diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index ef5b08abc9..420b4544b3 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -271,9 +271,9 @@ namespace ArdupilotMega
         {
             mode = "";
             messages = new List<string>();
-            rateattitude = 10;
+            rateattitude = 3;
             rateposition = 3;
-            ratestatus = 1;
+            ratestatus = 3;
             ratesensors = 3;
             raterc = 3;
             datetime = DateTime.MinValue;
@@ -583,9 +583,9 @@ namespace ArdupilotMega
 
                     packetdropremote = sysstatus.packet_drop;
 
-                    if (oldmode != mode && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechmodeenabled") == "True")
+                    if (oldmode != mode && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechmodeenabled") == "True")
                     {
-                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
+                        MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechmode")));
                     }
 
                     //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_SYS_STATUS] = null;
@@ -734,9 +734,9 @@ namespace ArdupilotMega
 
                     wpno = wpcur.seq;
 
-                    if (oldwp != wpno && MainV2.speechenable && MainV2.talk != null && MainV2.getConfig("speechwaypointenabled") == "True")
+                    if (oldwp != wpno && MainV2.speechEnable && MainV2.speechEngine != null && MainV2.getConfig("speechwaypointenabled") == "True")
                     {
-                        MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
+                        MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechwaypoint")));
                     }
 
                     //MAVLink.packets[ArdupilotMega.MAVLink.MAVLINK_MSG_ID_WAYPOINT_CURRENT] = null;
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
index c3e20df7d2..fa70b64583 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
@@ -863,10 +863,10 @@ namespace ArdupilotMega.GCSViews
 
         private void CHK_enablespeech_CheckedChanged(object sender, EventArgs e)
         {
-            MainV2.speechenable = CHK_enablespeech.Checked;
+            MainV2.speechEnable = CHK_enablespeech.Checked;
             MainV2.config["speechenable"] = CHK_enablespeech.Checked;
-            if (MainV2.talk != null)
-                MainV2.talk.SpeakAsyncCancelAll();
+            if (MainV2.speechEngine != null)
+                MainV2.speechEngine.SpeakAsyncCancelAll();
         }
         private void CMB_language_SelectedIndexChanged(object sender, EventArgs e)
         {
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index 643994b2db..e25765c0d1 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -22,7 +22,7 @@ namespace ArdupilotMega.GCSViews
                 fd.ShowDialog();
                 if (File.Exists(fd.FileName))
                 {
-                    UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comportname));
+                    UploadFlash(fd.FileName, ArduinoDetect.DetectBoard(MainV2.comPortName));
                 }
                 return true;
             }
@@ -312,7 +312,7 @@ namespace ArdupilotMega.GCSViews
             MainV2.comPort.BaseStream.DtrEnable = false;
             MainV2.comPort.Close();
             System.Threading.Thread.Sleep(100);
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
 
             try
             {
@@ -326,7 +326,7 @@ namespace ArdupilotMega.GCSViews
 
                 this.Refresh();
 
-                board = ArduinoDetect.DetectBoard(MainV2.comportname);
+                board = ArduinoDetect.DetectBoard(MainV2.comPortName);
 
                 if (board == "")
                 {
@@ -338,7 +338,7 @@ namespace ArdupilotMega.GCSViews
 
                 try
                 {
-                    apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
+                    apmformat_version = ArduinoDetect.decodeApVar(MainV2.comPortName, board);
                 }
                 catch { }
 
@@ -480,7 +480,7 @@ namespace ArdupilotMega.GCSViews
 
             try
             {
-                port.PortName = MainV2.comportname;
+                port.PortName = MainV2.comPortName;
 
                 port.Open();
 
@@ -592,7 +592,7 @@ namespace ArdupilotMega.GCSViews
                 port.Close();
             }
             flashing = false;
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
         }
 
         void port_Progress(int progress,string status)
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
index fbfc996a31..36679c0fc0 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@@ -258,7 +258,7 @@ namespace ArdupilotMega.GCSViews
             {
                 if (threadrun == 0) { return; }
 
-                if (MainV2.givecomport == true)
+                if (MainV2.giveComport == true)
                 {
                     System.Threading.Thread.Sleep(20);
                     continue;
@@ -356,6 +356,9 @@ namespace ArdupilotMega.GCSViews
                 }
                 else
                 {
+                    // ensure we know to stop
+                    if (MainV2.comPort.logreadmode)
+                        MainV2.comPort.logreadmode = false;
                     updatePlayPauseButton(false);
                 }
 
@@ -914,15 +917,15 @@ namespace ArdupilotMega.GCSViews
 
             try
             {
-                MainV2.givecomport = true;
+                MainV2.giveComport = true;
 
                 MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
 
                 GuidedModeWP = new PointLatLngAlt(gotohere.lat, gotohere.lng, gotohere.alt,"Guided Mode");
 
-                MainV2.givecomport = false;
+                MainV2.giveComport = false;
             }
-            catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
+            catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Error sending command : " + ex.Message); }
 
         }
 
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index b6aeb84394..490d6f88fa 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -1012,7 +1012,6 @@ namespace ArdupilotMega.GCSViews
                 t1.Name = "Row number updater";
                 t1.IsBackground = true;
                 t1.Start();
-                MainV2.threads.Add(t1);
 
                 long temp = System.Diagnostics.Stopwatch.GetTimestamp();
 
@@ -1225,7 +1224,7 @@ namespace ArdupilotMega.GCSViews
                     throw new Exception("Please Connect First!");
                 }
 
-                MainV2.givecomport = true;
+                MainV2.giveComport = true;
 
                 param = port.param;
 
@@ -1262,7 +1261,7 @@ namespace ArdupilotMega.GCSViews
                         catch (Exception exx) { log.Info(exx.ToString()); }
                     }
 
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
 
                     BUT_read.Enabled = true;
 
@@ -1334,7 +1333,7 @@ namespace ArdupilotMega.GCSViews
                     throw new Exception("Please Connect First!");
                 }
 
-                MainV2.givecomport = true;
+                MainV2.giveComport = true;
 
                 Locationwp home = new Locationwp();
 
@@ -1414,9 +1413,9 @@ namespace ArdupilotMega.GCSViews
 
                 ((Controls.ProgressReporterDialogue)sender).UpdateProgressAndStatus(100, "Done.");
             }
-            catch (Exception ex) { MainV2.givecomport = false; throw ex; }
+            catch (Exception ex) { MainV2.giveComport = false; throw ex; }
 
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
         }
 
         /// <summary>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index e0491361e3..f28305e452 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -336,7 +336,6 @@ namespace ArdupilotMega.GCSViews
                     IsBackground = true
                 };
                 t11.Start();
-                MainV2.threads.Add(t11);
                 timer_servo_graph.Start();
             }
             else
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
index 24aeb9fdd1..b11ff009d1 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
@@ -171,14 +171,14 @@ namespace ArdupilotMega.GCSViews
         {
             try
             {
-                MainV2.givecomport = true;
+                MainV2.giveComport = true;
 
                 if (comPort.IsOpen)
                     comPort.Close();
 
                 comPort.ReadBufferSize = 1024 * 1024;
 
-                comPort.PortName = MainV2.comportname;
+                comPort.PortName = MainV2.comPortName;
 
                 comPort.Open();
 
@@ -232,7 +232,6 @@ namespace ArdupilotMega.GCSViews
                 t11.IsBackground = true;
                 t11.Name = "Terminal serial thread";
                 t11.Start();
-                MainV2.threads.Add(t11);
 
                 // doesnt seem to work on mac
                 //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
diff --git a/Tools/ArdupilotMegaPlanner/Log.cs b/Tools/ArdupilotMegaPlanner/Log.cs
index 53953f1449..5e9717d3e5 100644
--- a/Tools/ArdupilotMegaPlanner/Log.cs
+++ b/Tools/ArdupilotMegaPlanner/Log.cs
@@ -118,7 +118,6 @@ namespace ArdupilotMega
                 log.Info("Comport thread close");
             }) {Name = "comport reader"};
             t11.Start();
-            MainV2.threads.Add(t11);
 
             // doesnt seem to work on mac
             //comPort.DataReceived += new SerialDataReceivedEventHandler(comPort_DataReceived);
@@ -728,7 +727,6 @@ namespace ArdupilotMega
                 System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadthread(1, logcount); });
                 t11.Name = "Log Download All thread";
                 t11.Start();
-                MainV2.threads.Add(t11);
             }
         }
 
@@ -779,7 +777,6 @@ namespace ArdupilotMega
                 System.Threading.Thread t11 = new System.Threading.Thread(delegate() { downloadsinglethread(); });
                 t11.Name = "Log download single thread";
                 t11.Start();
-                MainV2.threads.Add(t11);
             }
         }
 
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index 3d1992ea88..a324140c75 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -172,7 +172,7 @@ namespace ArdupilotMega
 
             try
             {
-                MainV2.givecomport = true;
+                MainV2.giveComport = true;
 
                 BaseStream.ReadBufferSize = 4 * 1024;
 
@@ -217,7 +217,7 @@ namespace ArdupilotMega
                         countDown.Stop();
                         if (BaseStream.IsOpen)
                             BaseStream.Close();
-                        MainV2.givecomport = false;
+                        MainV2.giveComport = false;
                         return;
                     }
 
@@ -296,7 +296,7 @@ namespace ArdupilotMega
 
                 if (frmProgressReporter.doWorkArgs.CancelAcknowledged == true)
                 {
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     if (BaseStream.IsOpen)
                         BaseStream.Close();
                     return;
@@ -309,7 +309,7 @@ namespace ArdupilotMega
                     BaseStream.Close();
                 }
                 catch { }
-                MainV2.givecomport = false;
+                MainV2.giveComport = false;
 //                if (Progress != null)
 //                    Progress(-1, "Connect Failed\n" + e.Message);
                 if (string.IsNullOrEmpty(progressWorkerEventArgs.ErrorMessage))
@@ -317,7 +317,7 @@ namespace ArdupilotMega
                 throw e;
             }
             //frmProgressReporter.Close();
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
             frmProgressReporter.UpdateProgressAndStatus(100, "Done.");
             log.Info("Done open " + sysid + " " + compid);
             packetslost = 0;
@@ -491,7 +491,7 @@ namespace ArdupilotMega
                 return false;
             }
 
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
 
             __mavlink_param_set_t req = new __mavlink_param_set_t();
             req.target_system = sysid;
@@ -527,7 +527,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - setParam " + paramname);
                 }
 
@@ -557,7 +557,7 @@ namespace ArdupilotMega
 
                         param[st] = (par.param_value);
 
-                        MainV2.givecomport = false;
+                        MainV2.giveComport = false;
                         //System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte
                         return true;
                     }
@@ -602,7 +602,7 @@ namespace ArdupilotMega
         /// <returns></returns>
         private Hashtable getParamListBG()
         {
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             List<int> got = new List<int>();
 
             // clear old
@@ -629,7 +629,7 @@ namespace ArdupilotMega
                 if (frmProgressReporter.doWorkArgs.CancelRequested)
                 {
                     frmProgressReporter.doWorkArgs.CancelAcknowledged = true;
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     frmProgressReporter.doWorkArgs.ErrorMessage = "User Canceled";
                     return param;
                 }
@@ -645,7 +645,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - getParamList " + got.Count + " " + param_total + "\n\nYour serial link isn't fast enough\n");
                 }
 
@@ -715,7 +715,7 @@ namespace ArdupilotMega
                 }
                 throw new Exception("Missing Params");
             }
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
             return param;
         }
 
@@ -918,7 +918,7 @@ namespace ArdupilotMega
                 }
             }
 #else
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             byte[] buffer;
 
             __mavlink_waypoint_set_current_t req = new __mavlink_waypoint_set_current_t();
@@ -944,7 +944,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - setWPCurrent");
                 }
 
@@ -953,7 +953,7 @@ namespace ArdupilotMega
                 {
                     if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_CURRENT)
                     {
-                        MainV2.givecomport = false;
+                        MainV2.giveComport = false;
                         return true;
                     }
                 }
@@ -962,7 +962,7 @@ namespace ArdupilotMega
 
         public bool doAction(MAV_ACTION actionid)
         {
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             byte[] buffer;
 
             __mavlink_action_t req = new __mavlink_action_t();
@@ -1002,7 +1002,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - doAction");
                 }
 
@@ -1013,12 +1013,12 @@ namespace ArdupilotMega
                     {
                         if (buffer[7] == 1)
                         {
-                            MainV2.givecomport = false;
+                            MainV2.giveComport = false;
                             return true;
                         }
                         else
                         {
-                            MainV2.givecomport = false;
+                            MainV2.giveComport = false;
                             return false;
                         }
                     }
@@ -1065,9 +1065,18 @@ namespace ArdupilotMega
                     }
                     break;
                 case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_EXTRA3:
-
+                    if (packetspersecondbuild[MAVLINK_MSG_ID_DCM] < DateTime.Now.AddSeconds(-2))
+                        break;
+                    pps = packetspersecond[MAVLINK_MSG_ID_DCM];
+                    if (hzratecheck(pps, hzrate))
+                    {
+                        return;
+                    }
                     break;
                 case (byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_POSITION:
+                    // ac2 does not send rate position
+                    if (MainV2.cs.firmware == MainV2.Firmwares.ArduCopter2)
+                        return;
                     if (packetspersecondbuild[MAVLINK_MSG_ID_GLOBAL_POSITION_INT] < DateTime.Now.AddSeconds(-2))
                         break;
                     pps = packetspersecond[MAVLINK_MSG_ID_GLOBAL_POSITION_INT];
@@ -1156,7 +1165,6 @@ namespace ArdupilotMega
             req.req_stream_id = id; // id
 
             generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
-            generatePacket(MAVLINK_MSG_ID_REQUEST_DATA_STREAM, req);
         }
 
         /// <summary>
@@ -1165,7 +1173,7 @@ namespace ArdupilotMega
         /// <returns></returns>
         public byte getWPCount()
         {
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             byte[] buffer;
 #if MAVLINK10
             __mavlink_mission_request_list_t req = new __mavlink_mission_request_list_t();
@@ -1236,13 +1244,13 @@ namespace ArdupilotMega
                 {
                     if (retrys > 0)
                     {
-                        log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.givecomport);
+                        log.Info("getWPCount Retry " + retrys + " - giv com " + MainV2.giveComport);
                         generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, req);
                         start = DateTime.Now;
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     //return (byte)int.Parse(param["WP_TOTAL"].ToString());
                     throw new Exception("Timeout on read - getWPCount");
                 }
@@ -1254,7 +1262,7 @@ namespace ArdupilotMega
                     {
 
                         log.Info("wpcount: " + buffer[9]);
-                        MainV2.givecomport = false;
+                        MainV2.giveComport = false;
                         return buffer[9]; // should be ushort, but apm has limited wp count < byte
                     }
                     else
@@ -1273,7 +1281,7 @@ namespace ArdupilotMega
         /// <returns>WP</returns>
         public Locationwp getWP(ushort index)
         {
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             Locationwp loc = new Locationwp();
 #if MAVLINK10
             __mavlink_mission_request_t req = new __mavlink_mission_request_t();
@@ -1350,7 +1358,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - getWP");
                 }
                 //Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
@@ -1449,7 +1457,7 @@ namespace ArdupilotMega
                     }
                 }
             }
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
             return loc;
         }
 
@@ -1608,7 +1616,7 @@ namespace ArdupilotMega
                 }
             }
 #else
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
             __mavlink_waypoint_count_t req = new __mavlink_waypoint_count_t();
 
             req.target_system = sysid;
@@ -1633,7 +1641,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - setWPTotal");
                 }
                 byte[] buffer = readPacket();
@@ -1649,7 +1657,7 @@ namespace ArdupilotMega
                                 param["WP_TOTAL"] = (float)wp_total - 1;
                             if (param["CMD_TOTAL"] != null)
                                 param["CMD_TOTAL"] = (float)wp_total - 1;
-                            MainV2.givecomport = false;
+                            MainV2.giveComport = false;
                             return;
                         }
                     }
@@ -1672,7 +1680,7 @@ namespace ArdupilotMega
         /// <param name="current">0 = no , 2 = guided mode</param>
         public void setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current)
         {
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
 #if MAVLINK10
             __mavlink_mission_item_t req = new __mavlink_mission_item_t();
 #else
@@ -1778,7 +1786,7 @@ namespace ArdupilotMega
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - setWP");
                 }
                 byte[] buffer = readPacket();
@@ -1831,7 +1839,7 @@ namespace ArdupilotMega
                         if (ans.seq == (index + 1))
                         {
                             log.Info("set wp doing " + index + " req " + ans.seq + " REQ 40 : " + buffer[5]);
-                            MainV2.givecomport = false;
+                            MainV2.giveComport = false;
                             break;
                         }
                         else
@@ -2090,7 +2098,7 @@ namespace ArdupilotMega
 
             if (bpstime.Second != DateTime.Now.Second && !logreadmode)
             {
-                               Console.Write("bps {0} loss {1} left {2} mem {3}      \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false));
+                Console.Write("bps {0} loss {1} left {2} mem {3}      \n", bps1, synclost, BaseStream.BytesToRead, System.GC.GetTotalMemory(false) / 1024 / 1024.0);
                 bps2 = bps1; // prev sec
                 bps1 = 0; // current sec
                 bpstime = DateTime.Now;
@@ -2196,7 +2204,7 @@ namespace ArdupilotMega
                             logdata = logdata.Substring(0, ind);
                         log.Info(DateTime.Now + " " + logdata);
 
-                        if (MainV2.talk != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
+                        if (MainV2.speechEngine != null && MainV2.config["speechenable"] != null && MainV2.config["speechenable"].ToString() == "True")
                         {
                             //MainV2.talk.SpeakAsync(logdata);
                         }
@@ -2268,7 +2276,7 @@ namespace ArdupilotMega
         {
             byte[] buffer;
 
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
 
             PointLatLngAlt plla = new PointLatLngAlt();
             __mavlink_fence_fetch_point_t req = new __mavlink_fence_fetch_point_t();
@@ -2289,13 +2297,13 @@ namespace ArdupilotMega
                 {
                     if (retrys > 0)
                     {
-                        log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.givecomport);
+                        log.Info("getFencePoint Retry " + retrys + " - giv com " + MainV2.giveComport);
                         generatePacket(MAVLINK_MSG_ID_FENCE_FETCH_POINT, req);
                         start = DateTime.Now;
                         retrys--;
                         continue;
                     }
-                    MainV2.givecomport = false;
+                    MainV2.giveComport = false;
                     throw new Exception("Timeout on read - getFencePoint");
                 }
 
@@ -2304,7 +2312,7 @@ namespace ArdupilotMega
                 {
                     if (buffer[5] == MAVLINK_MSG_ID_FENCE_POINT)
                     {
-                        MainV2.givecomport = false;
+                        MainV2.giveComport = false;
 
                         __mavlink_fence_point_t fp = buffer.ByteArrayToStructure<__mavlink_fence_point_t>(6);
 
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 00ef94e611..320eaf9ec2 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -39,14 +39,14 @@ namespace ArdupilotMega
         const int SW_HIDE = 0;
 
         public static MAVLink comPort = new MAVLink();
-        public static string comportname = "";
+        public static string comPortName = "";
         public static Hashtable config = new Hashtable();
-        public static bool givecomport = false;
+        public static bool giveComport = false;
         public static Firmwares APMFirmware = Firmwares.ArduPlane;
         public static bool MONO = false;
 
-        public static bool speechenable = false;
-        public static Speech talk = null;
+        public static bool speechEnable = false;
+        public static Speech speechEngine = null;
 
         public static Joystick joystick = null;
         DateTime lastjoystick = DateTime.Now;
@@ -55,22 +55,14 @@ namespace ArdupilotMega
 
         public static CurrentState cs = new CurrentState();
 
-        bool serialthread = false;
+        bool serialThread = false;
 
         TcpListener listener;
 
-        DateTime heatbeatsend = DateTime.Now;
+        DateTime heatbeatSend = DateTime.Now;
 
-        public static List<System.Threading.Thread> threads = new List<System.Threading.Thread>();
         public static MainV2 instance = null;
 
-        /*
-         * "PITCH_KP",
-"PITCH_KI",
-"PITCH_LIM",
-
-         */
-
         public enum Firmwares
         {
             ArduPlane,
@@ -106,9 +98,7 @@ namespace ArdupilotMega
             var t = Type.GetType("Mono.Runtime");
             MONO = (t != null);
 
-            talk = new Speech();
-
-            //talk.SpeakAsync("Welcome to APM Planner");
+            speechEngine = new Speech();
 
             MyRenderer.currentpressed = MenuFlightData;
 
@@ -208,7 +198,7 @@ namespace ArdupilotMega
                     MainV2.cs.raterc = byte.Parse(config["CMB_ratesensors"].ToString());
 
                 if (config["speechenable"] != null)
-                    MainV2.speechenable = bool.Parse(config["speechenable"].ToString());
+                    MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());
 
                 //int fixme;
                 /*
@@ -461,7 +451,7 @@ namespace ArdupilotMega
                 MenuConnect_Click(sender, e);
             }
 
-            givecomport = true;
+            giveComport = true;
 
             MyView.Controls.Clear();
 
@@ -493,7 +483,7 @@ namespace ArdupilotMega
 
         private void MenuConnect_Click(object sender, EventArgs e)
         {
-            givecomport = false;
+            giveComport = false;
 
             if (comPort.BaseStream.IsOpen && cs.groundspeed > 4)
             {
@@ -509,8 +499,8 @@ namespace ArdupilotMega
                 {
                     try
                     {
-                        if (talk != null) // cancel all pending speech
-                            talk.SpeakAsyncCancelAll();
+                        if (speechEngine != null) // cancel all pending speech
+                            speechEngine.SpeakAsyncCancelAll();
                     }
                     catch { }
 
@@ -548,9 +538,6 @@ namespace ArdupilotMega
                 comPort.BaseStream.StopBits = (StopBits)Enum.Parse(typeof(StopBits), "1");
                 comPort.BaseStream.Parity = (Parity)Enum.Parse(typeof(Parity), "None");
 
-                if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
-                    comPort.BaseStream.toggleDTR();
-
                 comPort.BaseStream.DtrEnable = false;
 
                 try
@@ -642,13 +629,13 @@ namespace ArdupilotMega
 
         private void CMB_serialport_SelectedIndexChanged(object sender, EventArgs e)
         {
-            comportname = CMB_serialport.Text;
-            if (comportname == "UDP" || comportname == "TCP")
+            comPortName = CMB_serialport.Text;
+            if (comPortName == "UDP" || comPortName == "TCP")
             {
                 CMB_baudrate.Enabled = false;
-                if (comportname == "TCP")
+                if (comPortName == "TCP")
                     MainV2.comPort.BaseStream = new TcpSerial();
-                if (comportname == "UDP")
+                if (comPortName == "UDP")
                     MainV2.comPort.BaseStream = new UdpSerial();
             }
             else
@@ -682,7 +669,7 @@ namespace ArdupilotMega
             GCSViews.FlightData.threadrun = 0;
             GCSViews.Simulation.threadrun = 0;
 
-            serialthread = false;
+            serialThread = false;
 
             try
             {
@@ -725,7 +712,7 @@ namespace ArdupilotMega
 
                     xmlwriter.WriteStartElement("Config");
 
-                    xmlwriter.WriteElementString("comport", comportname);
+                    xmlwriter.WriteElementString("comport", comPortName);
 
                     xmlwriter.WriteElementString("baudrate", CMB_baudrate.Text);
 
@@ -779,7 +766,7 @@ namespace ArdupilotMega
                                             CMB_serialport.Text = temp; // allows ports that dont exist - yet
                                         }
                                         comPort.BaseStream.PortName = temp;
-                                        comportname = temp;
+                                        comPortName = temp;
                                         break;
                                     case "baudrate":
                                         string temp2 = xmlreader.ReadString();
@@ -876,64 +863,68 @@ namespace ArdupilotMega
             }
         }
 
+        private void updateConnectIcon()
+        {
+            DateTime menuupdate = DateTime.Now;
 
+            if ((DateTime.Now - menuupdate).Milliseconds > 500)
+            {
+                //                        Console.WriteLine(DateTime.Now.Millisecond);
+                if (comPort.BaseStream.IsOpen)
+                {
+                    if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
+                    {
+                        this.Invoke((MethodInvoker)delegate
+                        {
+                            this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
+                            this.MenuConnect.BackgroundImage.Tag = "Disconnect";
+                            CMB_baudrate.Enabled = false;
+                            CMB_serialport.Enabled = false;
+                        });
+                    }
+                }
+                else
+                {
+                    if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
+                    {
+                        this.Invoke((MethodInvoker)delegate
+                        {
+                            this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
+                            this.MenuConnect.BackgroundImage.Tag = "Connect";
+                            CMB_baudrate.Enabled = true;
+                            CMB_serialport.Enabled = true;
+                        });
+                    }
+                }
+                menuupdate = DateTime.Now;
+            }
+        }
 
 
         private void SerialReader()
         {
-            if (serialthread == true)
+            if (serialThread == true)
                 return;
-            serialthread = true;
+            serialThread = true;
 
             int minbytes = 10;
 
             if (MONO)
                 minbytes = 0;
 
-            DateTime menuupdate = DateTime.Now;
-
             DateTime speechcustomtime = DateTime.Now;
 
             DateTime linkqualitytime = DateTime.Now;
 
-            while (serialthread)
+            while (serialThread)
             {
                 try
                 {
                     System.Threading.Thread.Sleep(5);
-                    if ((DateTime.Now - menuupdate).Milliseconds > 500)
-                    {
-                        //                        Console.WriteLine(DateTime.Now.Millisecond);
-                        if (comPort.BaseStream.IsOpen)
-                        {
-                            if ((string)this.MenuConnect.BackgroundImage.Tag != "Disconnect")
-                            {
-                                this.Invoke((MethodInvoker)delegate
-                                {
-                                    this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
-                                    this.MenuConnect.BackgroundImage.Tag = "Disconnect";
-                                    CMB_baudrate.Enabled = false;
-                                    CMB_serialport.Enabled = false;
-                                });
-                            }
-                        }
-                        else
-                        {
-                            if ((string)this.MenuConnect.BackgroundImage.Tag != "Connect")
-                            {
-                                this.Invoke((MethodInvoker)delegate
-                                {
-                                    this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
-                                    this.MenuConnect.BackgroundImage.Tag = "Connect";
-                                    CMB_baudrate.Enabled = true;
-                                    CMB_serialport.Enabled = true;
-                                });
-                            }
-                        }
-                        menuupdate = DateTime.Now;
-                    }
+                    
+                    updateConnectIcon();
 
-                    if (speechenable && talk != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
+                    if (speechEnable && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 && MainV2.cs.lat != 0 && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                     {
                         //speechbatteryvolt
                         float warnvolt = 0;
@@ -941,12 +932,12 @@ namespace ArdupilotMega
 
                         if (MainV2.getConfig("speechbatteryenabled") == "True" && MainV2.cs.battery_voltage <= warnvolt)
                         {
-                            MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
+                            MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechbattery")));
                         }
 
                         if (MainV2.getConfig("speechcustomenabled") == "True")
                         {
-                            MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
+                            MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechcustom")));
                         }
 
                         speechcustomtime = DateTime.Now;
@@ -970,7 +961,7 @@ namespace ArdupilotMega
                         GC.Collect();
                     }
 
-                    if (speechenable && talk != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
+                    if (speechEnable && speechEngine != null && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                     {
                         float warnalt = float.MaxValue;
                         float.TryParse(MainV2.getConfig("speechaltheight"), out warnalt);
@@ -978,20 +969,20 @@ namespace ArdupilotMega
                         {
                             if (MainV2.getConfig("speechaltenabled") == "True" && (MainV2.cs.alt - (int)double.Parse(MainV2.getConfig("TXT_homealt"))) <= warnalt)
                             {
-                                if (MainV2.talk.State == SynthesizerState.Ready)
-                                    MainV2.talk.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
+                                if (MainV2.speechEngine.State == SynthesizerState.Ready)
+                                    MainV2.speechEngine.SpeakAsync(Common.speechConversion(MainV2.getConfig("speechalt")));
                             }
                         }
                         catch { } // silent fail
                     }
 
-                    if (!comPort.BaseStream.IsOpen || givecomport == true)
+                    if (!comPort.BaseStream.IsOpen || giveComport == true)
                     {
                         System.Threading.Thread.Sleep(100);
                         continue;
                     }
 
-                    if (heatbeatsend.Second != DateTime.Now.Second)
+                    if (heatbeatSend.Second != DateTime.Now.Second)
                     {
                         //                        Console.WriteLine("remote lost {0}", cs.packetdropremote);
 
@@ -1008,22 +999,22 @@ namespace ArdupilotMega
 #endif
 
                         comPort.sendPacket(htb);
-                        heatbeatsend = DateTime.Now;
+                        heatbeatSend = DateTime.Now;
                     }
 
                     // data loss warning
                     if ((DateTime.Now - comPort.lastvalidpacket).TotalSeconds > 10)
                     {
-                        if (speechenable && talk != null)
+                        if (speechEnable && speechEngine != null)
                         {
-                            if (MainV2.talk.State == SynthesizerState.Ready)
-                                MainV2.talk.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
+                            if (MainV2.speechEngine.State == SynthesizerState.Ready)
+                                MainV2.speechEngine.SpeakAsync("WARNING No Data for " + (int)(DateTime.Now - comPort.lastvalidpacket).TotalSeconds + " Seconds");
                         }
                     }
 
-                    //Console.WriteLine(comPort.BaseStream.BytesToRead);
+                    //Console.WriteLine(DateTime.Now.Millisecond + " " + comPort.BaseStream.BytesToRead);
 
-                    while (comPort.BaseStream.BytesToRead > minbytes && givecomport == false)
+                    while (comPort.BaseStream.BytesToRead > minbytes && giveComport == false)
                         comPort.readPacket();
                 }
                 catch (Exception e)
@@ -1085,12 +1076,7 @@ namespace ArdupilotMega
 
         private void MainV2_Load(object sender, EventArgs e)
         {
-            // generate requestall for jani and sandro
-            comPort.sysid = 7;
-            comPort.compid = 1;
-            //comPort.requestDatastream((byte)MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL,3);
-            //
-
+            // init button depressed
             MenuFlightData_Click(sender, e);
 
             // for long running tasks using own threads.
@@ -1099,13 +1085,11 @@ namespace ArdupilotMega
             try
             {
                 listener = new TcpListener(IPAddress.Any, 56781);
-                var t13 = new Thread(listernforclients)
+                new Thread(listernforclients)
                 {
-                    Name = "motion jpg stream",
+                    Name = "motion jpg stream-network kml",
                     IsBackground = true
-                };
-                // wait for tcp connections               
-                t13.Start();
+                }.Start();
             }
             catch (Exception ex)
             {
@@ -1113,20 +1097,18 @@ namespace ArdupilotMega
                 CustomMessageBox.Show(ex.ToString());
             }
 
-            var t12 = new Thread(new ThreadStart(joysticksend))
+            new Thread(new ThreadStart(joysticksend))
             {
                 IsBackground = true,
                 Priority = ThreadPriority.AboveNormal,
                 Name = "Main joystick sender"
-            };
-            t12.Start();
+            }.Start();
 
-            var t11 = new Thread(SerialReader)
+            new Thread(SerialReader)
             {
                 IsBackground = true,
                 Name = "Main Serial reader"
-            };
-            t11.Start();
+            }.Start();
 
             if (Debugger.IsAttached)
             {
@@ -1469,12 +1451,12 @@ namespace ArdupilotMega
         }
 
 
-        public static void updatecheck(ProgressReporterDialogue frmProgressReporter)
+        public static void updateCheckMain(ProgressReporterDialogue frmProgressReporter)
         {
             var baseurl = ConfigurationManager.AppSettings["UpdateLocation"];
             try
             {
-                bool update = updatecheck(frmProgressReporter, baseurl, "");
+                bool update = updateCheck(frmProgressReporter, baseurl, "");
                 var process = new Process();
                 string exePath = Path.GetDirectoryName(Application.ExecutablePath);
                 if (MONO)
@@ -1618,20 +1600,20 @@ namespace ArdupilotMega
 
             ThemeManager.ApplyThemeTo(frmProgressReporter);
 
-            frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(frmProgressReporter_DoWork);
+            frmProgressReporter.DoWork += new Controls.ProgressReporterDialogue.DoWorkEventHandler(DoUpdateWorker_DoWork);
 
             frmProgressReporter.UpdateProgressAndStatus(-1, "Checking for Updates");
 
             frmProgressReporter.RunBackgroundOperationAsync();
         }
 
-        static void frmProgressReporter_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
+        static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
         {
             ((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
-            MainV2.updatecheck((ProgressReporterDialogue)sender);
+            MainV2.updateCheckMain((ProgressReporterDialogue)sender);
         }
 
-        private static bool updatecheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
+        private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)
         {
             bool update = false;
             List<string> files = new List<string>();
@@ -1692,7 +1674,7 @@ namespace ArdupilotMega
                 }
                 if (file.EndsWith("/"))
                 {
-                    update = updatecheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
+                    update = updateCheck(frmProgressReporter, baseurl + file, subdir.Replace('/', Path.DirectorySeparatorChar) + file) && update;
                     continue;
                 }
                 if (frmProgressReporter != null)
diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
index a870ddc764..36e972eff2 100644
--- a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
+++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
@@ -403,8 +403,8 @@ namespace ArdupilotMega
 
                         try
                         {
-                            if (MainV2.talk != null)
-                                MainV2.talk.SpeakAsyncCancelAll();
+                            if (MainV2.speechEngine != null)
+                                MainV2.speechEngine.SpeakAsyncCancelAll();
                         }
                         catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.
 
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index db5061360b..556a38e668 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("1.1.53")]
+[assembly: AssemblyFileVersion("1.1.54")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/SerialInput.cs b/Tools/ArdupilotMegaPlanner/SerialInput.cs
index 4955b4ba3a..5a1d5542e3 100644
--- a/Tools/ArdupilotMegaPlanner/SerialInput.cs
+++ b/Tools/ArdupilotMegaPlanner/SerialInput.cs
@@ -153,19 +153,19 @@ namespace ArdupilotMega
                         }
                         catch { }
 
-                        if (MainV2.comPort.BaseStream.IsOpen && MainV2.givecomport == false)
+                        if (MainV2.comPort.BaseStream.IsOpen && MainV2.giveComport == false)
                         {
                             try
                             {
-                                MainV2.givecomport = true;
+                                MainV2.giveComport = true;
 
                                 MainV2.comPort.setWP(gotohere, 0, MAVLink.MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT, (byte)2);
 
                                 GCSViews.FlightData.GuidedModeWP = new PointLatLngAlt(gotohere);
 
-                                MainV2.givecomport = false;
+                                MainV2.giveComport = false;
                             }
-                            catch { MainV2.givecomport = false; }
+                            catch { MainV2.giveComport = false; }
                         }
                     }
                 }
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
index 3537a9c809..f10943bfd3 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@@ -510,7 +510,7 @@ namespace ArdupilotMega.Setup
 
             if (tabControl1.SelectedTab == tabHeli)
             {
-                if (MainV2.comPort.param["GYR_ENABLE_"] == null)
+                if (MainV2.comPort.param["GYR_ENABLE"] == null)
                 {
                     tabHeli.Enabled = false;
                     return;
@@ -518,6 +518,12 @@ namespace ArdupilotMega.Setup
                 startup = true;
                 try
                 {
+                    if (MainV2.comPort.param.ContainsKey("H1_ENABLE"))
+                    {
+                        CCPM.Checked = MainV2.comPort.param["H1_ENABLE"].ToString() == "0" ? true : false;
+                        H1_ENABLE.Checked = !CCPM.Checked;
+                    }
+
                     foreach (string value in MainV2.comPort.param.Keys)
                     {
                         if (value == "")
@@ -915,7 +921,7 @@ namespace ArdupilotMega.Setup
             }
             catch { CustomMessageBox.Show("Set SYSID_SW_MREV Failed"); return; }
 
-            MainV2.givecomport = true;
+            MainV2.giveComport = true;
 
             ICommsSerial comPortT = MainV2.comPort.BaseStream;
 
@@ -931,7 +937,7 @@ namespace ArdupilotMega.Setup
                 comPortT.DtrEnable = true;
                 comPortT.Open();
             }
-            catch (Exception ex) { MainV2.givecomport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
+            catch (Exception ex) { MainV2.giveComport = false; CustomMessageBox.Show("Invalid Comport Settings : " + ex.Message); return; }
 
             BUT_reset.Text = "Rebooting (17 sec)";
             BUT_reset.Refresh();
@@ -951,7 +957,7 @@ namespace ArdupilotMega.Setup
 
             comPortT.Close();
 
-            MainV2.givecomport = false;
+            MainV2.giveComport = false;
             try
             {
                 MainV2.comPort.Open(true);
@@ -1087,9 +1093,9 @@ namespace ArdupilotMega.Setup
             try
             {
 
-                MainV2.comPort.setParam("COL_MID_", MainV2.cs.ch3in);
+                MainV2.comPort.setParam("COL_MID", MainV2.cs.ch3in);
 
-                COL_MID.Text = MainV2.comPort.param["COL_MID_"].ToString();
+                COL_MID.Text = MainV2.comPort.param["COL_MID"].ToString();
             }
             catch { CustomMessageBox.Show("Set COL_MID_ failed"); }
         }
@@ -1290,8 +1296,8 @@ namespace ArdupilotMega.Setup
             {
                 if (MainV2.comPort.param["HSV_MAN"].ToString() == "1")
                 {
-                    MainV2.comPort.setParam("COL_MIN_", int.Parse(COL_MIN.Text));
-                    MainV2.comPort.setParam("COL_MAX_", int.Parse(COL_MAX.Text));
+                    MainV2.comPort.setParam("COL_MIN", int.Parse(COL_MIN.Text));
+                    MainV2.comPort.setParam("COL_MAX", int.Parse(COL_MAX.Text));
                     MainV2.comPort.setParam("HSV_MAN", 0); // randy request - last
                     BUT_swash_manual.Text = "Manual";
 
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
index 860d1a0f10..1026981e5b 100644
Binary files a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb and b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/temp.cs b/Tools/ArdupilotMegaPlanner/temp.cs
index a7cf78d898..a6a6bbbaae 100644
--- a/Tools/ArdupilotMegaPlanner/temp.cs
+++ b/Tools/ArdupilotMegaPlanner/temp.cs
@@ -151,7 +151,7 @@ namespace ArdupilotMega
             port.Parity = Parity.None;
             port.DtrEnable = true;
 
-            port.PortName = ArdupilotMega.MainV2.comportname;
+            port.PortName = ArdupilotMega.MainV2.comPortName;
             try
             {
                 port.Open();
@@ -222,7 +222,7 @@ namespace ArdupilotMega
             port.Parity = Parity.None;
             port.DtrEnable = true;
 
-            port.PortName = ArdupilotMega.MainV2.comportname;
+            port.PortName = ArdupilotMega.MainV2.comPortName;
             try
             {
                 port.Open();
@@ -285,7 +285,7 @@ namespace ArdupilotMega
             port.Parity = Parity.None;
             port.DtrEnable = true;
 
-            port.PortName = ArdupilotMega.MainV2.comportname;
+            port.PortName = ArdupilotMega.MainV2.comPortName;
             try
             {
                 port.Open();
@@ -392,7 +392,7 @@ namespace ArdupilotMega
 
             try
             {
-                port.PortName = ArdupilotMega.MainV2.comportname;
+                port.PortName = ArdupilotMega.MainV2.comPortName;
 
                 port.Open();
 
@@ -536,7 +536,7 @@ namespace ArdupilotMega
 
             try
             {
-                port.PortName = ArdupilotMega.MainV2.comportname;
+                port.PortName = ArdupilotMega.MainV2.comPortName;
 
                 log.Info("Open Port");
                 port.Open();
@@ -587,7 +587,7 @@ namespace ArdupilotMega
 
             try
             {
-                port.PortName = ArdupilotMega.MainV2.comportname;
+                port.PortName = ArdupilotMega.MainV2.comPortName;
 
                 log.Info("Open Port");
                 port.Open();
@@ -651,7 +651,7 @@ namespace ArdupilotMega
 
             try
             {
-                port.PortName = ArdupilotMega.MainV2.comportname;
+                port.PortName = ArdupilotMega.MainV2.comPortName;
 
                 log.Info("Open Port");
                 port.Open();
@@ -728,7 +728,7 @@ namespace ArdupilotMega
 
             try
             {
-                port.PortName = ArdupilotMega.MainV2.comportname;
+                port.PortName = ArdupilotMega.MainV2.comPortName;
 
                 port.Open();