diff --git a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
index a10f2f7489..fac3ab0cdd 100644
--- a/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
+++ b/Tools/ArdupilotMegaPlanner/CommsUdpSerial.cs
@@ -79,17 +79,16 @@ namespace System.IO.Ports
 
             client = new UdpClient(int.Parse(Port));
 
-            int timeout = 5;
-            while (timeout > 0)
-            {
-                if (BytesToRead > 0)
-                    break;
-                System.Threading.Thread.Sleep(1000);
-                timeout--;
-            }
-
-            if (BytesToRead == 0)
-                return;
+                         int timeout = 5;  
+            while (timeout > 0) 
+            { 
+                if (BytesToRead > 0)  
+                    break;  
+                System.Threading.Thread.Sleep(1000);  
+                timeout--;  
+            }  
+            if (BytesToRead == 0)  
+                return; 
 
             try
             {
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 303e0b969f..4bba5e8269 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -136,7 +136,11 @@ namespace ArdupilotMega
         public int hilch1 { get; set; }
         public int hilch2 { get; set; }
         public int hilch3 { get; set; }
-        public int hilch4 { get; set; } 
+        public int hilch4 { get; set; }
+        public int hilch5;
+        public int hilch6;
+        public int hilch7;
+        public int hilch8;
 
         // rc override
         public ushort rcoverridech1 { get; set; }
@@ -230,6 +234,10 @@ namespace ArdupilotMega
                     hilch2 = hil.chan2_scaled;
                     hilch3 = hil.chan3_scaled;
                     hilch4 = hil.chan4_scaled;
+                    hilch5 = hil.chan5_scaled;
+                    hilch6 = hil.chan6_scaled;
+                    hilch7 = hil.chan7_scaled;
+                    hilch8 = hil.chan8_scaled;
 
                     //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
                 }
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index 496882201c..2aa13247c7 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -622,7 +622,11 @@ namespace ArdupilotMega.GCSViews
                     case MAVLink.MAV_CMD.LAND:
                         Commands.Columns[1].HeaderText = "N/A";
                         if (MainV2.APMFirmware != MainV2.Firmwares.ArduPlane)
+                        {
                             Commands.Columns[2].HeaderText = "N/A";
+                            Commands.Columns[3].HeaderText = "N/A";
+                            Commands.Columns[4].HeaderText = "N/A";
+                        }
                         break;
                     case MAVLink.MAV_CMD.TAKEOFF:
                         if (MainV2.APMFirmware != MainV2.Firmwares.ArduPlane)
@@ -2430,7 +2434,7 @@ namespace ArdupilotMega.GCSViews
 
                 polygons.Markers.Add(new GMapMarkerGoogleRed(start));
                 MainMap.Invalidate();
-                MessageBox.Show("Distance: " + FormatDistance(MainMap.Manager.GetDistance(startmeasure, start), true));
+                MessageBox.Show("Distance: " + FormatDistance(MainMap.Manager.GetDistance(startmeasure, start),true) + " AZ: " + (MainMap.Manager.GetBearing(startmeasure, start).ToString("0")));
                 polygons.Polygons.Remove(line);
                 polygons.Markers.Clear();
                 startmeasure = new PointLatLng();
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs
index 17ffbb85a9..997088d9e7 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.Designer.cs
@@ -109,6 +109,7 @@
             this.BUT_startfgquad = new ArdupilotMega.MyButton();
             this.BUT_startfgplane = new ArdupilotMega.MyButton();
             this.BUT_startxplane = new ArdupilotMega.MyButton();
+            this.CHK_heli = new System.Windows.Forms.CheckBox();
             ((System.ComponentModel.ISupportInitialize)(this.currentStateBindingSource)).BeginInit();
             this.panel1.SuspendLayout();
             this.panel2.SuspendLayout();
@@ -673,10 +674,17 @@
             this.BUT_startxplane.UseVisualStyleBackColor = true;
             this.BUT_startxplane.Click += new System.EventHandler(this.BUT_startxplane_Click);
             // 
+            // CHK_heli
+            // 
+            resources.ApplyResources(this.CHK_heli, "CHK_heli");
+            this.CHK_heli.Name = "CHK_heli";
+            this.CHK_heli.UseVisualStyleBackColor = true;
+            // 
             // Simulation
             // 
             resources.ApplyResources(this, "$this");
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.CHK_heli);
             this.Controls.Add(this.BUT_startxplane);
             this.Controls.Add(this.BUT_startfgplane);
             this.Controls.Add(this.BUT_startfgquad);
@@ -801,5 +809,6 @@
         private MyButton BUT_startfgquad;
         private MyButton BUT_startfgplane;
         private MyButton BUT_startxplane;
+        private System.Windows.Forms.CheckBox CHK_heli;
     }
 }
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index bfd1cd91a0..2c0469d8ef 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -124,6 +124,8 @@ namespace ArdupilotMega.GCSViews
 
                 try
                 {
+                    quad = new HIL.QuadCopter();
+
                     SetupUDPRecv();
 
                     if (RAD_softXplanes.Checked)
@@ -149,6 +151,7 @@ namespace ArdupilotMega.GCSViews
                 };
                 t11.Start();
                 MainV2.threads.Add(t11);
+                timer1.Start();
             }
             else
             {
@@ -618,6 +621,9 @@ namespace ArdupilotMega.GCSViews
                 att.pitch = (DATA[18][0] * deg2rad);
                 att.roll = (DATA[18][1] * deg2rad);
                 att.yaw = (DATA[18][2] * deg2rad);
+                att.pitchspeed = (DATA[17][0]);
+                att.rollspeed = (DATA[17][1]);
+                att.yawspeed = (DATA[17][2]);
                 
                 TimeSpan timediff = DateTime.Now - oldtime;
 
@@ -679,7 +685,7 @@ namespace ArdupilotMega.GCSViews
 
                 object imudata = new fgIMUData();
 
-                MAVLink.ByteArrayToStructure(data, ref imudata, 0);
+                MAVLink.ByteArrayToStructureEndian(data, ref imudata, 0);
 
                 imudata = (fgIMUData)(imudata);
 
@@ -725,7 +731,7 @@ namespace ArdupilotMega.GCSViews
 
                 object temp = fdm;
 
-                MAVLink.ByteArrayToStructure(data, ref temp, 0);
+                MAVLink.ByteArrayToStructureEndian(data, ref temp, 0);
 
                 fdm = (FGNetFDM)(temp);
 
@@ -904,12 +910,9 @@ namespace ArdupilotMega.GCSViews
         private void processArduPilot()
         {
 
-            //            Console.WriteLine("sim "+DateTime.Now.Millisecond);
+            bool heli = CHK_heli.Checked;
 
-            float roll_out = (float)MainV2.cs.hilch1 / rollgain;
-            float pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
-            float throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
-            float rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+            //            Console.WriteLine("sim "+DateTime.Now.Millisecond);
 
             if (CHK_quad.Checked)
             {
@@ -931,6 +934,9 @@ namespace ArdupilotMega.GCSViews
                 try
                 {
 
+                    if (lastfdmdata.version == 0)
+                        return;
+
                     quad.update(ref m, lastfdmdata);
                 }
                 catch (Exception e) { Console.WriteLine("Quad hill error " + e.ToString()); }
@@ -1010,12 +1016,37 @@ namespace ArdupilotMega.GCSViews
 
             }
 
+            float roll_out, pitch_out, throttle_out, rudder_out, collective_out;
+
+            collective_out = 0;
+
+            if (heli)
+            {
+                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                throttle_out = 1;
+                rudder_out = (float)MainV2.cs.hilch4 / -ruddergain;
+
+                collective_out = (float)(MainV2.cs.hilch3 - 1000) / throttlegain; 
+            }
+            else
+            {
+
+                roll_out = (float)MainV2.cs.hilch1 / rollgain;
+                pitch_out = (float)MainV2.cs.hilch2 / pitchgain;
+                throttle_out = ((float)MainV2.cs.hilch3 + 5000) / throttlegain;
+                rudder_out = (float)MainV2.cs.hilch4 / ruddergain;
+            }
 
             if ((roll_out == -1 || roll_out == 1) && (pitch_out == -1 || pitch_out == 1))
             {
                 this.Invoke((MethodInvoker)delegate
                 {
-                    //OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
+                    try
+                    {
+                        OutputLog.AppendText("Please check your radio setup - CLI -> setup -> radio!!!\n");
+                    }
+                    catch { }
                 });
             }
 
@@ -1158,15 +1189,9 @@ namespace ArdupilotMega.GCSViews
             {
                 // sending only 1 packet instead of many.
 
-                bool helicopter = false;
-
-#if !DEBUG
-                helicopter = false;
-#endif
-
                 byte[] Xplane = new byte[5 + 36 + 36];
 
-                if (helicopter)
+                if (heli)
                 {
                     Xplane = new byte[5 + 36 + 36 + 36];
                 }
@@ -1184,14 +1209,6 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 17, 4);
                 Array.Copy(BitConverter.GetBytes((float)throttle_out), 0, Xplane, 21, 4);
 
-                if (helicopter)
-                {
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 9, 4); // start data
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 13, 4);
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 17, 4);
-                    Array.Copy(BitConverter.GetBytes((float)1), 0, Xplane, 21, 4);
-                }
-
                 Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 25, 4);
                 Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 29, 4);
                 Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 33, 4);
@@ -1211,12 +1228,15 @@ namespace ArdupilotMega.GCSViews
                 Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 69, 4);
                 Array.Copy(BitConverter.GetBytes((int)-999), 0, Xplane, 73, 4);
 
-                if (helicopter)
+                if (heli)
                 {
+                    Array.Copy(BitConverter.GetBytes((float)(0)), 0, Xplane, 53, 4);
+
+
                     int a = 73 + 4;
                     Array.Copy(BitConverter.GetBytes((int)39), 0, Xplane, a, 4); // packet index
                     a += 4;
-                    Array.Copy(BitConverter.GetBytes((float)(12 * throttle_out - 2)), 0, Xplane, a, 4); // main rotor 0 - 12
+                    Array.Copy(BitConverter.GetBytes((float)(12 * collective_out)), 0, Xplane, a, 4); // main rotor 0 - 12
                     a += 4;
                     Array.Copy(BitConverter.GetBytes((float)(12 * rudder_out)), 0, Xplane, a, 4); // tail rotor -12 - 12
                     a += 4;
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
index 931ace516c..6bd2f521c2 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.resx
@@ -144,7 +144,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_roll.ZOrder" xml:space="preserve">
-    <value>27</value>
+    <value>28</value>
   </data>
   <data name="CHKREV_pitch.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -171,7 +171,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_pitch.ZOrder" xml:space="preserve">
-    <value>26</value>
+    <value>27</value>
   </data>
   <data name="CHKREV_rudder.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -198,7 +198,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_rudder.ZOrder" xml:space="preserve">
-    <value>25</value>
+    <value>26</value>
   </data>
   <data name="GPSrate.Items" xml:space="preserve">
     <value>100</value>
@@ -243,7 +243,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;GPSrate.ZOrder" xml:space="preserve">
-    <value>24</value>
+    <value>25</value>
   </data>
   <data name="ConnectComPort.Location" type="System.Drawing.Point, System.Drawing">
     <value>26, 13</value>
@@ -294,7 +294,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;OutputLog.ZOrder" xml:space="preserve">
-    <value>23</value>
+    <value>24</value>
   </data>
   <data name="TXT_roll.Location" type="System.Drawing.Point, System.Drawing">
     <value>67, 22</value>
@@ -510,7 +510,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;SaveSettings.ZOrder" xml:space="preserve">
-    <value>22</value>
+    <value>23</value>
   </data>
   <data name="RAD_softXplanes.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -537,7 +537,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;RAD_softXplanes.ZOrder" xml:space="preserve">
-    <value>21</value>
+    <value>22</value>
   </data>
   <data name="RAD_softFlightGear.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -564,7 +564,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;RAD_softFlightGear.ZOrder" xml:space="preserve">
-    <value>20</value>
+    <value>21</value>
   </data>
   <data name="TXT_servoroll.Location" type="System.Drawing.Point, System.Drawing">
     <value>67, 24</value>
@@ -765,7 +765,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
-    <value>19</value>
+    <value>20</value>
   </data>
   <data name="label30.Location" type="System.Drawing.Point, System.Drawing">
     <value>7, 100</value>
@@ -927,7 +927,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>18</value>
+    <value>19</value>
   </data>
   <data name="label8.Location" type="System.Drawing.Point, System.Drawing">
     <value>7, 27</value>
@@ -1140,7 +1140,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel3.ZOrder" xml:space="preserve">
-    <value>17</value>
+    <value>18</value>
   </data>
   <data name="label20.Location" type="System.Drawing.Point, System.Drawing">
     <value>72, 104</value>
@@ -1275,7 +1275,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel4.ZOrder" xml:space="preserve">
-    <value>16</value>
+    <value>17</value>
   </data>
   <data name="label17.Location" type="System.Drawing.Point, System.Drawing">
     <value>535, 9</value>
@@ -1299,7 +1299,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label17.ZOrder" xml:space="preserve">
-    <value>15</value>
+    <value>16</value>
   </data>
   <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
     <value>13, 5</value>
@@ -1320,7 +1320,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="zg1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
@@ -1345,7 +1345,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
@@ -1657,7 +1657,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel6.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="label26.Location" type="System.Drawing.Point, System.Drawing">
     <value>508, 330</value>
@@ -1681,7 +1681,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label26.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="CHKdisplayall.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1708,7 +1708,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKdisplayall.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHKgraphroll.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1738,7 +1738,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphroll.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="CHKgraphpitch.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1768,7 +1768,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphpitch.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="CHKgraphrudder.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1798,7 +1798,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphrudder.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="CHKgraphthrottle.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1828,7 +1828,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphthrottle.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="but_advsettings.Location" type="System.Drawing.Point, System.Drawing">
     <value>566, 368</value>
@@ -1852,13 +1852,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;but_advsettings.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="chkSensor.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="chkSensor.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 324</value>
+    <value>566, 317</value>
   </data>
   <data name="chkSensor.Size" type="System.Drawing.Size, System.Drawing">
     <value>59, 17</value>
@@ -1879,7 +1879,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;chkSensor.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="CHK_quad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1888,7 +1888,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_quad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 346</value>
+    <value>566, 334</value>
   </data>
   <data name="CHK_quad.Size" type="System.Drawing.Size, System.Drawing">
     <value>52, 17</value>
@@ -1909,7 +1909,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHK_quad.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="BUT_startfgquad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1936,7 +1936,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startfgquad.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_startfgplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1963,7 +1963,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startfgplane.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_startxplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1990,6 +1990,36 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startxplane.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CHK_heli.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="CHK_heli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="CHK_heli.Location" type="System.Drawing.Point, System.Drawing">
+    <value>566, 350</value>
+  </data>
+  <data name="CHK_heli.Size" type="System.Drawing.Size, System.Drawing">
+    <value>44, 17</value>
+  </data>
+  <data name="CHK_heli.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="CHK_heli.Text" xml:space="preserve">
+    <value>Heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Name" xml:space="preserve">
+    <value>CHK_heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Type" xml:space="preserve">
+    <value>System.Windows.Forms.CheckBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
diff --git a/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs b/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
index 68afd0d354..a780cb4a8a 100644
--- a/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
+++ b/Tools/ArdupilotMegaPlanner/HIL/QuadCopter.cs
@@ -159,7 +159,7 @@ namespace ArdupilotMega.HIL
 
             //Console.WriteLine("Z {0} halt {1}  < gl {2} fh {3}" ,position.Z , home_altitude , ground_level , frame_height);
 
-            if (home_latitude == 0)
+            if (home_latitude == 0 || home_latitude > 90 || home_latitude < -90 || home_longitude == 0)
             {
                 this.home_latitude = fdm.latitude * rad2deg;
                 this.home_longitude = fdm.longitude * rad2deg;
@@ -187,7 +187,7 @@ namespace ArdupilotMega.HIL
                 position = new Vector3d(position.X, position.Y,
                                                ground_level + frame_height - home_altitude + 0);
                // Console.WriteLine("here " + position.Z);
-            } 
+            }
 
             //# update lat/lon/altitude
             update_position();
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 204a6158ba..cac65747ea 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -222,12 +222,12 @@ namespace ArdupilotMega
 
         private void CMB_serialport_Click(object sender, EventArgs e)
         {
-            String old_port = CMB_serialport.Text;
+            string oldport = CMB_serialport.Text;
             CMB_serialport.Items.Clear();
             CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
             CMB_serialport.Items.Add("UDP");
-            if (CMB_serialport.Items.Contains(old_port))
-                CMB_serialport.Text = old_port;
+            if (CMB_serialport.Items.Contains(oldport))
+                CMB_serialport.Text = oldport;
         }
 
         public static void fixtheme(Control temp)
@@ -679,6 +679,7 @@ namespace ArdupilotMega
                 CMB_baudrate.Enabled = false;
             else
                 CMB_baudrate.Enabled = true;
+
             try
             {
                 comPort.BaseStream.PortName = CMB_serialport.Text;
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 639de564f4..a3971a4c46 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("1.0.74")]
+[assembly: AssemblyFileVersion("1.0.75")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
index 8d52363560..0afc7b9a75 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@@ -456,7 +456,8 @@ namespace ArdupilotMega.Setup
 
                     float value = (float)(CB_simple1.Checked ? 1 : 0) + (CB_simple2.Checked ? 1 << 1 : 0) + (CB_simple3.Checked ? 1 <<2 : 0)
                         + (CB_simple4.Checked ? 1 << 3 : 0) + (CB_simple5.Checked ? 1 << 4 : 0) + (CB_simple6.Checked ? 1 << 5 : 0);
-                    MainV2.comPort.setParam("SIMPLE", value);
+                    if (MainV2.comPort.param.ContainsKey("SIMPLE"))
+                        MainV2.comPort.setParam("SIMPLE", value);
                 }
             }
             catch { MessageBox.Show("Failed to set Flight modes"); }
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx
index 931ace516c..6bd2f521c2 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Simulation.resx
@@ -144,7 +144,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_roll.ZOrder" xml:space="preserve">
-    <value>27</value>
+    <value>28</value>
   </data>
   <data name="CHKREV_pitch.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -171,7 +171,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_pitch.ZOrder" xml:space="preserve">
-    <value>26</value>
+    <value>27</value>
   </data>
   <data name="CHKREV_rudder.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -198,7 +198,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKREV_rudder.ZOrder" xml:space="preserve">
-    <value>25</value>
+    <value>26</value>
   </data>
   <data name="GPSrate.Items" xml:space="preserve">
     <value>100</value>
@@ -243,7 +243,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;GPSrate.ZOrder" xml:space="preserve">
-    <value>24</value>
+    <value>25</value>
   </data>
   <data name="ConnectComPort.Location" type="System.Drawing.Point, System.Drawing">
     <value>26, 13</value>
@@ -294,7 +294,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;OutputLog.ZOrder" xml:space="preserve">
-    <value>23</value>
+    <value>24</value>
   </data>
   <data name="TXT_roll.Location" type="System.Drawing.Point, System.Drawing">
     <value>67, 22</value>
@@ -510,7 +510,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;SaveSettings.ZOrder" xml:space="preserve">
-    <value>22</value>
+    <value>23</value>
   </data>
   <data name="RAD_softXplanes.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -537,7 +537,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;RAD_softXplanes.ZOrder" xml:space="preserve">
-    <value>21</value>
+    <value>22</value>
   </data>
   <data name="RAD_softFlightGear.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -564,7 +564,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;RAD_softFlightGear.ZOrder" xml:space="preserve">
-    <value>20</value>
+    <value>21</value>
   </data>
   <data name="TXT_servoroll.Location" type="System.Drawing.Point, System.Drawing">
     <value>67, 24</value>
@@ -765,7 +765,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
-    <value>19</value>
+    <value>20</value>
   </data>
   <data name="label30.Location" type="System.Drawing.Point, System.Drawing">
     <value>7, 100</value>
@@ -927,7 +927,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel2.ZOrder" xml:space="preserve">
-    <value>18</value>
+    <value>19</value>
   </data>
   <data name="label8.Location" type="System.Drawing.Point, System.Drawing">
     <value>7, 27</value>
@@ -1140,7 +1140,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel3.ZOrder" xml:space="preserve">
-    <value>17</value>
+    <value>18</value>
   </data>
   <data name="label20.Location" type="System.Drawing.Point, System.Drawing">
     <value>72, 104</value>
@@ -1275,7 +1275,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel4.ZOrder" xml:space="preserve">
-    <value>16</value>
+    <value>17</value>
   </data>
   <data name="label17.Location" type="System.Drawing.Point, System.Drawing">
     <value>535, 9</value>
@@ -1299,7 +1299,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label17.ZOrder" xml:space="preserve">
-    <value>15</value>
+    <value>16</value>
   </data>
   <data name="panel5.Location" type="System.Drawing.Point, System.Drawing">
     <value>13, 5</value>
@@ -1320,7 +1320,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel5.ZOrder" xml:space="preserve">
-    <value>14</value>
+    <value>15</value>
   </data>
   <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
   <data name="zg1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
@@ -1345,7 +1345,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;zg1.ZOrder" xml:space="preserve">
-    <value>13</value>
+    <value>14</value>
   </data>
   <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>17, 17</value>
@@ -1657,7 +1657,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;panel6.ZOrder" xml:space="preserve">
-    <value>12</value>
+    <value>13</value>
   </data>
   <data name="label26.Location" type="System.Drawing.Point, System.Drawing">
     <value>508, 330</value>
@@ -1681,7 +1681,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;label26.ZOrder" xml:space="preserve">
-    <value>11</value>
+    <value>12</value>
   </data>
   <data name="CHKdisplayall.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1708,7 +1708,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKdisplayall.ZOrder" xml:space="preserve">
-    <value>10</value>
+    <value>11</value>
   </data>
   <data name="CHKgraphroll.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1738,7 +1738,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphroll.ZOrder" xml:space="preserve">
-    <value>9</value>
+    <value>10</value>
   </data>
   <data name="CHKgraphpitch.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1768,7 +1768,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphpitch.ZOrder" xml:space="preserve">
-    <value>8</value>
+    <value>9</value>
   </data>
   <data name="CHKgraphrudder.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1798,7 +1798,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphrudder.ZOrder" xml:space="preserve">
-    <value>7</value>
+    <value>8</value>
   </data>
   <data name="CHKgraphthrottle.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
     <value>Bottom, Left</value>
@@ -1828,7 +1828,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHKgraphthrottle.ZOrder" xml:space="preserve">
-    <value>6</value>
+    <value>7</value>
   </data>
   <data name="but_advsettings.Location" type="System.Drawing.Point, System.Drawing">
     <value>566, 368</value>
@@ -1852,13 +1852,13 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;but_advsettings.ZOrder" xml:space="preserve">
-    <value>5</value>
+    <value>6</value>
   </data>
   <data name="chkSensor.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
   </data>
   <data name="chkSensor.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 324</value>
+    <value>566, 317</value>
   </data>
   <data name="chkSensor.Size" type="System.Drawing.Size, System.Drawing">
     <value>59, 17</value>
@@ -1879,7 +1879,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;chkSensor.ZOrder" xml:space="preserve">
-    <value>4</value>
+    <value>5</value>
   </data>
   <data name="CHK_quad.AutoSize" type="System.Boolean, mscorlib">
     <value>True</value>
@@ -1888,7 +1888,7 @@
     <value>NoControl</value>
   </data>
   <data name="CHK_quad.Location" type="System.Drawing.Point, System.Drawing">
-    <value>567, 346</value>
+    <value>566, 334</value>
   </data>
   <data name="CHK_quad.Size" type="System.Drawing.Size, System.Drawing">
     <value>52, 17</value>
@@ -1909,7 +1909,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;CHK_quad.ZOrder" xml:space="preserve">
-    <value>3</value>
+    <value>4</value>
   </data>
   <data name="BUT_startfgquad.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1936,7 +1936,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startfgquad.ZOrder" xml:space="preserve">
-    <value>2</value>
+    <value>3</value>
   </data>
   <data name="BUT_startfgplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1963,7 +1963,7 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startfgplane.ZOrder" xml:space="preserve">
-    <value>1</value>
+    <value>2</value>
   </data>
   <data name="BUT_startxplane.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
     <value>NoControl</value>
@@ -1990,6 +1990,36 @@
     <value>$this</value>
   </data>
   <data name="&gt;&gt;BUT_startxplane.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="CHK_heli.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="CHK_heli.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="CHK_heli.Location" type="System.Drawing.Point, System.Drawing">
+    <value>566, 350</value>
+  </data>
+  <data name="CHK_heli.Size" type="System.Drawing.Size, System.Drawing">
+    <value>44, 17</value>
+  </data>
+  <data name="CHK_heli.TabIndex" type="System.Int32, mscorlib">
+    <value>47</value>
+  </data>
+  <data name="CHK_heli.Text" xml:space="preserve">
+    <value>Heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Name" xml:space="preserve">
+    <value>CHK_heli</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Type" xml:space="preserve">
+    <value>System.Windows.Forms.CheckBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;CHK_heli.ZOrder" xml:space="preserve">
     <value>0</value>
   </data>
   <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">