From a04b6d6993e1dd2f449a84a1bb670523c9470960 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Mon, 7 May 2012 22:25:56 +0800
Subject: [PATCH] APM Planner 1.1.81 mavlink 1.0 fixs simulation hil fix for
 lorenz modify default att rate to 10 hz

---
 .../3DRRadio/3DRRadio.csproj                  |  216 +++
 Tools/ArdupilotMegaPlanner/3DRRadio/3dr.ico   |  Bin 0 -> 67646 bytes
 Tools/ArdupilotMegaPlanner/3DRRadio/Common.cs |   77 +
 .../3DRRadio/Config.Designer.cs               |  146 ++
 Tools/ArdupilotMegaPlanner/3DRRadio/Config.cs |   50 +
 .../ArdupilotMegaPlanner/3DRRadio/Config.resx | 1533 +++++++++++++++++
 Tools/ArdupilotMegaPlanner/3DRRadio/MainV2.cs |   17 +
 .../ArdupilotMegaPlanner/3DRRadio/Program.cs  |   24 +
 .../3DRRadio/Properties/AssemblyInfo.cs       |   36 +
 .../3DRRadio/Properties/Resources.Designer.cs |   84 +
 .../3DRRadio/Properties/Resources.resx        |  131 ++
 .../3DRRadio/Properties/Settings.Designer.cs  |   26 +
 .../3DRRadio/Properties/Settings.settings     |    7 +
 .../3DRRadio/Resources/3dr.ico                |  Bin 0 -> 67646 bytes
 .../3DRRadio/ThemeManager.cs                  |  235 +++
 .../ArdupilotMegaPlanner/3DRRadio/app.config  |   29 +
 .../ArdupilotMegaPlanner/ArdupilotMega.csproj |    4 +-
 Tools/ArdupilotMegaPlanner/ArdupilotMega.sln  |   14 +
 Tools/ArdupilotMegaPlanner/Common.cs          |    4 +-
 .../Comms/CommsSerialPort.cs                  |    2 +-
 .../BackStageViewContentPanel.cs              |    8 +-
 .../Controls/BackstageView/BackstageView.cs   |   12 +-
 .../Controls/ConfigPanel.cs                   |    2 +
 Tools/ArdupilotMegaPlanner/CurrentState.cs    |   18 +-
 .../ConfigAccelerometerCalibrationPlane.cs    |    2 +-
 .../ConfigurationView/ConfigFriendlyParams.cs |   63 +-
 .../GCSViews/FlightData.cs                    |    4 +-
 .../GCSViews/Simulation.cs                    |   22 +-
 .../Properties/AssemblyInfo.cs                |    2 +-
 Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs  |   24 +-
 .../Utilities/ParameterMetaDataRepository.cs  |   39 +-
 31 files changed, 2731 insertions(+), 100 deletions(-)
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/3dr.ico
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Common.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Config.Designer.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Config.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/MainV2.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.Designer.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.settings
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/Resources/3dr.ico
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/ThemeManager.cs
 create mode 100644 Tools/ArdupilotMegaPlanner/3DRRadio/app.config

diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj b/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
new file mode 100644
index 0000000000..7f514ee20c
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/3DRRadio.csproj
@@ -0,0 +1,216 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">x86</Platform>
+    <ProductVersion>8.0.30703</ProductVersion>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>{B8943726-04B0-4477-BFDA-E156A0CD98A4}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>_3DRRadio</RootNamespace>
+    <AssemblyName>3DRRadio</AssemblyName>
+    <TargetFrameworkVersion>v3.5</TargetFrameworkVersion>
+    <TargetFrameworkProfile>
+    </TargetFrameworkProfile>
+    <FileAlignment>512</FileAlignment>
+    <IsWebBootstrapper>false</IsWebBootstrapper>
+    <PublishUrl>publish\</PublishUrl>
+    <Install>true</Install>
+    <InstallFrom>Disk</InstallFrom>
+    <UpdateEnabled>false</UpdateEnabled>
+    <UpdateMode>Foreground</UpdateMode>
+    <UpdateInterval>7</UpdateInterval>
+    <UpdateIntervalUnits>Days</UpdateIntervalUnits>
+    <UpdatePeriodically>false</UpdatePeriodically>
+    <UpdateRequired>false</UpdateRequired>
+    <MapFileExtensions>true</MapFileExtensions>
+    <ApplicationRevision>0</ApplicationRevision>
+    <ApplicationVersion>1.0.0.%2a</ApplicationVersion>
+    <UseApplicationTrust>false</UseApplicationTrust>
+    <BootstrapperEnabled>true</BootstrapperEnabled>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
+    <PlatformTarget>x86</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
+    <PlatformTarget>x86</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup>
+    <StartupObject />
+  </PropertyGroup>
+  <PropertyGroup>
+    <ApplicationIcon>3dr.ico</ApplicationIcon>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net">
+      <HintPath>..\Lib\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="..\Arduino\ArduinoComms.cs">
+      <Link>Linked\ArduinoComms.cs</Link>
+    </Compile>
+    <Compile Include="..\Arduino\ArduinoSTK.cs">
+      <Link>Linked\ArduinoSTK.cs</Link>
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="..\Attributes\DisplayTextAttribute.cs">
+      <Link>Linked\DisplayTextAttribute.cs</Link>
+    </Compile>
+    <Compile Include="..\Attributes\PrivateAttribute.cs">
+      <Link>Linked\PrivateAttribute.cs</Link>
+    </Compile>
+    <Compile Include="..\Comms\CommsSerialInterface.cs">
+      <Link>Linked\CommsSerialInterface.cs</Link>
+    </Compile>
+    <Compile Include="..\Comms\CommsSerialPort.cs">
+      <Link>Linked\CommsSerialPort.cs</Link>
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="..\Controls\BackstageView\BackstageView.cs">
+      <Link>Linked\BackstageView.cs</Link>
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="..\Controls\BackstageView\BackstageView.designer.cs">
+      <Link>Linked\BackstageView.designer.cs</Link>
+      <DependentUpon>BackstageView.cs</DependentUpon>
+    </Compile>
+    <Compile Include="..\Controls\BackstageView\BackstageViewButton.cs">
+      <Link>Linked\BackstageViewButton.cs</Link>
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="..\Controls\BackstageView\BackStageViewContentPanel.cs">
+      <Link>Linked\BackStageViewContentPanel.cs</Link>
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="..\Controls\BackstageView\BackStageViewMenuPanel.cs">
+      <Link>Linked\BackStageViewMenuPanel.cs</Link>
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="..\Controls\CustomMessageBox.cs">
+      <Link>Linked\CustomMessageBox.cs</Link>
+    </Compile>
+    <Compile Include="..\Controls\MyButton.cs">
+      <Link>Linked\MyButton.cs</Link>
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="..\Radio\3DRradio.cs">
+      <Link>Linked\3DRradio.cs</Link>
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="..\Radio\3DRradio.designer.cs">
+      <Link>Linked\3DRradio.designer.cs</Link>
+      <DependentUpon>3DRradio.cs</DependentUpon>
+    </Compile>
+    <Compile Include="..\Radio\IHex.cs">
+      <Link>Linked\IHex.cs</Link>
+    </Compile>
+    <Compile Include="..\Radio\Uploader.cs">
+      <Link>Linked\Uploader.cs</Link>
+    </Compile>
+    <Compile Include="Common.cs" />
+    <Compile Include="Config.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Config.Designer.cs">
+      <DependentUpon>Config.cs</DependentUpon>
+    </Compile>
+    <Compile Include="MainV2.cs" />
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <Compile Include="ThemeManager.cs" />
+    <EmbeddedResource Include="..\Controls\BackstageView\BackstageView.resx">
+      <Link>Linked\BackstageView.resx</Link>
+      <DependentUpon>BackstageView.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="..\Radio\3DRradio.resx">
+      <Link>Linked\3DRradio.resx</Link>
+      <DependentUpon>3DRradio.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="..\Radio\3DRradio.zh-Hans.resx">
+      <Link>Linked\3DRradio.zh-Hans.resx</Link>
+      <DependentUpon>3DRradio.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Config.resx">
+      <DependentUpon>Config.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
+    </Compile>
+    <None Include="app.config" />
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <BootstrapperPackage Include="Microsoft.Net.Client.3.5">
+      <Visible>False</Visible>
+      <ProductName>.NET Framework 3.5 SP1 Client Profile</ProductName>
+      <Install>false</Install>
+    </BootstrapperPackage>
+    <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
+      <Visible>False</Visible>
+      <ProductName>.NET Framework 3.5 SP1</ProductName>
+      <Install>true</Install>
+    </BootstrapperPackage>
+    <BootstrapperPackage Include="Microsoft.Windows.Installer.3.1">
+      <Visible>False</Visible>
+      <ProductName>Windows Installer 3.1</ProductName>
+      <Install>true</Install>
+    </BootstrapperPackage>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\3dr.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\3dr2.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <Content Include="3dr.ico" />
+    <None Include="Resources\3dr3.png" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/3dr.ico b/Tools/ArdupilotMegaPlanner/3DRRadio/3dr.ico
new file mode 100644
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diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Common.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Common.cs
new file mode 100644
index 0000000000..f3d229dc04
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Common.cs
@@ -0,0 +1,77 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Security.Cryptography.X509Certificates;
+using System.IO;
+using System.Net;
+using System.Net.Sockets;
+using System.Xml; // config file
+using System.Runtime.InteropServices; // dll imports
+using System.Drawing.Drawing2D;
+using log4net;
+using System.Reflection;
+using System.Windows.Forms;
+
+namespace ArdupilotMega
+{
+    public class Common
+    {
+        private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public static bool getFilefromNet(string url, string saveto)
+        {
+            try
+            {
+                // this is for mono to a ssl server
+                //ServicePointManager.CertificatePolicy = new NoCheckCertificatePolicy(); 
+
+                ServicePointManager.ServerCertificateValidationCallback =
+    new System.Net.Security.RemoteCertificateValidationCallback((sender, certificate, chain, policyErrors) => { return true; });
+
+                // Create a request using a URL that can receive a post. 
+                WebRequest request = WebRequest.Create(url);
+                request.Timeout = 10000;
+                // Set the Method property of the request to POST.
+                request.Method = "GET";
+                // Get the response.
+                WebResponse response = request.GetResponse();
+                // Display the status.
+                log.Info(((HttpWebResponse)response).StatusDescription);
+                if (((HttpWebResponse)response).StatusCode != HttpStatusCode.OK)
+                    return false;
+                // Get the stream containing content returned by the server.
+                Stream dataStream = response.GetResponseStream();
+
+                long bytes = response.ContentLength;
+                long contlen = bytes;
+
+                byte[] buf1 = new byte[1024];
+
+                FileStream fs = new FileStream(saveto + ".new", FileMode.Create);
+
+                DateTime dt = DateTime.Now;
+
+                while (dataStream.CanRead && bytes > 0)
+                {
+                    Application.DoEvents();
+                    log.Debug(saveto + " " + bytes);
+                    int len = dataStream.Read(buf1, 0, buf1.Length);
+                    bytes -= len;
+                    fs.Write(buf1, 0, len);
+                }
+
+                fs.Close();
+                dataStream.Close();
+                response.Close();
+
+                File.Delete(saveto);
+                File.Move(saveto + ".new", saveto);
+
+                return true;
+            }
+            catch (Exception ex) { log.Info("getFilefromNet(): " + ex.ToString()); return false; }
+        }
+        
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Config.Designer.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.Designer.cs
new file mode 100644
index 0000000000..5bc3522d91
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.Designer.cs
@@ -0,0 +1,146 @@
+namespace _3DRRadio
+{
+    partial class Config
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Config));
+            this.CMB_SerialPort = new System.Windows.Forms.ComboBox();
+            this.CMB_Baudrate = new System.Windows.Forms.ComboBox();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.label1 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.pictureBox1 = new System.Windows.Forms.PictureBox();
+            this.groupBox1.SuspendLayout();
+            this.groupBox2.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // CMB_SerialPort
+            // 
+            this.CMB_SerialPort.FormattingEnabled = true;
+            resources.ApplyResources(this.CMB_SerialPort, "CMB_SerialPort");
+            this.CMB_SerialPort.Name = "CMB_SerialPort";
+            this.CMB_SerialPort.SelectedIndexChanged += new System.EventHandler(this.CMB_SerialPort_SelectedIndexChanged);
+            this.CMB_SerialPort.Click += new System.EventHandler(this.CMB_SerialPort_Click);
+            // 
+            // CMB_Baudrate
+            // 
+            this.CMB_Baudrate.FormattingEnabled = true;
+            this.CMB_Baudrate.Items.AddRange(new object[] {
+            resources.GetString("CMB_Baudrate.Items"),
+            resources.GetString("CMB_Baudrate.Items1"),
+            resources.GetString("CMB_Baudrate.Items2"),
+            resources.GetString("CMB_Baudrate.Items3"),
+            resources.GetString("CMB_Baudrate.Items4"),
+            resources.GetString("CMB_Baudrate.Items5"),
+            resources.GetString("CMB_Baudrate.Items6"),
+            resources.GetString("CMB_Baudrate.Items7")});
+            resources.ApplyResources(this.CMB_Baudrate, "CMB_Baudrate");
+            this.CMB_Baudrate.Name = "CMB_Baudrate";
+            this.CMB_Baudrate.SelectedIndexChanged += new System.EventHandler(this.CMB_Baudrate_SelectedIndexChanged);
+            // 
+            // panel1
+            // 
+            resources.ApplyResources(this.panel1, "panel1");
+            this.panel1.MinimumSize = new System.Drawing.Size(781, 433);
+            this.panel1.Name = "panel1";
+            // 
+            // label1
+            // 
+            resources.ApplyResources(this.label1, "label1");
+            this.label1.Name = "label1";
+            // 
+            // label2
+            // 
+            resources.ApplyResources(this.label2, "label2");
+            this.label2.Name = "label2";
+            // 
+            // label3
+            // 
+            resources.ApplyResources(this.label3, "label3");
+            this.label3.Name = "label3";
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.CMB_SerialPort);
+            this.groupBox1.Controls.Add(this.CMB_Baudrate);
+            this.groupBox1.Controls.Add(this.label1);
+            this.groupBox1.Controls.Add(this.label2);
+            resources.ApplyResources(this.groupBox1, "groupBox1");
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.TabStop = false;
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.panel1);
+            resources.ApplyResources(this.groupBox2, "groupBox2");
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.TabStop = false;
+            // 
+            // pictureBox1
+            // 
+            this.pictureBox1.BackgroundImage = global::_3DRRadio.Properties.Resources._3dr3;
+            resources.ApplyResources(this.pictureBox1, "pictureBox1");
+            this.pictureBox1.Name = "pictureBox1";
+            this.pictureBox1.TabStop = false;
+            // 
+            // Config
+            // 
+            resources.ApplyResources(this, "$this");
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.groupBox2);
+            this.Controls.Add(this.groupBox1);
+            this.Controls.Add(this.label3);
+            this.Controls.Add(this.pictureBox1);
+            this.Name = "Config";
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.ComboBox CMB_SerialPort;
+        private System.Windows.Forms.ComboBox CMB_Baudrate;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.PictureBox pictureBox1;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.GroupBox groupBox2;
+    }
+}
+
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Config.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.cs
new file mode 100644
index 0000000000..02e1d74378
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.cs
@@ -0,0 +1,50 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+namespace _3DRRadio
+{
+    public partial class Config : Form
+    {
+        public Config()
+        {
+            InitializeComponent();
+
+            ArdupilotMega._3DRradio form = new ArdupilotMega._3DRradio();
+
+            panel1.Controls.Add(form);
+
+            ArdupilotMega.Utilities.ThemeManager.SetTheme(ArdupilotMega.Utilities.ThemeManager.Themes.None);
+
+            ArdupilotMega.Utilities.ThemeManager.ApplyThemeTo(this);
+
+            CMB_SerialPort.Items.AddRange(ArdupilotMega.Comms.SerialPort.GetPortNames());
+            if (CMB_SerialPort.Items.Count > 0)
+                CMB_SerialPort.SelectedIndex = 0;
+
+            // default
+            CMB_Baudrate.SelectedIndex = CMB_Baudrate.Items.IndexOf("57600");
+        }
+
+        private void CMB_SerialPort_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            ArdupilotMega.MainV2.comPort.BaseStream.PortName = CMB_SerialPort.Text;
+        }
+
+        private void CMB_Baudrate_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            ArdupilotMega.MainV2.comPort.BaseStream.BaudRate = int.Parse(CMB_Baudrate.Text);
+        }
+
+        private void CMB_SerialPort_Click(object sender, EventArgs e)
+        {
+            CMB_SerialPort.Items.Clear();
+            CMB_SerialPort.Items.AddRange(ArdupilotMega.Comms.SerialPort.GetPortNames());
+        }
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
new file mode 100644
index 0000000000..c2d6487d8e
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Config.resx
@@ -0,0 +1,1533 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <assembly alias="System.Drawing" name="System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
+  <data name="CMB_SerialPort.Location" type="System.Drawing.Point, System.Drawing">
+    <value>47, 14</value>
+  </data>
+  <data name="CMB_SerialPort.Size" type="System.Drawing.Size, System.Drawing">
+    <value>109, 21</value>
+  </data>
+  <assembly alias="mscorlib" name="mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="CMB_SerialPort.TabIndex" type="System.Int32, mscorlib">
+    <value>0</value>
+  </data>
+  <data name="&gt;&gt;CMB_SerialPort.Name" xml:space="preserve">
+    <value>CMB_SerialPort</value>
+  </data>
+  <data name="&gt;&gt;CMB_SerialPort.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ComboBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;CMB_SerialPort.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;CMB_SerialPort.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="CMB_Baudrate.Items" xml:space="preserve">
+    <value>4800</value>
+  </data>
+  <data name="CMB_Baudrate.Items1" xml:space="preserve">
+    <value>9600</value>
+  </data>
+  <data name="CMB_Baudrate.Items2" xml:space="preserve">
+    <value>14400</value>
+  </data>
+  <data name="CMB_Baudrate.Items3" xml:space="preserve">
+    <value>19200</value>
+  </data>
+  <data name="CMB_Baudrate.Items4" xml:space="preserve">
+    <value>28800</value>
+  </data>
+  <data name="CMB_Baudrate.Items5" xml:space="preserve">
+    <value>38400</value>
+  </data>
+  <data name="CMB_Baudrate.Items6" xml:space="preserve">
+    <value>57600</value>
+  </data>
+  <data name="CMB_Baudrate.Items7" xml:space="preserve">
+    <value>115200</value>
+  </data>
+  <data name="CMB_Baudrate.Location" type="System.Drawing.Point, System.Drawing">
+    <value>47, 41</value>
+  </data>
+  <data name="CMB_Baudrate.Size" type="System.Drawing.Size, System.Drawing">
+    <value>109, 21</value>
+  </data>
+  <data name="CMB_Baudrate.TabIndex" type="System.Int32, mscorlib">
+    <value>1</value>
+  </data>
+  <data name="&gt;&gt;CMB_Baudrate.Name" xml:space="preserve">
+    <value>CMB_Baudrate</value>
+  </data>
+  <data name="&gt;&gt;CMB_Baudrate.Type" xml:space="preserve">
+    <value>System.Windows.Forms.ComboBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;CMB_Baudrate.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;CMB_Baudrate.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="panel1.Anchor" type="System.Windows.Forms.AnchorStyles, System.Windows.Forms">
+    <value>Top, Bottom, Left, Right</value>
+  </data>
+  <data name="panel1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>1, 19</value>
+  </data>
+  <data name="panel1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>781, 452</value>
+  </data>
+  <data name="panel1.TabIndex" type="System.Int32, mscorlib">
+    <value>2</value>
+  </data>
+  <data name="&gt;&gt;panel1.Name" xml:space="preserve">
+    <value>panel1</value>
+  </data>
+  <data name="&gt;&gt;panel1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Panel, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;panel1.Parent" xml:space="preserve">
+    <value>groupBox2</value>
+  </data>
+  <data name="&gt;&gt;panel1.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="label1.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 49</value>
+  </data>
+  <data name="label1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>32, 13</value>
+  </data>
+  <data name="label1.TabIndex" type="System.Int32, mscorlib">
+    <value>3</value>
+  </data>
+  <data name="label1.Text" xml:space="preserve">
+    <value>Baud</value>
+  </data>
+  <data name="&gt;&gt;label1.Name" xml:space="preserve">
+    <value>label1</value>
+  </data>
+  <data name="&gt;&gt;label1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label1.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;label1.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="label2.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label2.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>6, 22</value>
+  </data>
+  <data name="label2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>26, 13</value>
+  </data>
+  <data name="label2.TabIndex" type="System.Int32, mscorlib">
+    <value>4</value>
+  </data>
+  <data name="label2.Text" xml:space="preserve">
+    <value>Port</value>
+  </data>
+  <data name="&gt;&gt;label2.Name" xml:space="preserve">
+    <value>label2</value>
+  </data>
+  <data name="&gt;&gt;label2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label2.Parent" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;label2.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <data name="label3.AutoSize" type="System.Boolean, mscorlib">
+    <value>True</value>
+  </data>
+  <data name="label3.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="label3.Location" type="System.Drawing.Point, System.Drawing">
+    <value>184, 25</value>
+  </data>
+  <data name="label3.Size" type="System.Drawing.Size, System.Drawing">
+    <value>176, 39</value>
+  </data>
+  <data name="label3.TabIndex" type="System.Int32, mscorlib">
+    <value>6</value>
+  </data>
+  <data name="label3.Text" xml:space="preserve">
+    <value>1. Please Select the comport 
+    and baudrate for your 3DRRadio.
+2. Then click load settings.</value>
+  </data>
+  <data name="&gt;&gt;label3.Name" xml:space="preserve">
+    <value>label3</value>
+  </data>
+  <data name="&gt;&gt;label3.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Label, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;label3.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;label3.ZOrder" xml:space="preserve">
+    <value>2</value>
+  </data>
+  <data name="groupBox1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>12, 9</value>
+  </data>
+  <data name="groupBox1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>166, 67</value>
+  </data>
+  <data name="groupBox1.TabIndex" type="System.Int32, mscorlib">
+    <value>7</value>
+  </data>
+  <data name="groupBox1.Text" xml:space="preserve">
+    <value>ComPort</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Name" xml:space="preserve">
+    <value>groupBox1</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.GroupBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;groupBox1.ZOrder" xml:space="preserve">
+    <value>1</value>
+  </data>
+  <data name="groupBox2.Location" type="System.Drawing.Point, System.Drawing">
+    <value>12, 82</value>
+  </data>
+  <data name="groupBox2.Size" type="System.Drawing.Size, System.Drawing">
+    <value>786, 477</value>
+  </data>
+  <data name="groupBox2.TabIndex" type="System.Int32, mscorlib">
+    <value>8</value>
+  </data>
+  <data name="groupBox2.Text" xml:space="preserve">
+    <value>Settings</value>
+  </data>
+  <data name="&gt;&gt;groupBox2.Name" xml:space="preserve">
+    <value>groupBox2</value>
+  </data>
+  <data name="&gt;&gt;groupBox2.Type" xml:space="preserve">
+    <value>System.Windows.Forms.GroupBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;groupBox2.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;groupBox2.ZOrder" xml:space="preserve">
+    <value>0</value>
+  </data>
+  <data name="pictureBox1.BackgroundImageLayout" type="System.Windows.Forms.ImageLayout, System.Windows.Forms">
+    <value>Zoom</value>
+  </data>
+  <data name="pictureBox1.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="pictureBox1.Location" type="System.Drawing.Point, System.Drawing">
+    <value>445, 5</value>
+  </data>
+  <data name="pictureBox1.Size" type="System.Drawing.Size, System.Drawing">
+    <value>353, 81</value>
+  </data>
+  <data name="pictureBox1.TabIndex" type="System.Int32, mscorlib">
+    <value>5</value>
+  </data>
+  <data name="&gt;&gt;pictureBox1.Name" xml:space="preserve">
+    <value>pictureBox1</value>
+  </data>
+  <data name="&gt;&gt;pictureBox1.Type" xml:space="preserve">
+    <value>System.Windows.Forms.PictureBox, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+  <data name="&gt;&gt;pictureBox1.Parent" xml:space="preserve">
+    <value>$this</value>
+  </data>
+  <data name="&gt;&gt;pictureBox1.ZOrder" xml:space="preserve">
+    <value>3</value>
+  </data>
+  <metadata name="$this.Localizable" type="System.Boolean, mscorlib, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <data name="$this.AutoScaleDimensions" type="System.Drawing.SizeF, System.Drawing">
+    <value>6, 13</value>
+  </data>
+  <data name="$this.ClientSize" type="System.Drawing.Size, System.Drawing">
+    <value>810, 566</value>
+  </data>
+  <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+    <value>
+        AAABAAEAgIAAAAEAIAAoCAEAFgAAACgAAACAAAAAAAEAAAEAIAAAAAAAAAAAABMLAAATCwAAAAAAAAAA
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+        AAAAAAAAAAAAAAAAAAAAAAAA////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        //////////////////////////////z8H+APj4f/4fwfPif58H/4/A/gAY4B/4BwBjwH8cAf+PiPwACM
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+        Hj8gAeB/////////////////////////////////////////////////////////////////////////
+        //////////////gMAAA/+ABgAf/+AB///+f4DAAAD/gAYAA//gAf///H+AwAAAP4AGAAD/4AH///h/gM
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+        gAAA/gAAAAA/gAAAAA/4D8AAAH8AAAAAf4AAAAAP+A/gAAA/gAAAAP/AAAAAD/gP8AAAH8AAAAH/4AAA
+        AB/4D/gAAA/gAAAD//gAAAAf+A/8AAAH8AAAB//8AAAAP/gP/gAAA/gAAA///gAAAH/4D/8AAAH8AAA/
+        //8AAAD/+A//gAAAfgAA////gAAB//wP/8AAAH8AB////8AAD///H///////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        ////////////////////////////////////////////////////////////////////////////////
+        //////////////////////////////////8=
+</value>
+  </data>
+  <data name="$this.ImeMode" type="System.Windows.Forms.ImeMode, System.Windows.Forms">
+    <value>NoControl</value>
+  </data>
+  <data name="$this.Text" xml:space="preserve">
+    <value>3DRRadio Config</value>
+  </data>
+  <data name="&gt;&gt;$this.Name" xml:space="preserve">
+    <value>Config</value>
+  </data>
+  <data name="&gt;&gt;$this.Type" xml:space="preserve">
+    <value>System.Windows.Forms.Form, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </data>
+</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/MainV2.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/MainV2.cs
new file mode 100644
index 0000000000..22232ee1cd
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/MainV2.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ArdupilotMega
+{
+    class MainV2
+    {
+        public static portproxy comPort = new portproxy();
+    }
+
+    class portproxy
+    {
+        public ArdupilotMega.Comms.SerialPort BaseStream = new ArdupilotMega.Comms.SerialPort();
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
new file mode 100644
index 0000000000..e4f207fc14
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Program.cs
@@ -0,0 +1,24 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows.Forms;
+using log4net.Config;
+
+namespace _3DRRadio
+{
+    static class Program
+    {
+        /// <summary>
+        /// The main entry point for the application.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            XmlConfigurator.Configure();
+
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new Config());
+        }
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
new file mode 100644
index 0000000000..ae9d3a3560
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("3DRRadio")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("3DRRadio")]
+[assembly: AssemblyCopyright("Copyright ©  2012")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("5f5b5ed0-0b27-4a90-8c24-248309f363f8")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("0.1.*")]
+[assembly: AssemblyFileVersion("0.1.0.0")]
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
new file mode 100644
index 0000000000..f107d01f7a
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.Designer.cs
@@ -0,0 +1,84 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.261
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace _3DRRadio.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   A strongly-typed resource class, for looking up localized strings, etc.
+    /// </summary>
+    // This class was auto-generated by the StronglyTypedResourceBuilder
+    // class via a tool like ResGen or Visual Studio.
+    // To add or remove a member, edit your .ResX file then rerun ResGen
+    // with the /str option, or rebuild your VS project.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   Returns the cached ResourceManager instance used by this class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("_3DRRadio.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   Overrides the current thread's CurrentUICulture property for all
+        ///   resource lookups using this strongly typed resource class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+        
+        internal static System.Drawing.Bitmap _3dr {
+            get {
+                object obj = ResourceManager.GetObject("3dr", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        internal static System.Drawing.Bitmap _3dr2 {
+            get {
+                object obj = ResourceManager.GetObject("3dr2", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        internal static System.Drawing.Bitmap _3dr3 {
+            get {
+                object obj = ResourceManager.GetObject("3dr3", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
new file mode 100644
index 0000000000..40514226ac
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Resources.resx
@@ -0,0 +1,131 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="3dr2" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\3dr2.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="3dr" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\3dr.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="3dr3" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\3dr3.png;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.Designer.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.Designer.cs
new file mode 100644
index 0000000000..11d738043b
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.Designer.cs
@@ -0,0 +1,26 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.261
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace _3DRRadio.Properties {
+    
+    
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "10.0.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
+        
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+        
+        public static Settings Default {
+            get {
+                return defaultInstance;
+            }
+        }
+    }
+}
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.settings b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.settings
new file mode 100644
index 0000000000..39645652af
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/Properties/Settings.settings
@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/Resources/3dr.ico b/Tools/ArdupilotMegaPlanner/3DRRadio/Resources/3dr.ico
new file mode 100644
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diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/ThemeManager.cs b/Tools/ArdupilotMegaPlanner/3DRRadio/ThemeManager.cs
new file mode 100644
index 0000000000..4468a3f3d1
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/ThemeManager.cs
@@ -0,0 +1,235 @@
+using System;
+using System.Drawing;
+using System.Windows.Forms;
+using ArdupilotMega.Controls.BackstageView;
+using log4net;
+using ArdupilotMega.Controls;
+
+namespace ArdupilotMega.Utilities
+{
+    /// <summary>
+    /// Helper class for the stylng 'theming' of forms and controls, and provides MessageBox
+    /// replacements which are also styled
+    /// </summary>
+    public class ThemeManager
+    {
+        private static readonly ILog log =
+            LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+
+        private static Themes _currentTheme = Themes.BurntKermit;
+
+        public enum Themes
+        {
+            /// <summary>
+            /// no theme - standard Winforms appearance
+            /// </summary>
+            None,
+   
+            /// <summary>
+            /// Standard Planner Charcoal & Green colours
+            /// </summary>
+            BurntKermit,
+        }
+
+        /// <summary>
+        /// Change the current theme. Existing controls are not affected
+        /// </summary>
+        /// <param name="theme"></param>
+        public static void SetTheme(Themes theme)
+        {
+            log.Debug("Theme set to " +  Enum.GetName(typeof(Themes), theme));
+            _currentTheme = theme;
+        }
+
+        /// <summary>
+        /// Will recursively apply the current theme to 'control'
+        /// </summary>
+        /// <param name="control"></param>
+        public static void ApplyThemeTo(Control control)
+        {
+            switch (_currentTheme)
+            {
+                case Themes.BurntKermit: ApplyBurntKermitTheme(control, 0);
+                    break;
+
+                case Themes.None: ApplyNone(control, 0);
+                    break;
+
+                    // More themes go here
+
+
+                default:
+                    break;
+            }
+
+                    
+        }
+
+        private static void ApplyNone(Control temp, int level)
+        {
+            foreach (Control ctl in temp.Controls)
+            {
+                if (ctl.GetType() == typeof(MyButton))
+                {
+                    ArdupilotMega.Controls.MyButton but = (MyButton)ctl;
+                    but.BGGradTop = Color.FromArgb(242,242,242);
+                    but.BGGradBot = Color.FromArgb(207,207,207);
+                    but.ForeColor = Color.Black;
+                    but.TextColor = Color.Black;
+                    but.Outline = Color.FromArgb(112,112,112);
+                }
+
+                if (ctl.Controls.Count > 0)
+                    ApplyNone(ctl, 1);
+            }
+        }
+
+        private static void ApplyBurntKermitTheme(Control temp, int level)
+        {
+            Color BGColor = Color.FromArgb(0x26, 0x27, 0x28); // background
+            Color ControlBGColor = Color.FromArgb(0x43, 0x44, 0x45); // editable bg color
+            Color TextColor = Color.White;
+
+            if (level == 0)
+            {
+                temp.BackColor = BGColor;
+                temp.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);
+            }
+
+            //temp.Font = new Font("Lucida Console", 8.25f);
+
+            foreach (Control ctl in temp.Controls)
+            {
+                if (ctl.GetType() == typeof(Button))
+                {
+                    ctl.ForeColor = Color.Black;
+                }
+                else if (ctl.GetType() == typeof(MyButton))
+                {
+                    Color PrimeColor = Color.FromArgb(0x94, 0xc1, 0x1f);
+
+                    ArdupilotMega.Controls.MyButton but = (MyButton)ctl;
+                    //but.BGGradTop = Color.FromArgb(PrimeColor.R, PrimeColor.G, PrimeColor.B);
+                    //but.BGGradBot = Color.FromArgb(255 - (int)(PrimeColor.R * 0.27), 255 - (int)(PrimeColor.G * 0.14), 255 - (int)(PrimeColor.B * 0.79));
+                    //but.ForeColor = Color.FromArgb(0x40, 0x57, 0x04); //Color.FromArgb(255 - (int)(PrimeColor.R * 0.7), 255 - (int)(PrimeColor.G * 0.8), 255 - (int)(PrimeColor.B * 0.1));
+                    //but.Outline = ControlBGColor;
+                }
+                else if (ctl.GetType() == typeof(TextBox))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);
+                    TextBox txt = (TextBox)ctl;
+                    txt.BorderStyle = BorderStyle.None;
+                }
+                else if (ctl.GetType() == typeof(DomainUpDown))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);
+                    DomainUpDown txt = (DomainUpDown)ctl;
+                    txt.BorderStyle = BorderStyle.None;
+                }
+                else if (ctl.GetType() == typeof(GroupBox))
+                {
+                    ctl.BackColor = BGColor;
+                    ctl.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);
+                }
+               
+                else if (ctl.GetType() == typeof(Form))
+                {
+                    ctl.BackColor = BGColor;
+                    ctl.ForeColor = TextColor;// Color.FromArgb(0xe6, 0xe8, 0xea);
+                }
+                else if (ctl.GetType() == typeof(RichTextBox))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;
+                    RichTextBox txtr = (RichTextBox)ctl;
+                    txtr.BorderStyle = BorderStyle.None;
+                }
+                else if (ctl.GetType() == typeof(CheckedListBox))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;
+                    CheckedListBox txtr = (CheckedListBox)ctl;
+                    txtr.BorderStyle = BorderStyle.None;
+                }
+                else if (ctl.GetType() == typeof(TabPage))
+                {
+                    ctl.BackColor = BGColor;  //ControlBGColor
+                    ctl.ForeColor = TextColor;
+                    TabPage txtr = (TabPage)ctl;
+                    txtr.BorderStyle = BorderStyle.None;
+                }
+                else if (ctl.GetType() == typeof(TabControl))
+                {
+                    ctl.BackColor = BGColor;  //ControlBGColor
+                    ctl.ForeColor = TextColor;
+                    TabControl txtr = (TabControl)ctl;
+
+                }
+                else if (ctl.GetType() == typeof(DataGridView))
+                {
+                    ctl.ForeColor = TextColor;
+                    DataGridView dgv = (DataGridView)ctl;
+                    dgv.EnableHeadersVisualStyles = false;
+                    dgv.BorderStyle = BorderStyle.None;
+                    dgv.BackgroundColor = BGColor;
+                    DataGridViewCellStyle rs = new DataGridViewCellStyle();
+                    rs.BackColor = ControlBGColor;
+                    rs.ForeColor = TextColor;
+                    dgv.RowsDefaultCellStyle = rs;
+
+                    DataGridViewCellStyle hs = new DataGridViewCellStyle(dgv.ColumnHeadersDefaultCellStyle);
+                    hs.BackColor = BGColor;
+                    hs.ForeColor = TextColor;
+
+                    dgv.ColumnHeadersDefaultCellStyle = hs;
+                    dgv.RowHeadersDefaultCellStyle = hs;
+                }
+                else if (ctl.GetType() == typeof(ComboBox))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;
+                    ComboBox CMB = (ComboBox)ctl;
+                    CMB.FlatStyle = FlatStyle.Flat;
+                }
+                else if (ctl.GetType() == typeof(NumericUpDown))
+                {
+                    ctl.BackColor = ControlBGColor;
+                    ctl.ForeColor = TextColor;
+                }
+                else if (ctl.GetType() == typeof(TrackBar))
+                {
+                    ctl.BackColor = BGColor;
+                    ctl.ForeColor = TextColor;
+                }
+                else if (ctl.GetType() == typeof(LinkLabel))
+                {
+                    ctl.BackColor = BGColor;
+                    ctl.ForeColor = TextColor;
+                    LinkLabel LNK = (LinkLabel)ctl;
+                    LNK.ActiveLinkColor = TextColor;
+                    LNK.LinkColor = TextColor;
+                    LNK.VisitedLinkColor = TextColor;
+
+                }
+                else if (ctl.GetType() == typeof(BackstageView))
+                {
+                    var bsv = ctl as BackstageView;
+
+                    bsv.BackColor = BGColor;
+                    bsv.ButtonsAreaBgColor = ControlBGColor;
+                    bsv.HighlightColor2 = Color.FromArgb(0x94, 0xc1, 0x1f);
+                    bsv.HighlightColor1 = Color.FromArgb(0x40, 0x57, 0x04);
+                    bsv.SelectedTextColor = Color.White;
+                    bsv.UnSelectedTextColor = Color.Gray;
+                    bsv.ButtonsAreaPencilColor = Color.DarkGray;
+                }
+        
+                if (ctl.Controls.Count > 0)
+                    ApplyBurntKermitTheme(ctl, 1);
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/3DRRadio/app.config b/Tools/ArdupilotMegaPlanner/3DRRadio/app.config
new file mode 100644
index 0000000000..8e65526664
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/3DRRadio/app.config
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<configuration>
+  <configSections>
+    <section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler, log4net" />
+  </configSections>
+  <startup useLegacyV2RuntimeActivationPolicy="true"><supportedRuntime version="v2.0.50727"/></startup>
+  <log4net>
+    <appender name="Console" type="log4net.Appender.ConsoleAppender">
+      <layout type="log4net.Layout.PatternLayout">
+        <conversionPattern value="%level %logger - %message%newline" />
+      </layout>
+      <threshold value="INFO"/>
+    </appender>
+    <appender name="RollingFile" type="log4net.Appender.RollingFileAppender">
+      <file value="3DRRadio.log" />
+      <appendToFile value="true" />
+      <maximumFileSize value="500KB" />
+      <maxSizeRollBackups value="2" />
+      <layout type="log4net.Layout.PatternLayout">
+        <conversionPattern value="%date %5level %logger - %message (%file:%line) [%thread]%newline" />
+      </layout>
+    </appender>
+    <root>
+      <level value="DEBUG" />
+      <appender-ref ref="RollingFile" />
+      <appender-ref ref="Console" />
+    </root>
+  </log4net>
+</configuration>
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 660aa3d655..d8d3db4b91 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -45,7 +45,7 @@
     <DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
-    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
     <DocumentationFile>
     </DocumentationFile>
     <CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
@@ -61,7 +61,7 @@
     <DefineConstants>TRACE;DEBUG;MAVLINK10cra</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
-    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
     <DocumentationFile>
     </DocumentationFile>
     <CheckForOverflowUnderflow>false</CheckForOverflowUnderflow>
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.sln b/Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
index 6fe51a332b..256d4bb24b 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.sln
@@ -7,6 +7,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Updater", "Updater\Updater.
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "wix", "wix\wix.csproj", "{76374F95-C343-4ACC-B86F-7ECFDD668F46}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "3DRRadio", "3DRRadio\3DRRadio.csproj", "{B8943726-04B0-4477-BFDA-E156A0CD98A4}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -55,6 +57,18 @@ Global
 		{76374F95-C343-4ACC-B86F-7ECFDD668F46}.Release|Win32.ActiveCfg = Release|x86
 		{76374F95-C343-4ACC-B86F-7ECFDD668F46}.Release|x86.ActiveCfg = Release|x86
 		{76374F95-C343-4ACC-B86F-7ECFDD668F46}.Release|x86.Build.0 = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|Any CPU.ActiveCfg = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|Mixed Platforms.Build.0 = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|Win32.ActiveCfg = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|x86.ActiveCfg = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Debug|x86.Build.0 = Debug|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Any CPU.ActiveCfg = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Mixed Platforms.ActiveCfg = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Mixed Platforms.Build.0 = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|Win32.ActiveCfg = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.ActiveCfg = Release|x86
+		{B8943726-04B0-4477-BFDA-E156A0CD98A4}.Release|x86.Build.0 = Release|x86
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
diff --git a/Tools/ArdupilotMegaPlanner/Common.cs b/Tools/ArdupilotMegaPlanner/Common.cs
index 57fd516b87..ffb89d72b0 100644
--- a/Tools/ArdupilotMegaPlanner/Common.cs
+++ b/Tools/ArdupilotMegaPlanner/Common.cs
@@ -524,7 +524,7 @@ namespace ArdupilotMega
                         case (int)Common.apmmodes.FLY_BY_WIRE_A:
                         case (int)Common.apmmodes.FLY_BY_WIRE_B:
                             mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
-                            mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
+                            mode.custom_mode = (uint)EnumTranslator.GetValue<Common.apmmodes>(modein);
                             break;
                         default:
                             MessageBox.Show("No Mode Changed " +  modein);
@@ -544,7 +544,7 @@ namespace ArdupilotMega
                         case (int)Common.ac2modes.CIRCLE:
                         case (int)Common.ac2modes.POSITION:
                             mode.base_mode = (byte)MAVLink.MAV_MODE_FLAG.CUSTOM_MODE_ENABLED;
-                            mode.custom_mode = (uint)(int)Enum.Parse(Common.getModes(), modein);
+                            mode.custom_mode = (uint)EnumTranslator.GetValue<Common.ac2modes>(modein);
                             break;
                         default:
                             MessageBox.Show("No Mode Changed " +  modein);
diff --git a/Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs b/Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs
index ac07fc4a32..5685593422 100644
--- a/Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs
+++ b/Tools/ArdupilotMegaPlanner/Comms/CommsSerialPort.cs
@@ -7,7 +7,7 @@ using System.Linq;
 
 namespace ArdupilotMega.Comms
 {
-    class SerialPort : System.IO.Ports.SerialPort,ICommsSerial
+    public class SerialPort : System.IO.Ports.SerialPort,ICommsSerial
     {
         public new void Open()
         {
diff --git a/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewContentPanel.cs b/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewContentPanel.cs
index d936dcec12..c74b8a3dd9 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewContentPanel.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackStageViewContentPanel.cs
@@ -15,9 +15,15 @@ namespace ArdupilotMega.Controls.BackstageView
                 FormClosing(this, new FormClosingEventArgs(CloseReason.UserClosing, false));
         }
 
-        public new void OnLoad(EventArgs e)
+        public void DoLoad(EventArgs e)
         {
             base.OnLoad(e);
         }
+
+        public new void OnLoad(EventArgs e)
+        {
+            // this is now done on page load via parent control
+           // base.OnLoad(e);
+        }
     }
 }
diff --git a/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs b/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs
index bb9c99ac2d..effe9d5f59 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/BackstageView/BackstageView.cs
@@ -165,9 +165,11 @@ namespace ArdupilotMega.Controls.BackstageView
             this.pnlPages.Controls.Add(page.Page);
 
             if (_activePage == null)
+            {
                 _activePage = page;
 
-            ActivatePage(page);
+                ActivatePage(page);
+            }
         }
 
         private void CreateLinkButton(BackstageViewPage page)
@@ -202,6 +204,12 @@ namespace ArdupilotMega.Controls.BackstageView
         public void ActivatePage(BackstageViewPage associatedPage)
         {
             // deactivate the old page
+            _activePage.Page.Close();
+            Pages.ForEach(x =>
+            {
+                x.Page.Visible = false;
+            });
+
             _activePage.Page.Visible = false;
             var oldButton = this.pnlMenu.Controls.OfType<BackstageViewButton>().Single(b => b.Tag == _activePage);
             oldButton.IsSelected = false;
@@ -212,7 +220,7 @@ namespace ArdupilotMega.Controls.BackstageView
 
             _activePage = associatedPage;
 
-            _activePage.Page.OnLoad(new EventArgs());
+            _activePage.Page.DoLoad(new EventArgs());
         }
 
         public void Close()
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs
index 539183f9bb..10bdba60bb 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs
@@ -35,6 +35,8 @@ namespace ArdupilotMega.Controls
             // process hashdefines and update display
             foreach (string value in MainV2.comPort.param.Keys)
             {
+                if (value == null) // older ap vesion have a null param
+                    continue;
                 Control[] text = this.Controls.Find(value, true);
                 foreach (Control ctl in text)
                 {
diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 95c47e3881..b15dccf96b 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -312,7 +312,7 @@ namespace ArdupilotMega
         {
             mode = "";
             messages = new List<string>();
-            rateattitude = 3;
+            rateattitude = 10;
             rateposition = 3;
             ratestatus = 3;
             ratesensors = 3;
@@ -373,7 +373,7 @@ namespace ArdupilotMega
 
                 byte[] bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED];
 
-                if (bytearray != null) // hil
+                if (bytearray != null) // hil mavlink 0.9
                 {
                     var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_rc_channels_scaled_t>(6);
 
@@ -389,6 +389,20 @@ namespace ArdupilotMega
                     //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
                 }
 
+                bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_HIL_CONTROLS];
+
+                if (bytearray != null) // hil mavlink 0.9 and 1.0
+                {
+                    var hil = bytearray.ByteArrayToStructure<MAVLink.mavlink_hil_controls_t>(6);
+
+                    hilch1 = (int)(hil.roll_ailerons * 10000);
+                    hilch2 = (int)(hil.pitch_elevator * 10000);
+                    hilch3 = (int)(hil.throttle * 10000);
+                    hilch4 = (int)(hil.yaw_rudder * 10000);
+
+                    //MAVLink.packets[MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_SCALED] = null;
+                }
+
                 bytearray = mavinterface.packets[MAVLink.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT];
 
                 if (bytearray != null)
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs
index 5c08a8ab7e..106cef0171 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigAccelerometerCalibrationPlane.cs
@@ -68,7 +68,7 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
             {
 #if MAVLINK10             
                             int fixme; // needs to be accel only    
-                            MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,1,1,1,1);
+                            MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION,1,1,1,0,0,0,0);
 #else
                 MainV2.comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_CALIBRATE_ACC);
 #endif
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs
index d44d880a70..1b1529a146 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigFriendlyParams.cs
@@ -149,64 +149,6 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
 
         #region Methods
 
-        /// <summary>
-        /// Loads the param file.
-        /// </summary>
-        /// <param name="Filename">The filename.</param>
-        /// <returns></returns>
-        private Hashtable loadParamFile(string Filename)
-        {
-            Hashtable param = new Hashtable();
-
-            StreamReader sr = new StreamReader(Filename);
-            while (!sr.EndOfStream)
-            {
-                string line = sr.ReadLine();
-
-                if (line.Contains("NOTE:"))
-                    CustomMessageBox.Show(line, "Saved Note");
-
-                if (line.StartsWith("#"))
-                    continue;
-
-                string[] items = line.Split(new char[] { ' ', ',', '\t' }, StringSplitOptions.RemoveEmptyEntries);
-
-                if (items.Length != 2)
-                    continue;
-
-                string name = items[0];
-                float value = float.Parse(items[1], new System.Globalization.CultureInfo("en-US"));
-
-                MAVLink.modifyParamForDisplay(true, name, ref value);
-
-                if (name == "SYSID_SW_MREV")
-                    continue;
-                if (name == "WP_TOTAL")
-                    continue;
-                if (name == "CMD_TOTAL")
-                    continue;
-                if (name == "FENCE_TOTAL")
-                    continue;
-                if (name == "SYS_NUM_RESETS")
-                    continue;
-                if (name == "ARSPD_OFFSET")
-                    continue;
-                if (name == "GND_ABS_PRESS")
-                    continue;
-                if (name == "GND_TEMP")
-                    continue;
-                if (name == "CMD_INDEX")
-                    continue;
-                if (name == "LOG_LASTFILE")
-                    continue;
-
-                param[name] = value;
-            }
-            sr.Close();
-
-            return param;
-        }
-
         /// <summary>
         /// Sorts the param list.
         /// </summary>
@@ -241,6 +183,11 @@ namespace ArdupilotMega.GCSViews.ConfigurationView
         {
             tableLayoutPanel1.Controls.Clear();
             if (_params == null || _params.Count == 0) SortParamList();
+
+            // get the params if nothing exists already
+            if (_params != null && _params.Count == 0)
+                Utilities.ParameterMetaDataParser.GetParameterInformation();
+
             _params.ForEach(x => 
          {
             if(!String.IsNullOrEmpty(x.Key))
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
index 36e947d99f..c03769ddef 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@@ -1180,7 +1180,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-				MainV2.comPort.setMode("AUTO");
+				MainV2.comPort.setMode("Auto");
 #else
                 comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_AUTO);
 #endif
@@ -1210,7 +1210,7 @@ namespace ArdupilotMega.GCSViews
             {
                 ((Button)sender).Enabled = false;
 #if MAVLINK10
-				MainV2.comPort.setMode("MANUAL");
+				MainV2.comPort.setMode("Manual");
 #else
                 comPort.doAction(MAVLink.MAV_ACTION.MAV_ACTION_SET_MANUAL);
 #endif
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index 307090fb1b..07871632a6 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -1210,11 +1210,22 @@ namespace ArdupilotMega.GCSViews
 
             TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
 
+            // add gps delay
             if (gpsspan.TotalMilliseconds >= GPS_rate)
             {
                 lastgpsupdate = DateTime.Now;
-                oldgps = gps;
-                //comPort.sendPacket(gps);
+
+                // save current fix = 3
+                gpsbuffer[gpsbufferindex % gpsbuffer.Length] = gps;
+
+                //                Console.WriteLine((gpsbufferindex % gpsbuffer.Length) + " " + ((gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length));
+
+                // return buffer index + 5 = (3 + 5) = 8 % 6 = 2
+                oldgps = gpsbuffer[(gpsbufferindex + (gpsbuffer.Length - 1)) % gpsbuffer.Length];
+
+                //comPort.sendPacket(oldgps);
+
+                gpsbufferindex++;
             }
 
 
@@ -1226,8 +1237,8 @@ namespace ArdupilotMega.GCSViews
             hilstate.roll = att.roll;
             hilstate.rollspeed = att.rollspeed;
             hilstate.time_usec = gps.time_usec;
-            hilstate.vx = (short)(gps.vel * Math.Sin(oldgps.cog / 100.0 * deg2rad));
-            hilstate.vy = (short)(gps.vel * Math.Cos(oldgps.cog / 100.0 * deg2rad));
+            hilstate.vx = (short)(gps.vel * Math.Sin(gps.cog / 100.0 * deg2rad));
+            hilstate.vy = (short)(gps.vel * Math.Cos(gps.cog / 100.0 * deg2rad));
             hilstate.vz = 0;
             hilstate.xacc = imu.xacc;
             hilstate.yacc = imu.yacc;
@@ -1237,6 +1248,8 @@ namespace ArdupilotMega.GCSViews
 
             comPort.sendPacket(hilstate);
 
+//            comPort.sendPacket(oldgps);
+
             comPort.sendPacket(asp);
 			
 #else
@@ -1266,6 +1279,7 @@ namespace ArdupilotMega.GCSViews
 
             TimeSpan gpsspan = DateTime.Now - lastgpsupdate;
 
+            // add gps delay
             if (gpsspan.TotalMilliseconds >= GPS_rate)
             {
                 lastgpsupdate = DateTime.Now;
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index c7eff29d43..f87006bf3f 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("1.1.*")]
-[assembly: AssemblyFileVersion("1.1.80")]
+[assembly: AssemblyFileVersion("1.1.81")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs b/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
index 48a557bae2..3d55bb84b7 100644
--- a/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
+++ b/Tools/ArdupilotMegaPlanner/Radio/3DRradio.cs
@@ -11,6 +11,8 @@ using System.IO;
 using ArdupilotMega.Controls.BackstageView;
 using ArdupilotMega.Arduino;
 using ArdupilotMega.Comms;
+using log4net;
+using System.Reflection;
 
 namespace ArdupilotMega
 {
@@ -22,6 +24,8 @@ namespace ArdupilotMega
 
         string firmwarefile = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "radio.hm_trp.hex";
 
+        private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         public _3DRradio()
         {
             InitializeComponent();
@@ -34,7 +38,7 @@ namespace ArdupilotMega
         {
             // was https://raw.github.com/tridge/SiK/master/Firmware/dst/radio.hm_trp.hex
             // now http://www.samba.org/tridge/UAV/3DR/radio.hm_trp.hex
-
+            
             return Common.getFilefromNet("http://www.samba.org/tridge/UAV/3DR/radio.hm_trp.hex", firmwarefile);
         }
 
@@ -118,7 +122,7 @@ namespace ArdupilotMega
                         {
                             comPort.Write("AT&UPDATE\r\n");
                             string left = comPort.ReadExisting();
-                            Console.WriteLine(left);
+                            log.Info(left);
                             Sleep(700);
                             comPort.BaudRate = 115200;
                         }
@@ -165,6 +169,7 @@ namespace ArdupilotMega
                 {
                     Console.Write(message);
                     lbl_status.Text = message;
+                    log.Info(message);
                     Application.DoEvents();
                 }
             }
@@ -179,6 +184,7 @@ namespace ArdupilotMega
                 {
                     lbl_status.Text = message;
                     Console.WriteLine(message);
+                    log.Info(message);
                     Application.DoEvents();
                 }
             }
@@ -477,7 +483,7 @@ namespace ArdupilotMega
                         }
                         else
                         {
-                            Console.WriteLine("Odd config line :" + item);
+                            log.Info("Odd config line :" + item);
                         }
                     }
                 }
@@ -534,7 +540,7 @@ namespace ArdupilotMega
             // ignore all existing data
             comPort.DiscardInBuffer();
             lbl_status.Text = "Doing Command " + cmd;
-            Console.WriteLine("Doing Command " + cmd);
+            log.Info("Doing Command " + cmd);
             // write command
             comPort.Write(cmd + "\r\n");
             // read echoed line or existing data
@@ -544,7 +550,7 @@ namespace ArdupilotMega
                 temp = Serial_ReadLine(comPort);
             }
             catch { temp = comPort.ReadExisting(); }
-            Console.WriteLine("cmd " + cmd + " echo " + temp);
+            log.Info("cmd " + cmd + " echo " + temp);
             // delay for command
             Sleep(500);
             // get responce
@@ -564,7 +570,7 @@ namespace ArdupilotMega
                 }
             }
 
-            Console.WriteLine("responce " + level + " " + ans.Replace('\0', ' '));
+            log.Info("responce " + level + " " + ans.Replace('\0', ' '));
 
             // try again
             if (ans == "" && level == 0)
@@ -586,9 +592,9 @@ namespace ArdupilotMega
             // wait
             Sleep(1100);
             // check for config responce "OK"
-            Console.WriteLine("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
+            log.Info("Connect btr " + comPort.BytesToRead + " baud " + comPort.BaudRate);
             string conn = comPort.ReadExisting();
-            Console.WriteLine("Connect first responce " + conn.Replace('\0', ' ') + " " + conn.Length);
+            log.Info("Connect first responce " + conn.Replace('\0', ' ') + " " + conn.Length);
             if (conn.Contains("OK"))
             {
                 //return true;
@@ -601,7 +607,7 @@ namespace ArdupilotMega
 
             string version = doCommand(comPort, "ATI");
 
-            Console.Write("Connect Version: " + version.Trim() + "\n");
+            log.Info("Connect Version: " + version.Trim() + "\n");
 
             if (version.Contains("SiK") && version.Contains("on")) // should use a regex....
             {
diff --git a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
index 2f118a36f8..898b69a37f 100644
--- a/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
+++ b/Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
@@ -17,8 +17,13 @@ namespace ArdupilotMega.Utilities
       public ParameterMetaDataRepository()
       {
          string paramMetaDataXMLFileName = String.Format("{0}\\{1}", Application.StartupPath, ConfigurationManager.AppSettings["ParameterMetaDataXMLFileName"]);
-         if (File.Exists(paramMetaDataXMLFileName))
-            _parameterMetaDataXML = XDocument.Load(paramMetaDataXMLFileName);
+         try
+         {
+             if (File.Exists(paramMetaDataXMLFileName))
+                 _parameterMetaDataXML = XDocument.Load(paramMetaDataXMLFileName);
+
+         }
+         catch { } // Exception System.Xml.XmlException: Root element is missing.
       }
 
       /// <summary>
@@ -33,19 +38,23 @@ namespace ArdupilotMega.Utilities
          {
             // Use this to find the endpoint node we are looking for
             // Either it will be pulled from a file in the ArduPlane hierarchy or the ArduCopter hierarchy
-            var element = _parameterMetaDataXML.Element("Params").Element(MainV2.cs.firmware.ToString());
-            if(element != null && element.HasElements)
-            {
-               var node = element.Element(nodeKey);
-               if(node != null && node.HasElements)
-               {
-                  var metaValue = node.Element(metaKey);
-                  if(metaValue != null)
-                  {
-                     return metaValue.Value;
-                  }
-               }
-            }
+             try
+             {
+                 var element = _parameterMetaDataXML.Element("Params").Element(MainV2.cs.firmware.ToString());
+                 if (element != null && element.HasElements)
+                 {
+                     var node = element.Element(nodeKey);
+                     if (node != null && node.HasElements)
+                     {
+                         var metaValue = node.Element(metaKey);
+                         if (metaValue != null)
+                         {
+                             return metaValue.Value;
+                         }
+                     }
+                 }
+             }
+             catch { } // Exception System.ArgumentException: '' is an invalid expanded name.
          }
          return string.Empty;
       }