diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 446e219287..761ff0cb1c 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -168,6 +168,10 @@
     <Reference Include="Microsoft.Scripting.Debugging">
       <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython-2.6.1\Microsoft.Scripting.Debugging.dll</HintPath>
     </Reference>
+    <Reference Include="Microsoft.Scripting.ExtensionAttribute, Version=2.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\..\..\..\..\Program Files (x86)\IronPython 2.7.1\IronPython-2.6.1\Microsoft.Scripting.ExtensionAttribute.dll</HintPath>
+    </Reference>
     <Reference Include="OpenTK, Version=1.0.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\..\..\..\Desktop\DIYDrones\opentk\trunk\Binaries\OpenTK\Release\OpenTK.dll</HintPath>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index 9eaeb83689..bde3cb13a8 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -268,6 +268,7 @@ namespace ArdupilotMega.GCSViews
         {
             public string url;
             public string url2560;
+            public string url2560_2;
             public string name;
             public string desc;
             public int k_format_version;
@@ -295,6 +296,7 @@ namespace ArdupilotMega.GCSViews
         {
             string url = "";
             string url2560 = "";
+            string url2560_2 = "";
             string name = "";
             string desc = "";
             int k_format_version = 0;
@@ -317,6 +319,9 @@ namespace ArdupilotMega.GCSViews
                             case "url2560":
                                 url2560 = xmlreader.ReadString();
                                 break;
+                            case "url2560-2":
+                                url2560_2 = xmlreader.ReadString();
+                                break;
                             case "name":
                                 name = xmlreader.ReadString();
                                 break;
@@ -333,6 +338,7 @@ namespace ArdupilotMega.GCSViews
                                     temp.name = name;
                                     temp.url = url;
                                     temp.url2560 = url2560;
+                                    temp.url2560_2 = url2560_2;
                                     temp.k_format_version = k_format_version;
 
                                     try
@@ -518,6 +524,10 @@ namespace ArdupilotMega.GCSViews
                 {
                     baseurl = temp.url.ToString();
                 }
+                else if (board == "2560-2")
+                {
+                    baseurl = temp.url2560_2.ToString();
+                }
                 else
                 {
                     MessageBox.Show("Invalid Board Type");
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index 59ae6610e5..8f65838cdf 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -272,11 +272,6 @@ namespace ArdupilotMega.GCSViews
                 cell.Value = lng.ToString("0.0000000");
                 cell.DataGridView.EndEdit();
             }
-            if (Commands.Columns[Param1.Index].HeaderText.Equals(cmdParamNames["WAYPOINT"][0]/*"Delay"*/))
-            {
-                cell = Commands.Rows[selectedrow].Cells[Param1.Index] as DataGridViewTextBoxCell;
-                cell.Value = 0;
-            }
             if (alt != -1 && Commands.Columns[Alt.Index].HeaderText.Equals(cmdParamNames["WAYPOINT"][6]/*"Alt"*/))
             {
                 cell = Commands.Rows[selectedrow].Cells[Alt.Index] as DataGridViewTextBoxCell;
@@ -699,7 +694,8 @@ namespace ArdupilotMega.GCSViews
                 DataGridViewCell tcell = Commands.Rows[e.RowIndex].Cells[i];
                 if (tcell.GetType() == typeof(DataGridViewTextBoxCell))
                 {
-                    tcell.Value = "0";
+                    if (tcell.Value == null)
+                        tcell.Value = "0";
                 }
             }                
 
@@ -2642,7 +2638,7 @@ namespace ArdupilotMega.GCSViews
         {
             selectedrow = Commands.Rows.Add();
 
-            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_UNLIM;
+            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_UNLIM.ToString();
 
             setfromGE(end.Lat, end.Lng, (int)float.Parse(TXT_DefaultAlt.Text));
         }
@@ -2654,7 +2650,7 @@ namespace ArdupilotMega.GCSViews
 
             int row = Commands.Rows.Add();
 
-            Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP;
+            Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
 
             Commands.Rows[row].Cells[Param1.Index].Value = 1;
 
@@ -2670,7 +2666,7 @@ namespace ArdupilotMega.GCSViews
 
             int row = Commands.Rows.Add();
 
-            Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP;
+            Commands.Rows[row].Cells[Command.Index].Value = MAVLink.MAV_CMD.DO_JUMP.ToString();
 
             Commands.Rows[row].Cells[Param1.Index].Value = wp;
 
@@ -2717,7 +2713,7 @@ namespace ArdupilotMega.GCSViews
 
             selectedrow = Commands.Rows.Add();
 
-            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TIME;
+            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TIME.ToString();
 
             Commands.Rows[selectedrow].Cells[Param1.Index].Value = time;
 
@@ -2731,7 +2727,7 @@ namespace ArdupilotMega.GCSViews
 
             selectedrow = Commands.Rows.Add();
 
-            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TURNS;
+            Commands.Rows[selectedrow].Cells[Command.Index].Value = MAVLink.MAV_CMD.LOITER_TURNS.ToString();
 
             Commands.Rows[selectedrow].Cells[Param1.Index].Value = turns;
 
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index d46018796e..1327dce0a5 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -625,8 +625,9 @@ namespace ArdupilotMega
                 }
                 if (!(restart.AddMilliseconds(1000) > DateTime.Now))
                 {
+                    rereq.param_id = new byte[] {0x0,0x0};
                     rereq.param_index = (short)nextid;
-                    generatePacket(MAVLINK_MSG_ID_PARAM_REQUEST_READ, rereq);
+                    sendPacket(rereq);
                     restart = DateTime.Now;
                 }
 
@@ -2167,7 +2168,7 @@ namespace ArdupilotMega
 
                         if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
                         {
-                            MainV2.talk.Speak(logdata);
+                            MainV2.talk.SpeakAsync(logdata);
                         }
 
                     }
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index f4c44b2319..41b0f8de1a 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.97")]
+[assembly: AssemblyFileVersion("1.0.98")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
index b88ee121c7..862465c9a5 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
@@ -4,14 +4,14 @@
   <description asmv2:publisher="Michael Oborne" asmv2:product="ArdupilotMegaPlanner" xmlns="urn:schemas-microsoft-com:asm.v1" />
   <deployment install="true" />
   <dependency>
-    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="22599">
+    <dependentAssembly dependencyType="install" codebase="ArdupilotMegaPlanner.exe.manifest" size="23309">
       <assemblyIdentity name="ArdupilotMegaPlanner.exe" version="0.0.0.1" publicKeyToken="0000000000000000" language="en-US" processorArchitecture="x86" type="win32" />
       <hash>
         <dsig:Transforms>
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>t8hifK3D9WjR+d+7nNsCpZYV4kc=</dsig:DigestValue>
+        <dsig:DigestValue>XqmS8DEyaXOEHAzbfxq+pbxDUg4=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>