     txt_tlog.Text = sr.ReadLine();
                     trackBar1.Value = int.Parse(sr.ReadLine());
-                    sr.Close();
                 }
             }
             catch { }
diff --git a/Program.cs b/Program.cs
index 4c460fc771..b18fef082f 100644
--- a/Program.cs
+++ b/Program.cs
@@ -336,27 +336,29 @@ static void handleException(Exception ex)
                     // Set the ContentLength property of the WebRequest.
                     request.ContentLength = byteArray.Length;
                     // Get the request stream.
-                    Stream dataStream = request.GetRequestStream();
-                    // Write the data to the request stream.
-                    dataStream.Write(byteArray, 0, byteArray.Length);
-                    // Close the Stream object.
-                    dataStream.Close();
+                    using (Stream dataStream = request.GetRequestStream())
+                    {
+                        // Write the data to the request stream.
+                        dataStream.Write(byteArray, 0, byteArray.Length);
+                    }
                     // Get the response.
-                    WebResponse response = request.GetResponse();
-                    // Display the status.
-                    Console.WriteLine(((HttpWebResponse)response).StatusDescription);
-                    // Get the stream containing content returned by the server.
-                    dataStream = response.GetResponseStream();
-                    // Open the stream using a StreamReader for easy access.
-                    StreamReader reader = new StreamReader(dataStream);
-                    // Read the content.
-                    string responseFromServer = reader.ReadToEnd();
-                    // Display the content.
-                    Console.WriteLine(responseFromServer);
-                    // Clean up the streams.
-                    reader.Close();
-                    dataStream.Close();
-                    response.Close();
+                    using (WebResponse response = request.GetResponse())
+                    {
+                        // Display the status.
+                        Console.WriteLine(((HttpWebResponse)response).StatusDescription);
+                        // Get the stream containing content returned by the server.
+                        using (Stream dataStream = response.GetResponseStream())
+                        {
+                            // Open the stream using a StreamReader for easy access.
+                            using (StreamReader reader = new StreamReader(dataStream))
+                            {
+                                // Read the content.
+                                string responseFromServer = reader.ReadToEnd();
+                                // Display the content.
+                                Console.WriteLine(responseFromServer);
+                            }
+                        }
+                    }
                 }
                 catch
                 {
diff --git a/Properties/AssemblyInfo.cs b/Properties/AssemblyInfo.cs
index 62b9cfb10d..0a3cc84592 100644
--- a/Properties/AssemblyInfo.cs
+++ b/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.2.85")]
+[assembly: AssemblyFileVersion("1.2.86")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/RAW_Sensor.Designer.cs b/RAW_Sensor.Designer.cs
index d2a48d6f5d..91c25daeec 100644
--- a/RAW_Sensor.Designer.cs
+++ b/RAW_Sensor.Designer.cs
@@ -14,6 +14,8 @@ partial class RAW_Sensor
         /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
         protected override void Dispose(bool disposing)
         {
+            if (sw != null)
+                sw.Dispose();
             if (disposing && (components != null))
             {
                 components.Dispose();
diff --git a/Radio/3DRradio.Designer.cs b/Radio/3DRradio.Designer.cs
index 852a8bcd5f..ad5bc60302 100644
--- a/Radio/3DRradio.Designer.cs
+++ b/Radio/3DRradio.Designer.cs
@@ -75,10 +75,10 @@ private void InitializeComponent()
             this.ATI = new System.Windows.Forms.TextBox();
             this.label11 = new System.Windows.Forms.Label();
             this.label12 = new System.Windows.Forms.Label();
-            this.BUT_savesettings = new Controls.MyButton();
-            this.BUT_getcurrent = new Controls.MyButton();
+            this.BUT_savesettings = new MissionPlanner.Controls.MyButton();
+            this.BUT_getcurrent = new MissionPlanner.Controls.MyButton();
             this.lbl_status = new System.Windows.Forms.Label();
-            this.BUT_upload = new Controls.MyButton();
+            this.BUT_upload = new MissionPlanner.Controls.MyButton();
             this.label13 = new System.Windows.Forms.Label();
             this.label14 = new System.Windows.Forms.Label();
             this.label15 = new System.Windows.Forms.Label();
@@ -103,13 +103,15 @@ private void InitializeComponent()
             this.label18 = new System.Windows.Forms.Label();
             this.SPLIT_remote = new System.Windows.Forms.SplitContainer();
             this.CHK_advanced = new System.Windows.Forms.CheckBox();
-            this.BUT_Syncoptions = new Controls.MyButton();
+            this.BUT_Syncoptions = new MissionPlanner.Controls.MyButton();
             this.ATI3 = new System.Windows.Forms.TextBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.label9 = new System.Windows.Forms.Label();
             this.label10 = new System.Windows.Forms.Label();
-            this.BUT_resettodefault = new Controls.MyButton();
+            this.BUT_resettodefault = new MissionPlanner.Controls.MyButton();
+            this.ATI2 = new System.Windows.Forms.TextBox();
+            this.RTI2 = new System.Windows.Forms.TextBox();
             this.SPLIT_local.Panel1.SuspendLayout();
             this.SPLIT_local.Panel2.SuspendLayout();
             this.SPLIT_local.SuspendLayout();
@@ -934,6 +936,7 @@ private void InitializeComponent()
             // 
             // groupBox1
             // 
+            this.groupBox1.Controls.Add(this.ATI2);
             this.groupBox1.Controls.Add(this.SPLIT_local);
             this.groupBox1.Controls.Add(this.ATI3);
             this.groupBox1.Controls.Add(this.label11);
@@ -946,6 +949,7 @@ private void InitializeComponent()
             // 
             // groupBox2
             // 
+            this.groupBox2.Controls.Add(this.RTI2);
             this.groupBox2.Controls.Add(this.label9);
             this.groupBox2.Controls.Add(this.SPLIT_remote);
             this.groupBox2.Controls.Add(this.RTI);
@@ -970,6 +974,18 @@ private void InitializeComponent()
             this.BUT_resettodefault.UseVisualStyleBackColor = true;
             this.BUT_resettodefault.Click += new System.EventHandler(this.BUT_resettodefault_Click);
             // 
+            // ATI2
+            // 
+            resources.ApplyResources(this.ATI2, "ATI2");
+            this.ATI2.Name = "ATI2";
+            this.ATI2.ReadOnly = true;
+            // 
+            // RTI2
+            // 
+            resources.ApplyResources(this.RTI2, "RTI2");
+            this.RTI2.Name = "RTI2";
+            this.RTI2.ReadOnly = true;
+            // 
             // _3DRradio
             // 
             resources.ApplyResources(this, "$this");
@@ -1089,5 +1105,7 @@ private void InitializeComponent()
         private System.Windows.Forms.ComboBox S16;
         private System.Windows.Forms.Label label18;
         private System.Windows.Forms.ComboBox S15;
+        private System.Windows.Forms.TextBox ATI2;
+        private System.Windows.Forms.TextBox RTI2;
     }
 }
\ No newline at end of file
diff --git a/Radio/3DRradio.cs b/Radio/3DRradio.cs
index 9bc6fbfb8b..50585375c4 100644
--- a/Radio/3DRradio.cs
+++ b/Radio/3DRradio.cs
@@ -40,20 +40,20 @@ public _3DRradio()
             RS3.DataSource = Enumerable.Range(0, 500).ToArray();
         }
 
-        bool getFirmware(uploader.Uploader.Code device)
+        bool getFirmware(uploader.Uploader.Board device)
         {
             // was https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
             // now http://www.samba.org/tridge/UAV/3DR/radio.hm_trp.hex
 
-            if (device == uploader.Uploader.Code.DEVICE_ID_HM_TRP)
+            if (device == uploader.Uploader.Board.DEVICE_ID_HM_TRP)
             {
                 return Common.getFilefromNet("http://www.samba.org/tridge/UAV/3DR/radio.hm_trp.hex", firmwarefile);
             }
-            else if (device == uploader.Uploader.Code.DEVICE_ID_RFD900)
+            else if (device == uploader.Uploader.Board.DEVICE_ID_RFD900)
             {
                 return Common.getFilefromNet("http://rfdesign.com.au/firmware/radio.rfd900.hex", firmwarefile);
             }
-            else if (device == uploader.Uploader.Code.DEVICE_ID_RFD900A)
+            else if (device == uploader.Uploader.Board.DEVICE_ID_RFD900A)
             {
                 int fixme;
                 int fixme23;
@@ -149,8 +149,8 @@ private void BUT_upload_Click(object sender, EventArgs e)
                     catch { }
                 }
 
-                global::uploader.Uploader.Code device = global::uploader.Uploader.Code.FAILED;
-                global::uploader.Uploader.Code freq = global::uploader.Uploader.Code.FAILED;
+                global::uploader.Uploader.Board device = global::uploader.Uploader.Board.FAILED;
+                global::uploader.Uploader.Frequency freq = global::uploader.Uploader.Frequency.FAILED;
 
                 // get the device type and frequency in the bootloader
                 uploader.getDevice(ref device, ref freq);
@@ -466,19 +466,27 @@ private void BUT_getcurrent_Click(object sender, EventArgs e)
 
                 RTI.Text = doCommand(comPort, "RTI");
 
-                    uploader.Uploader.Code freq = (uploader.Uploader.Code)Enum.Parse(typeof(uploader.Uploader.Code), doCommand(comPort, "ATI3"));
-                    uploader.Uploader.Code board = (uploader.Uploader.Code)Enum.Parse(typeof(uploader.Uploader.Code), doCommand(comPort, "ATI2"));
+                uploader.Uploader.Frequency freq = (uploader.Uploader.Frequency)Enum.Parse(typeof(uploader.Uploader.Frequency), doCommand(comPort, "ATI3"));
+                uploader.Uploader.Board board = (uploader.Uploader.Board)Enum.Parse(typeof(uploader.Uploader.Board), doCommand(comPort, "ATI2"));
 
                     ATI3.Text = freq.ToString();
+
+                    ATI2.Text = board.ToString();
+                    try
+                    {
+                        RTI2.Text = ((uploader.Uploader.Board)Enum.Parse(typeof(uploader.Uploader.Board), doCommand(comPort, "RTI2"))).ToString();
+                    }
+                    catch { }
                 // 8 and 9
-                    if (freq == uploader.Uploader.Code.FREQ_915) {
+                    if (freq == uploader.Uploader.Frequency.FREQ_915)
+                    {
                         S8.DataSource = Range(895000, 1000, 935000);
                         RS8.DataSource = Range(895000, 1000, 935000);
 
                         S9.DataSource = Range(895000, 1000, 935000);
                         RS9.DataSource = Range(895000, 1000, 935000);
                     }
-                    else if (freq == uploader.Uploader.Code.FREQ_433)
+                    else if (freq == uploader.Uploader.Frequency.FREQ_433)
                     {
                         S8.DataSource = Range(414000, 100, 454000);
                         RS8.DataSource = Range(414000, 100, 454000);
@@ -486,7 +494,7 @@ private void BUT_getcurrent_Click(object sender, EventArgs e)
                         S9.DataSource = Range(414000, 100, 454000);
                         RS9.DataSource = Range(414000, 100, 454000);
                     }
-                    else if (freq == uploader.Uploader.Code.FREQ_868) 
+                    else if (freq == uploader.Uploader.Frequency.FREQ_868) 
                     {
                         S8.DataSource = Range(849000, 1000, 889000);
                         RS8.DataSource = Range(849000, 1000, 889000);
@@ -495,7 +503,7 @@ private void BUT_getcurrent_Click(object sender, EventArgs e)
                         RS9.DataSource = Range(849000, 1000, 889000);
                     }
 
-                    if (board == uploader.Uploader.Code.DEVICE_ID_RFD900 || board == uploader.Uploader.Code.DEVICE_ID_RFD900A)
+                    if (board == uploader.Uploader.Board.DEVICE_ID_RFD900 || board == uploader.Uploader.Board.DEVICE_ID_RFD900A)
                     {
                         S4.DataSource = Range(1, 1, 30);
                         RS4.DataSource = Range(1, 1, 30);
diff --git a/Radio/3DRradio.resx b/Radio/3DRradio.resx
index 847db5b908..7b6f4a7a9f 100644
--- a/Radio/3DRradio.resx
+++ b/Radio/3DRradio.resx
@@ -140,6 +140,9 @@
   <data name="&gt;&gt;Progressbar.ZOrder" xml:space="preserve">
     <value>10</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
   <data name="S1.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
   </data>
@@ -179,9 +182,6 @@
   <data name="S1.TabIndex" type="System.Int32, mscorlib">
     <value>4</value>
   </data>
-  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
   <data name="S1.ToolTip" xml:space="preserve">
     <value>Serial baud rate in rounded kbps. So 57 means 57600. 
 </value>
@@ -754,6 +754,9 @@
   <data name="&gt;&gt;S7.ZOrder" xml:space="preserve">
     <value>14</value>
   </data>
+  <metadata name="toolTip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
   <data name="RS7.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
   </data>
@@ -1129,7 +1132,7 @@
     <value>1</value>
   </data>
   <data name="RSSI.Location" type="System.Drawing.Point, System.Drawing">
-    <value>82, 38</value>
+    <value>59, 38</value>
   </data>
   <data name="RSSI.Multiline" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1160,7 +1163,7 @@ which result in a valid packet CRC
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;RSSI.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="S10.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
@@ -2073,10 +2076,10 @@ red LED solid - in firmware update mode</value>
     <value>groupBox2</value>
   </data>
   <data name="&gt;&gt;RTI.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="ATI.Location" type="System.Drawing.Point, System.Drawing">
-    <value>82, 12</value>
+    <value>59, 12</value>
   </data>
   <data name="ATI.Size" type="System.Drawing.Size, System.Drawing">
     <value>147, 20</value>
@@ -2094,7 +2097,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;ATI.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="label11.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -2121,7 +2124,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;label11.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="label12.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -2148,7 +2151,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;label12.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="BUT_savesettings.Enabled" type="System.Boolean, mscorlib">
     <value>False</value>
@@ -2169,7 +2172,7 @@ red LED solid - in firmware update mode</value>
     <value>BUT_savesettings</value>
   </data>
   <data name="&gt;&gt;BUT_savesettings.Type" xml:space="preserve">
-    <value>Controls.MyButton, 3DRRadio, Version=0.0.4897.38272, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_savesettings.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2193,7 +2196,7 @@ red LED solid - in firmware update mode</value>
     <value>BUT_getcurrent</value>
   </data>
   <data name="&gt;&gt;BUT_getcurrent.Type" xml:space="preserve">
-    <value>Controls.MyButton, 3DRRadio, Version=0.0.4897.38272, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_getcurrent.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2238,7 +2241,7 @@ red LED solid - in firmware update mode</value>
     <value>BUT_upload</value>
   </data>
   <data name="&gt;&gt;BUT_upload.Type" xml:space="preserve">
-    <value>Controls.MyButton, 3DRRadio, Version=0.0.4897.38272, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_upload.Parent" xml:space="preserve">
     <value>$this</value>
@@ -2929,7 +2932,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;SPLIT_local.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="SPLIT_remote.IsSplitterFixed" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -2983,7 +2986,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox2</value>
   </data>
   <data name="&gt;&gt;SPLIT_remote.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="CHK_advanced.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -3037,7 +3040,7 @@ red LED solid - in firmware update mode</value>
     <value>BUT_Syncoptions</value>
   </data>
   <data name="&gt;&gt;BUT_Syncoptions.Type" xml:space="preserve">
-    <value>Controls.MyButton, 3DRRadio, Version=0.0.4897.38272, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_Syncoptions.Parent" xml:space="preserve">
     <value>$this</value>
@@ -3046,7 +3049,7 @@ red LED solid - in firmware update mode</value>
     <value>5</value>
   </data>
   <data name="ATI3.Location" type="System.Drawing.Point, System.Drawing">
-    <value>230, 12</value>
+    <value>207, 12</value>
   </data>
   <data name="ATI3.Size" type="System.Drawing.Size, System.Drawing">
     <value>102, 20</value>
@@ -3064,7 +3067,31 @@ red LED solid - in firmware update mode</value>
     <value>groupBox1</value>
   </data>
   <data name="&gt;&gt;ATI3.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
+  </data>
+  <data name="ATI2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>315, 12</value>
+  </data>
+  <data name="ATI2.Multiline" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="ATI2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>61, 65</value>
+  </data>
+  <data name="ATI2.TabIndex" type="System.Int32, mscorlib">
+    <value>80</value>
+  </data>
+  <data name="&gt;&gt;ATI2.Name" xml:space="preserve">
+    <value>ATI2</value>
+  </data>
+  <data name="&gt;&gt;ATI2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;ATI2.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;ATI2.ZOrder" xml:space="preserve">
+    <value>0</value>
   </data>
   <data name="groupBox1.Location" type="System.Drawing.Point, System.Drawing">
     <value>12, 48</value>
@@ -3090,6 +3117,30 @@ red LED solid - in firmware update mode</value>
   <data name="&gt;&gt;groupBox1.ZOrder" xml:space="preserve">
     <value>4</value>
   </data>
+  <data name="RTI2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>246, 12</value>
+  </data>
+  <data name="RTI2.Multiline" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="RTI2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>61, 65</value>
+  </data>
+  <data name="RTI2.TabIndex" type="System.Int32, mscorlib">
+    <value>81</value>
+  </data>
+  <data name="&gt;&gt;RTI2.Name" xml:space="preserve">
+    <value>RTI2</value>
+  </data>
+  <data name="&gt;&gt;RTI2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.TextBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;RTI2.Parent" xml:space="preserve">
+    <value>groupBox2</value>
+  </data>
+  <data name="&gt;&gt;RTI2.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
   <data name="label9.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
@@ -3118,7 +3169,7 @@ red LED solid - in firmware update mode</value>
     <value>groupBox2</value>
   </data>
   <data name="&gt;&gt;label9.ZOrder" xml:space="preserve">
-    <value>0</value>
+    <value>1</value>
   </data>
   <data name="groupBox2.Location" type="System.Drawing.Point, System.Drawing">
     <value>400, 48</value>
@@ -3190,7 +3241,7 @@ red LED solid - in firmware update mode</value>
     <value>BUT_resettodefault</value>
   </data>
   <data name="&gt;&gt;BUT_resettodefault.Type" xml:space="preserve">
-    <value>Controls.MyButton, 3DRRadio, Version=0.0.4897.38272, Culture=neutral, PublicKeyToken=null</value>
+    <value>MissionPlanner.Controls.MyButton, MissionPlanner.Controls, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null</value>
   </data>
   <data name="&gt;&gt;BUT_resettodefault.Parent" xml:space="preserve">
     <value>$this</value>
diff --git a/Radio/Uploader.cs b/Radio/Uploader.cs
index 57e5ae475c..218f22b561 100644
--- a/Radio/Uploader.cs
+++ b/Radio/Uploader.cs
@@ -37,19 +37,32 @@ public enum Code : byte
 			PROG_MULTI_MAX	= 32,	// maximum number of bytes in a PROG_MULTI command
 			READ_MULTI_MAX	= 255,	// largest read that can be requested
 			
-			// device IDs XXX should come with the firmware image...
-			DEVICE_ID_RF50	= 0x4d,
-			DEVICE_ID_HM_TRP= 0x4e,
+
+		};
+
+        public enum Board : byte
+        {
+            // device IDs XXX should come with the firmware image...
+            DEVICE_ID_RF50 = 0x4d,
+            DEVICE_ID_HM_TRP = 0x4e,
             DEVICE_ID_RFD900 = 0X42,
             DEVICE_ID_RFD900A = 0X43,
-			
-			// frequency code bytes XXX should come with the firmware image...
-			FREQ_NONE		= 0xf0,
-			FREQ_433		= 0x43,
-			FREQ_470		= 0x47,
-			FREQ_868		= 0x86,
-			FREQ_915		= 0x91,
-		};
+
+            FAILED = 0x11,
+        }
+
+        public enum Frequency : byte
+        {
+            // frequency code bytes XXX should come with the firmware image...
+            FREQ_NONE = 0xf0,
+            FREQ_433 = 0x43,
+            FREQ_470 = 0x47,
+            FREQ_868 = 0x86,
+            FREQ_915 = 0x91,
+
+            FAILED = 0x11,
+        }
+
 		
 		public Uploader ()
 		{
@@ -75,7 +88,7 @@ public void upload (SerialPort on_port, IHex image_data)
 			} catch (Exception e) {
 				if (port.IsOpen)
 					port.Close ();
-				throw e;
+				throw;
 			}
 		}
 			
@@ -312,33 +325,34 @@ private void cmdReboot ()
 		{
 			send (Code.REBOOT);
 		}
-		
-		private void checkDevice ()
-		{
-			Code id, freq;
-			
-			send (Code.GET_DEVICE);
-			send (Code.EOC);
-			
-			id = (Code)recv ();
-			freq = (Code)recv ();
-			
-			// XXX should be getting valid board/frequency data from firmware file
-            if ((id != Code.DEVICE_ID_HM_TRP) && (id != Code.DEVICE_ID_RF50) && (id != Code.DEVICE_ID_RFD900) && (id != Code.DEVICE_ID_RFD900A))
-				throw new Exception ("bootloader device ID mismatch - device:" + id.ToString());
-			
-			getSync ();
-		}
 
-        public void getDevice(ref Code device, ref Code freq)
+        private void checkDevice()
+        {
+            Board id;
+            Frequency freq;
+
+            send(Code.GET_DEVICE);
+            send(Code.EOC);
+
+            id = (Board)recv();
+            freq = (Frequency)recv();
+
+            // XXX should be getting valid board/frequency data from firmware file
+            if ((id != Board.DEVICE_ID_HM_TRP) && (id != Board.DEVICE_ID_RF50) && (id != Board.DEVICE_ID_RFD900) && (id != Board.DEVICE_ID_RFD900A))
+                throw new Exception("bootloader device ID mismatch - device:" + id.ToString());
+
+            getSync();
+        }
+
+        public void getDevice(ref Board device, ref Frequency freq)
         {
             connect_and_sync();
 
             send(Code.GET_DEVICE);
             send(Code.EOC);
 
-            device = (Code)recv();
-            freq = (Code)recv();
+            device = (Board)recv();
+            freq = (Frequency)recv();
 
             getSync();
         }
diff --git a/Resources/Hframe.png b/Resources/Hframe.png
index eef7b02d03..8578a42d37 100644
Binary files a/Resources/Hframe.png and b/Resources/Hframe.png differ
diff --git a/Resources/Hframelight.png b/Resources/Hframelight.png
index 7c8ef05a09..0cccbf605f 100644
Binary files a/Resources/Hframelight.png and b/Resources/Hframelight.png differ
diff --git a/Utilities/Firmware.cs b/Utilities/Firmware.cs
index 31db1f8f5d..5df3c48fe9 100644
--- a/Utilities/Firmware.cs
+++ b/Utilities/Firmware.cs
@@ -553,21 +553,17 @@ public bool UploadFlash(string comport, string filename, BoardDetect.boards boar
             }
 
             byte[] FLASH = new byte[1];
-            StreamReader sr = null;
             try
             {
                 updateProgress(0, "Reading Hex File");
-                sr = new StreamReader(filename);
-                FLASH = readIntelHEXv2(sr);
-                sr.Close();
+                using (StreamReader sr = new StreamReader(filename))
+                {
+                    FLASH = readIntelHEXv2(sr);
+                }
                 log.InfoFormat("\n\nSize: {0}\n\n", FLASH.Length);
             }
             catch (Exception ex)
             {
-                if (sr != null)
-                {
-                    sr.Dispose();
-                }
                 updateProgress(0, "Failed read HEX");
                 CustomMessageBox.Show("Failed to read firmware.hex : " + ex.Message);
                 return false;
diff --git a/Utilities/GMapMarkerRallyPt.cs b/Utilities/GMapMarkerRallyPt.cs
index 4cfd73d570..f6536c9d84 100644
--- a/Utilities/GMapMarkerRallyPt.cs
+++ b/Utilities/GMapMarkerRallyPt.cs
@@ -18,6 +18,8 @@ public class GMapMarkerRallyPt : GMapMarker
       //static Bitmap localcache1 = Resources.shadow50;
       static Bitmap localcache2 = Resources.marker_02;
 
+      public int Alt { get; set; }
+
       public GMapMarkerRallyPt(PointLatLng p)
          : base(p)
       {
diff --git a/Utilities/ParameterMetaDataParser.cs b/Utilities/ParameterMetaDataParser.cs
index 8d737be9d5..093f4de591 100644
--- a/Utilities/ParameterMetaDataParser.cs
+++ b/Utilities/ParameterMetaDataParser.cs
@@ -333,18 +333,9 @@ private static string ReadDataFromAddress(string address)
                      {
                         // Store the data to return
                         data = reader.ReadToEnd();
-
-                        // Close the reader
-                        reader.Close();
                      }
-
-                     // Close the datastream
-                     dataStream.Close();
                   }
                }
-
-               // Close the response
-               response.Close();
             }
 
             cache[address] = data;
diff --git a/Utilities/Update.cs b/Utilities/Update.cs
index e9918d6052..d17f6b749d 100644
--- a/Utilities/Update.cs
+++ b/Utilities/Update.cs
@@ -72,7 +72,9 @@ public static void updateCheckMain(ProgressReporterDialogue frmProgressReporter)
                 process.Start();
                 log.Info("Quitting existing process");
 
+                frmProgressReporter.BeginInvoke((Action) delegate {
                 Application.Exit();
+                });
             }
             catch (Exception ex)
             {
@@ -108,56 +110,52 @@ public static void CheckForUpdate()
 
             // ((HttpWebRequest)webRequest).IfModifiedSince = File.GetLastWriteTimeUtc(path);
 
-            // Get the response.
-            var response = webRequest.GetResponse();
-            // Display the status.
-            log.Debug("Response status: " + ((HttpWebResponse)response).StatusDescription);
-            // Get the stream containing content returned by the server.
-
             bool updateFound = false;
 
-            if (File.Exists(path))
+            // Get the response.
+            using (var response = webRequest.GetResponse())
             {
-                var fi = new FileInfo(path);
-
-                Version LocalVersion = new Version();
-                Version WebVersion = new Version();
+                // Display the status.
+                log.Debug("Response status: " + ((HttpWebResponse)response).StatusDescription);
+                // Get the stream containing content returned by the server.
 
                 if (File.Exists(path))
                 {
-                    using (Stream fs = File.OpenRead(path))
+                    var fi = new FileInfo(path);
+
+                    Version LocalVersion = new Version();
+                    Version WebVersion = new Version();
+
+                    if (File.Exists(path))
                     {
-                        using (StreamReader sr = new StreamReader(fs))
+                        using (Stream fs = File.OpenRead(path))
                         {
-                            LocalVersion = new Version(sr.ReadLine());
-                            sr.Close();
+                            using (StreamReader sr = new StreamReader(fs))
+                            {
+                                LocalVersion = new Version(sr.ReadLine());
+                            }
                         }
-                        fs.Close();
                     }
-                }
 
-                using (StreamReader sr = new StreamReader(response.GetResponseStream()))
-                {
-                    WebVersion = new Version(sr.ReadLine());
-
-                    sr.Close();
-                }
+                    using (StreamReader sr = new StreamReader(response.GetResponseStream()))
+                    {
+                        WebVersion = new Version(sr.ReadLine());
+                    }
 
-                log.Info("New file Check: local " + LocalVersion + " vs Remote " + WebVersion);
+                    log.Info("New file Check: local " + LocalVersion + " vs Remote " + WebVersion);
 
-                if (LocalVersion < WebVersion)
+                    if (LocalVersion < WebVersion)
+                    {
+                        updateFound = true;
+                    }
+                }
+                else
                 {
                     updateFound = true;
+                    log.Info("File does not exist: Getting " + path);
+                    // get it
                 }
             }
-            else
-            {
-                updateFound = true;
-                log.Info("File does not exist: Getting " + path);
-                // get it
-            }
-
-            response.Close();
 
             if (updateFound)
             {
@@ -321,58 +319,56 @@ static void GetNewFile(ProgressReporterDialogue frmProgressReporter, string base
                     // tell server we allow compress content
                     request.Headers.Add("Accept-Encoding", "gzip,deflate");
                     // Get the response.
-                    WebResponse response = request.GetResponse();
-                    // Display the status.
-                    log.Info(((HttpWebResponse)response).StatusDescription);
-                    // Get the stream containing content returned by the server.
-                    Stream dataStream = response.GetResponseStream();
+                    using (WebResponse response = request.GetResponse())
+                    {
+                        // Display the status.
+                        log.Info(((HttpWebResponse)response).StatusDescription);
+                        // Get the stream containing content returned by the server.
+                        Stream dataStream = response.GetResponseStream();
 
-                    // update status
-                    if (frmProgressReporter != null)
-                        frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
+                        // update status
+                        if (frmProgressReporter != null)
+                            frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
 
-                    // from head
-                    long bytes = response.ContentLength;
+                        // from head
+                        long bytes = response.ContentLength;
 
-                    long contlen = bytes;
+                        long contlen = bytes;
 
-                    byte[] buf1 = new byte[4096];
+                        byte[] buf1 = new byte[4096];
 
-                    // if the file doesnt exist. just save it inplace
-                    string fn = path + ".new";
+                        // if the file doesnt exist. just save it inplace
+                        string fn = path + ".new";
 
-                    if (!File.Exists(path))
-                        fn = path;
+                        if (!File.Exists(path))
+                            fn = path;
 
-                    using (FileStream fs = new FileStream(fn, FileMode.Create))
-                    {
+                        using (FileStream fs = new FileStream(fn, FileMode.Create))
+                        {
 
-                        DateTime dt = DateTime.Now;
+                            DateTime dt = DateTime.Now;
 
-                        while (dataStream.CanRead)
-                        {
-                            try
+                            while (dataStream.CanRead)
                             {
-                                if (dt.Second != DateTime.Now.Second)
+                                try
                                 {
-                                    if (frmProgressReporter != null)
-                                        frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
-                                    dt = DateTime.Now;
+                                    if (dt.Second != DateTime.Now.Second)
+                                    {
+                                        if (frmProgressReporter != null)
+                                            frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
+                                        dt = DateTime.Now;
+                                    }
                                 }
+                                catch { }
+                                log.Debug(file + " " + bytes);
+                                int len = dataStream.Read(buf1, 0, buf1.Length);
+                                if (len == 0)
+                                    break;
+                                bytes -= len;
+                                fs.Write(buf1, 0, len);
                             }
-                            catch { }
-                            log.Debug(file + " " + bytes);
-                            int len = dataStream.Read(buf1, 0, buf1.Length);
-                            if (len == 0)
-                                break;
-                            bytes -= len;
-                            fs.Write(buf1, 0, len);
                         }
-                        fs.Close();
                     }
-
-                    response.Close();
-
                 }
                 catch (Exception ex) { fail = ex; attempt++; continue; }
 
@@ -429,66 +425,69 @@ private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, st
             // Get the request stream.
             Stream dataStream; //= request.GetRequestStream();
             // Get the response.
-            WebResponse response = request.GetResponse();
-            // Display the status.
-            log.Info(((HttpWebResponse)response).StatusDescription);
-            // Get the stream containing content returned by the server.
-            dataStream = response.GetResponseStream();
-            // Open the stream using a StreamReader for easy access.
-            StreamReader reader = new StreamReader(dataStream);
-            // Read the content.
-            string responseFromServer = reader.ReadToEnd();
-            // Display the content.
-            Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
-
-            Uri baseuri = new Uri(baseurl, UriKind.Absolute);
-
-            if (regex.IsMatch(responseFromServer))
+            using (WebResponse response = request.GetResponse())
             {
-                MatchCollection matchs = regex.Matches(responseFromServer);
-                for (int i = 0; i < matchs.Count; i++)
+                // Display the status.
+                log.Info(((HttpWebResponse)response).StatusDescription);
+                // Get the stream containing content returned by the server.
+                using (dataStream = response.GetResponseStream())
                 {
-                    if (matchs[i].Groups[1].Value.ToString().Contains(".."))
-                        continue;
-                    if (matchs[i].Groups[1].Value.ToString().Contains("http"))
-                        continue;
-                    if (matchs[i].Groups[1].Value.ToString().StartsWith("?"))
-                        continue;
-                    if (matchs[i].Groups[1].Value.ToString().ToLower().Contains(".etag"))
-                        continue;
-
-                    //                     
+                    // Open the stream using a StreamReader for easy access.
+                    using (StreamReader reader = new StreamReader(dataStream))
                     {
-                        string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString());
-                        Uri newuri = new Uri(baseuri, url);
-                        files.Add(baseuri.MakeRelativeUri(newuri).ToString());
-                    }
+                        // Read the content.
+                        string responseFromServer = reader.ReadToEnd();
+                        // Display the content.
+                        Regex regex = new Regex("href=\"([^\"]+)\"", RegexOptions.IgnoreCase);
 
+                        Uri baseuri = new Uri(baseurl, UriKind.Absolute);
 
-                    // dirs
-                    if (matchs[i].Groups[1].Value.ToString().Contains("tree/master/"))
-                    {
-                        string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString()) + "/";
-                        Uri newuri = new Uri(baseuri, url);
-                        files.Add(baseuri.MakeRelativeUri(newuri).ToString());
+                        if (regex.IsMatch(responseFromServer))
+                        {
+                            MatchCollection matchs = regex.Matches(responseFromServer);
+                            for (int i = 0; i < matchs.Count; i++)
+                            {
+                                if (matchs[i].Groups[1].Value.ToString().Contains(".."))
+                                    continue;
+                                if (matchs[i].Groups[1].Value.ToString().Contains("http"))
+                                    continue;
+                                if (matchs[i].Groups[1].Value.ToString().StartsWith("?"))
+                                    continue;
+                                if (matchs[i].Groups[1].Value.ToString().ToLower().Contains(".etag"))
+                                    continue;
+
+                                //                     
+                                {
+                                    string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString());
+                                    Uri newuri = new Uri(baseuri, url);
+                                    files.Add(baseuri.MakeRelativeUri(newuri).ToString());
+                                }
 
-                    }
-                    // files
-                    if (matchs[i].Groups[1].Value.ToString().Contains("blob/master/"))
-                    {
-                        string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString());
-                        Uri newuri = new Uri(baseuri, url);
-                        files.Add(System.Web.HttpUtility.UrlDecode(newuri.Segments[newuri.Segments.Length - 1]));
+
+                                // dirs
+                                if (matchs[i].Groups[1].Value.ToString().Contains("tree/master/"))
+                                {
+                                    string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString()) + "/";
+                                    Uri newuri = new Uri(baseuri, url);
+                                    files.Add(baseuri.MakeRelativeUri(newuri).ToString());
+
+                                }
+                                // files
+                                if (matchs[i].Groups[1].Value.ToString().Contains("blob/master/"))
+                                {
+                                    string url = System.Web.HttpUtility.UrlDecode(matchs[i].Groups[1].Value.ToString());
+                                    Uri newuri = new Uri(baseuri, url);
+                                    files.Add(System.Web.HttpUtility.UrlDecode(newuri.Segments[newuri.Segments.Length - 1]));
+                                }
+                            }
+                        }
+
+                        //Console.WriteLine(responseFromServer);
+                        // Clean up the streams.
                     }
                 }
             }
 
-            //Console.WriteLine(responseFromServer);
-            // Clean up the streams.
-            reader.Close();
-            dataStream.Close();
-            response.Close();
-
             string dir = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + subdir;
             if (!Directory.Exists(dir))
                 Directory.CreateDirectory(dir);
@@ -538,119 +537,112 @@ private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, st
                         request.Headers.Add("Accept-Encoding", "gzip,deflate");
 
                         // Get the response.
-                        response = request.GetResponse();
-                        // Display the status.
-                        log.Info(((HttpWebResponse)response).StatusDescription);
-                        // Get the stream containing content returned by the server.
-                        dataStream = response.GetResponseStream();
-                        // Open the stream using a StreamReader for easy access.
-
-                        bool updateThisFile = false;
-
-                        if (File.Exists(path))
+                        using (WebResponse response = request.GetResponse())
                         {
-                            FileInfo fi = new FileInfo(path);
+                            // Display the status.
+                            log.Info(((HttpWebResponse)response).StatusDescription);
+                            // Get the stream containing content returned by the server.
+                            using (dataStream = response.GetResponseStream())
+                            {
+                                // Open the stream using a StreamReader for easy access.
 
-                            //log.Info(response.Headers[HttpResponseHeader.ETag]);
-                            string CurrentEtag = "";
+                                bool updateThisFile = false;
 
-                            if (File.Exists(path + ".etag"))
-                            {
-                                using (Stream fs = File.OpenRead(path + ".etag"))
+                                if (File.Exists(path))
                                 {
-                                    using (StreamReader sr = new StreamReader(fs))
+                                    FileInfo fi = new FileInfo(path);
+
+                                    //log.Info(response.Headers[HttpResponseHeader.ETag]);
+                                    string CurrentEtag = "";
+
+                                    if (File.Exists(path + ".etag"))
                                     {
-                                        CurrentEtag = sr.ReadLine();
-                                        sr.Close();
+                                        using (Stream fs = File.OpenRead(path + ".etag"))
+                                        {
+                                            using (StreamReader sr = new StreamReader(fs))
+                                            {
+                                                CurrentEtag = sr.ReadLine();
+                                            }
+                                        }
                                     }
-                                    fs.Close();
-                                }
-                            }
 
-                            log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
+                                    log.Debug("New file Check: " + fi.Length + " vs " + response.ContentLength + " " + response.Headers[HttpResponseHeader.ETag] + " vs " + CurrentEtag);
 
-                            if (fi.Length != response.ContentLength || response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
-                            {
-                                using (StreamWriter sw = new StreamWriter(path + ".etag.new"))
-                                {
-                                    sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
-                                    sw.Close();
+                                    if (fi.Length != response.ContentLength || response.Headers[HttpResponseHeader.ETag] != CurrentEtag)
+                                    {
+                                        using (StreamWriter sw = new StreamWriter(path + ".etag.new"))
+                                        {
+                                            sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
+                                        }
+                                        updateThisFile = true;
+                                        log.Info("NEW FILE " + file);
+                                    }
                                 }
-                                updateThisFile = true;
-                                log.Info("NEW FILE " + file);
-                            }
-                        }
-                        else
-                        {
-                            updateThisFile = true;
-                            log.Info("NEW FILE " + file);
-                            using (StreamWriter sw = new StreamWriter(path + ".etag.new"))
-                            {
-                                sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
-                                sw.Close();
-                            }
-                            // get it
-                        }
-
-                        if (updateThisFile)
-                        {
-                            if (!update)
-                            {
-                                //DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
-                                //if (dr == DialogResult.Yes)
+                                else
                                 {
-                                    update = true;
+                                    updateThisFile = true;
+                                    log.Info("NEW FILE " + file);
+                                    using (StreamWriter sw = new StreamWriter(path + ".etag.new"))
+                                    {
+                                        sw.WriteLine(response.Headers[HttpResponseHeader.ETag]);
+                                    }
+                                    // get it
                                 }
-                                //else
+
+                                if (updateThisFile)
                                 {
-                                    //    return;
-                                }
-                            }
-                            if (frmProgressReporter != null)
-                                frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
+                                    if (!update)
+                                    {
+                                        //DialogResult dr = MessageBox.Show("Update Found\n\nDo you wish to update now?", "Update Now", MessageBoxButtons.YesNo);
+                                        //if (dr == DialogResult.Yes)
+                                        {
+                                            update = true;
+                                        }
+                                        //else
+                                        {
+                                            //    return;
+                                        }
+                                    }
+                                    if (frmProgressReporter != null)
+                                        frmProgressReporter.UpdateProgressAndStatus(-1, "Getting " + file);
 
-                            // from head
-                            long bytes = response.ContentLength;
+                                    // from head
+                                    long bytes = response.ContentLength;
 
-                            long contlen = bytes;
+                                    long contlen = bytes;
 
-                            byte[] buf1 = new byte[4096];
+                                    byte[] buf1 = new byte[4096];
 
-                            using (FileStream fs = new FileStream(path + ".new", FileMode.Create))
-                            {
+                                    using (FileStream fs = new FileStream(path + ".new", FileMode.Create))
+                                    {
 
-                                DateTime dt = DateTime.Now;
+                                        DateTime dt = DateTime.Now;
 
-                                //dataStream.ReadTimeout = 30000;
+                                        //dataStream.ReadTimeout = 30000;
 
-                                while (dataStream.CanRead)
-                                {
-                                    try
-                                    {
-                                        if (dt.Second != DateTime.Now.Second)
+                                        while (dataStream.CanRead)
                                         {
-                                            if (frmProgressReporter != null)
-                                                frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
-                                            dt = DateTime.Now;
+                                            try
+                                            {
+                                                if (dt.Second != DateTime.Now.Second)
+                                                {
+                                                    if (frmProgressReporter != null)
+                                                        frmProgressReporter.UpdateProgressAndStatus((int)(((double)(contlen - bytes) / (double)contlen) * 100), "Getting " + file + ": " + (((double)(contlen - bytes) / (double)contlen) * 100).ToString("0.0") + "%"); //+ Math.Abs(bytes) + " bytes");
+                                                    dt = DateTime.Now;
+                                                }
+                                            }
+                                            catch { }
+                                            log.Debug(file + " " + bytes);
+                                            int len = dataStream.Read(buf1, 0, buf1.Length);
+                                            if (len == 0)
+                                                break;
+                                            bytes -= len;
+                                            fs.Write(buf1, 0, len);
                                         }
                                     }
-                                    catch { }
-                                    log.Debug(file + " " + bytes);
-                                    int len = dataStream.Read(buf1, 0, buf1.Length);
-                                    if (len == 0)
-                                        break;
-                                    bytes -= len;
-                                    fs.Write(buf1, 0, len);
                                 }
-                                fs.Close();
                             }
                         }
-
-
-                        reader.Close();
-                        //dataStream.Close();
-                        response.Close();
-
                     }
                     catch (Exception ex) { fail = ex; attempt++; update = false; continue; }
 
diff --git a/Utilities/httpserver.cs b/Utilities/httpserver.cs
index 50f9d6f226..8c2a6719bd 100644
--- a/Utilities/httpserver.cs
+++ b/Utilities/httpserver.cs
@@ -438,18 +438,17 @@ public void DoAcceptTcpClientCallback(IAsyncResult ar)
                                 byte[] temp = asciiEncoding.GetBytes(header);
                                 stream.Write(temp, 0, temp.Length);
 
-                                BinaryReader file = new BinaryReader(memstream);
-                                byte[] buffer = new byte[1024];
-                                while (file.BaseStream.Position < file.BaseStream.Length)
+                                using (BinaryReader file = new BinaryReader(memstream))
                                 {
+                                    byte[] buffer = new byte[1024];
+                                    while (file.BaseStream.Position < file.BaseStream.Length)
+                                    {
 
-                                    int leng = file.Read(buffer, 0, buffer.Length);
+                                        int leng = file.Read(buffer, 0, buffer.Length);
 
-                                    stream.Write(buffer, 0, leng);
+                                        stream.Write(buffer, 0, leng);
+                                    }
                                 }
-                                file.Close();
-                                resi.Dispose();
-                                orig.Dispose();
                             }
 
                             goto again;
@@ -667,8 +666,6 @@ public void DoAcceptTcpClientCallback(IAsyncResult ar)
 ";
                         temp = asciiEncoding.GetBytes(content);
                         stream.Write(temp, 0, temp.Length);
-
-                        stream.Close();
                     }
 
                     stream.Close();
@@ -676,11 +673,6 @@ public void DoAcceptTcpClientCallback(IAsyncResult ar)
                 catch (Exception ee)
                 {
                     log.Error("Failed http ", ee);
-                    try
-                    {
-                        client.Close();
-                    }
-                    catch { }
                 }
             }
         }
diff --git a/Wizard/3ConnectAP.Designer.cs b/Wizard/3ConnectAP.Designer.cs
index 9bf6393506..963c2c7b4b 100644
--- a/Wizard/3ConnectAP.Designer.cs
+++ b/Wizard/3ConnectAP.Designer.cs
@@ -33,7 +33,7 @@ private void InitializeComponent()
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.label2 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
-            this.radialGradientBG1 = new Controls.GradientBG();
+            this.radialGradientBG1 = new MissionPlanner.Controls.GradientBG();
             this.panel4 = new System.Windows.Forms.Panel();
             this.CMB_port = new System.Windows.Forms.ComboBox();
             this.label7 = new System.Windows.Forms.Label();
@@ -143,7 +143,7 @@ private void InitializeComponent()
             this.CMB_port.FormattingEnabled = true;
             this.CMB_port.Location = new System.Drawing.Point(338, 44);
             this.CMB_port.Name = "CMB_port";
-            this.CMB_port.Size = new System.Drawing.Size(153, 21);
+            this.CMB_port.Size = new System.Drawing.Size(163, 21);
             this.CMB_port.TabIndex = 4;
             this.CMB_port.DrawItem += new System.Windows.Forms.DrawItemEventHandler(this.CMB_port_DrawItem);
             this.CMB_port.Click += new System.EventHandler(this.CMB_port_Click);
@@ -159,7 +159,7 @@ private void InitializeComponent()
             this.label7.Size = new System.Drawing.Size(327, 123);
             this.label7.TabIndex = 3;
             this.label7.Text = "Please select your comport from the list.\r\n\r\nThe correct comport will apear as \"A" +
-    "rduino Mega 2560\"\r\n\r\n";
+    "rduino Mega 2560\" or \"PX4 FMU\"\r\n\r\n";
             // 
             // label8
             // 
@@ -170,6 +170,7 @@ private void InitializeComponent()
             this.label8.Size = new System.Drawing.Size(198, 22);
             this.label8.TabIndex = 1;
             this.label8.Text = "SELECT COM PORT";
+            this.label8.Click += new System.EventHandler(this.label8_Click);
             // 
             // _3ConnectAP
             // 
diff --git a/Wizard/3ConnectAP.cs b/Wizard/3ConnectAP.cs
index 080da2a580..4c57306828 100644
--- a/Wizard/3ConnectAP.cs
+++ b/Wizard/3ConnectAP.cs
@@ -19,6 +19,7 @@ public partial class _3ConnectAP : MyUserControl, IWizard, IActivate
         List<KeyValuePair<string, string>> fwmap = new List<KeyValuePair<string, string>>();
         ProgressReporterDialogue pdr;
         string comport = "";
+        private bool usebeta;
 
         public _3ConnectAP()
         {
@@ -97,7 +98,7 @@ public int WizardValidate()
 
             pdr.RunBackgroundOperationAsync();
 
-            if (pdr.doWorkArgs.CancelRequested || pdr.doWorkArgs.ErrorMessage != "")
+            if (pdr.doWorkArgs.CancelRequested || !string.IsNullOrEmpty(pdr.doWorkArgs.ErrorMessage))
                 return 0;
 
             if (!MainV2.comPort.BaseStream.IsOpen)
@@ -131,7 +132,11 @@ void pdr_DoWork(object sender, Controls.ProgressWorkerEventArgs e, object passda
             
             Utilities.Firmware fw = new Utilities.Firmware();
             fw.Progress += fw_Progress;
-            List<Utilities.Firmware.software> swlist = fw.getFWList();
+            string firmwareurl = "";
+            if (usebeta)
+                firmwareurl = "https://raw.github.com/diydrones/binary/master/dev/firmware2.xml";
+
+            List<Utilities.Firmware.software> swlist = fw.getFWList(firmwareurl);
 
             if (swlist.Count == 0)
             {
@@ -167,7 +172,8 @@ void pdr_DoWork(object sender, Controls.ProgressWorkerEventArgs e, object passda
                     {
                         try
                         {
-                            fwdone = fw.update(comport, sw);
+                            //fwdone = fw.update(comport, sw);
+                            fwdone = true;
                         }
                         catch { }
                         if (fwdone == false)
@@ -241,9 +247,21 @@ private void CMB_port_Click(object sender, EventArgs e)
 
         private void pictureBox1_Click(object sender, EventArgs e)
         {
+            if (MainV2.comPort.BaseStream.IsOpen)
+                MainV2.comPort.BaseStream.Close();
+
+            MainV2.comPort.BaseStream.PortName = CMB_port.Text;
+            MainV2.comPort.BaseStream.BaudRate = 115200;
+
             if (!MainV2.comPort.BaseStream.IsOpen)
                 MainV2.comPort.Open(true);
             Wizard.instance.GoNext(1);
         }
+
+        private void label8_Click(object sender, EventArgs e)
+        {
+            usebeta = true;
+            CustomMessageBox.Show("Using beta FW");
+        }
     }
 }
diff --git a/Wizard/3ConnectAP.resx b/Wizard/3ConnectAP.resx
index 5ea0895e32..29dcb1b3a3 100644
--- a/Wizard/3ConnectAP.resx
+++ b/Wizard/3ConnectAP.resx
@@ -112,9 +112,9 @@
     <value>2.0</value>
   </resheader>
   <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
 </root>
\ No newline at end of file
diff --git a/Wizard/6CompassCalib.Designer.cs b/Wizard/6CompassCalib.Designer.cs
index bcee3f748d..1d5b4809b0 100644
--- a/Wizard/6CompassCalib.Designer.cs
+++ b/Wizard/6CompassCalib.Designer.cs
@@ -32,21 +32,21 @@ private void InitializeComponent()
             this.components = new System.ComponentModel.Container();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(_6CompassCalib));
             this.panel1 = new System.Windows.Forms.Panel();
-            this.BUT_MagCalibrationLive = new Controls.MyButton();
+            this.BUT_MagCalibrationLive = new MissionPlanner.Controls.MyButton();
             this.linkLabel1 = new System.Windows.Forms.LinkLabel();
             this.label2 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
-            this.radialGradientBG1 = new Controls.GradientBG();
+            this.radialGradientBG1 = new MissionPlanner.Controls.GradientBG();
             this.panel2 = new System.Windows.Forms.Panel();
+            this.label6 = new System.Windows.Forms.Label();
             this.label5 = new System.Windows.Forms.Label();
-            this.BUT_compassorient = new Controls.MyButton();
-            this.pictureBoxMouseOver3 = new Controls.PictureBoxMouseOver();
-            this.pictureBoxMouseOver2 = new Controls.PictureBoxMouseOver();
-            this.pictureBoxMouseOver1 = new Controls.PictureBoxMouseOver();
+            this.BUT_compassorient = new MissionPlanner.Controls.MyButton();
+            this.pictureBoxMouseOver3 = new MissionPlanner.Controls.PictureBoxMouseOver();
+            this.pictureBoxMouseOver2 = new MissionPlanner.Controls.PictureBoxMouseOver();
+            this.pictureBoxMouseOver1 = new MissionPlanner.Controls.PictureBoxMouseOver();
             this.label3 = new System.Windows.Forms.Label();
             this.label4 = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.label6 = new System.Windows.Forms.Label();
             this.panel1.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.radialGradientBG1.Image)).BeginInit();
             this.panel2.SuspendLayout();
@@ -70,16 +70,12 @@ private void InitializeComponent()
             // 
             // BUT_MagCalibrationLive
             // 
-            this.BUT_MagCalibrationLive.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_MagCalibrationLive.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_MagCalibrationLive.ImeMode = System.Windows.Forms.ImeMode.NoControl;
             this.BUT_MagCalibrationLive.Location = new System.Drawing.Point(115, 106);
             this.BUT_MagCalibrationLive.Name = "BUT_MagCalibrationLive";
-            this.BUT_MagCalibrationLive.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
             this.BUT_MagCalibrationLive.Size = new System.Drawing.Size(66, 27);
             this.BUT_MagCalibrationLive.TabIndex = 86;
             this.BUT_MagCalibrationLive.Text = "Live Calibration";
-            this.BUT_MagCalibrationLive.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_MagCalibrationLive.UseVisualStyleBackColor = true;
             this.BUT_MagCalibrationLive.Click += new System.EventHandler(this.BUT_MagCalibration_Click);
             // 
@@ -165,6 +161,16 @@ private void InitializeComponent()
             this.panel2.Name = "panel2";
             this.panel2.Size = new System.Drawing.Size(740, 219);
             this.panel2.TabIndex = 5;
+            this.panel2.Visible = false;
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(210, 170);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(10, 13);
+            this.label6.TabIndex = 9;
+            this.label6.Text = ".";
             // 
             // label5
             // 
@@ -177,15 +183,11 @@ private void InitializeComponent()
             // 
             // BUT_compassorient
             // 
-            this.BUT_compassorient.BGGradBot = System.Drawing.Color.FromArgb(((int)(((byte)(205)))), ((int)(((byte)(226)))), ((int)(((byte)(150)))));
-            this.BUT_compassorient.BGGradTop = System.Drawing.Color.FromArgb(((int)(((byte)(148)))), ((int)(((byte)(193)))), ((int)(((byte)(31)))));
             this.BUT_compassorient.Location = new System.Drawing.Point(115, 138);
             this.BUT_compassorient.Name = "BUT_compassorient";
-            this.BUT_compassorient.Outline = System.Drawing.Color.FromArgb(((int)(((byte)(121)))), ((int)(((byte)(148)))), ((int)(((byte)(41)))));
             this.BUT_compassorient.Size = new System.Drawing.Size(75, 23);
             this.BUT_compassorient.TabIndex = 7;
             this.BUT_compassorient.Text = "Start";
-            this.BUT_compassorient.TextColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(87)))), ((int)(((byte)(4)))));
             this.BUT_compassorient.UseVisualStyleBackColor = true;
             this.BUT_compassorient.Click += new System.EventHandler(this.BUT_compassorient_Click);
             // 
@@ -259,15 +261,6 @@ private void InitializeComponent()
             // 
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // label6
-            // 
-            this.label6.AutoSize = true;
-            this.label6.Location = new System.Drawing.Point(210, 170);
-            this.label6.Name = "label6";
-            this.label6.Size = new System.Drawing.Size(10, 13);
-            this.label6.TabIndex = 9;
-            this.label6.Text = ".";
-            // 
             // _6CompassCalib
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
diff --git a/Wizard/6CompassCalib.resx b/Wizard/6CompassCalib.resx
index 9549e622a9..d2a09089f0 100644
--- a/Wizard/6CompassCalib.resx
+++ b/Wizard/6CompassCalib.resx
@@ -112,15 +112,15 @@
     <value>2.0</value>
   </resheader>
   <resheader name="reader">
-    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <resheader name="writer">
-    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   <data name="label2.Text" xml:space="preserve">
     <value>Compass calibration is important, so your autopilot knows which direction it is pointing. Point every axis north (left,right,front,back,top,bottom) and rotate a full 360 around the left-right axis, for all 6 axis's</value>
   </data>
-  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
   </metadata>
 </root>
\ No newline at end of file
diff --git a/georefimage.cs b/georefimage.cs
index 0d772dea0d..db09d63abb 100644
--- a/georefimage.cs
+++ b/georefimage.cs
@@ -480,10 +480,6 @@ public void dowork(string logFile, string dirWithImages, float offsetseconds, bo
 
                                 if (dooffset)
                                 {
-                                    swlockml.Close();
-                                    swloctel.Close();
-                                    swloctxt.Close();
-                                    swlogloccsv.Close();
                                     return;
                                 }
 
@@ -518,9 +514,9 @@ public void dowork(string logFile, string dirWithImages, float offsetseconds, bo
 
                                 matchs++;
 
-                               //  int fixme;
-                               //  if (matchs < 150 || matchs > 170)
-                               //     break; ;
+                                //  int fixme;
+                                //  if (matchs < 150 || matchs > 170)
+                                //     break; ;
 
                                 SharpKml.Dom.Timestamp tstamp = new SharpKml.Dom.Timestamp();
 
@@ -623,24 +619,17 @@ public void dowork(string logFile, string dirWithImages, float offsetseconds, bo
                             //Console.WriteLine(crap);
                         }
                     }
-
-
-                }
-
-                
+                }                
 
                 Serializer serializer = new Serializer();
                 serializer.Serialize(kml);
                 swlockml.Write(serializer.Xml);
-                swlockml.Close();
 
                 Utilities.httpserver.georefkml = serializer.Xml;
                 Utilities.httpserver.georefimagepath = dirWithImages + Path.DirectorySeparatorChar;
 
                 writeGPX(dirWithImages + Path.DirectorySeparatorChar + "location.gpx");
 
-                swlogloccsv.Close();
-
                 // flightmission
                 GenFlightMission(swloctrim);
 
@@ -648,9 +637,6 @@ public void dowork(string logFile, string dirWithImages, float offsetseconds, bo
                 swloctrim.WriteEndElement(); // job
                 swloctrim.WriteEndDocument();
 
-                swloctxt.Close();
-                swloctel.Close();
-
                 TXT_outputlog.AppendText("Done " + matchs + " matchs");
 
             }
@@ -921,7 +907,6 @@ private void writeGPX(string filename)
                 xw.WriteEndElement();
                 xw.WriteEndElement();
 
-                xw.Close();
             }
         }
 
@@ -1300,7 +1285,6 @@ private void BUT_browsedir_Click(object sender, EventArgs e)
                             {
                                 TXT_offsetseconds.Text = match.Groups[1].Value;
                             }
-                            sr.Close();
                         }
                     }
                     catch { }