diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index 96be901ebe..1dcf908aa2 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -57,7 +57,7 @@
     <DebugType>full</DebugType>
     <Optimize>true</Optimize>
     <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>TRACE;MAVLINK10cra</DefineConstants>
+    <DefineConstants>DEBUG;TRACE;MAVLINK10cra</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <AllowUnsafeBlocks>false</AllowUnsafeBlocks>
diff --git a/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs b/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
index bc034b7dc1..43984d3fd6 100644
--- a/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
+++ b/Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
@@ -57,7 +57,7 @@ namespace System.IO.Ports
             get { return client.Available + rbuffer.Length - rbufferread; }
         }
 
-        public bool IsOpen { get { return client.Client.Connected; } }
+        public bool IsOpen { get { try { return client.Client.Connected; } catch { return false; } } }
 
         public bool DtrEnable
         {
@@ -97,6 +97,11 @@ namespace System.IO.Ports
         {
             if (client == null || !IsOpen)
             {
+                try
+                {
+                    client.Close();
+                }
+                catch { }
                 throw new Exception("The socket/serialproxy is closed");
             }
         }
@@ -216,11 +221,21 @@ namespace System.IO.Ports
 
         public void Close()
         {
-            if (client.Client.Connected)
+            try
+            {
+                if (client.Client.Connected)
+                {
+                    client.Client.Close();
+                    client.Close();
+                }
+            }
+            catch { }
+
+            try
             {
-                client.Client.Close();
                 client.Close();
             }
+            catch { }
 
             client = new TcpClient();
         }
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
index a5f08b4889..9eaeb83689 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
@@ -681,7 +681,7 @@ namespace ArdupilotMega.GCSViews
                         }
                     }
 
-                    lbl_status.Text = "Done";
+                    lbl_status.Text = "Write Done... Waiting";
                 }
                 else
                 {
@@ -696,6 +696,7 @@ namespace ArdupilotMega.GCSViews
 
                 System.Threading.Thread.Sleep(10000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
 
+                lbl_status.Text = "Done";
             }
             catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }
             flashing = false;
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
index da53a6ddbc..9cba58f074 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
@@ -141,6 +141,8 @@ namespace ArdupilotMega.GCSViews
 
             CMB_setwp.SelectedIndex = 0;
 
+            zg1.Visible = true;
+
             CreateChart(zg1);
 
             // config map             
@@ -734,6 +736,7 @@ namespace ArdupilotMega.GCSViews
                 ZedGraphTimer.Enabled = true;
                 ZedGraphTimer.Start();
                 zg1.Visible = true;
+                zg1.Refresh();
             }
             else
             {
@@ -807,9 +810,9 @@ namespace ArdupilotMega.GCSViews
             Locationwp gotohere = new Locationwp();
 
             gotohere.id = (byte)MAVLink.MAV_CMD.WAYPOINT;
-            gotohere.alt = (int)(intalt / MainV2.cs.multiplierdist * 100); // back to m
-            gotohere.lat = (int)(gotolocation.Lat * 10000000);
-            gotohere.lng = (int)(gotolocation.Lng * 10000000);
+            gotohere.alt = (float)(intalt / MainV2.cs.multiplierdist); // back to m
+            gotohere.lat = (float)(gotolocation.Lat);
+            gotohere.lng = (float)(gotolocation.Lng);
 
             try
             {
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs
index 75817398cb..d94e9fecea 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.Designer.cs
@@ -649,6 +649,7 @@
             this.panelMap.ForeColor = System.Drawing.SystemColors.ControlText;
             this.panelMap.MinimumSize = new System.Drawing.Size(27, 27);
             this.panelMap.Name = "panelMap";
+            this.panelMap.Resize += new System.EventHandler(this.panelMap_Resize);
             // 
             // lbl_distance
             // 
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
index 027dc6441c..3deeb7ac6b 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.cs
@@ -642,6 +642,11 @@ namespace ArdupilotMega.GCSViews
 
             updateCMDParams();
 
+            // mono
+            panelMap.Dock = DockStyle.None;
+            panelMap.Dock = DockStyle.Fill;
+            panelMap_Resize(null,null);
+
             writeKML();
         }
 
@@ -672,7 +677,12 @@ namespace ArdupilotMega.GCSViews
             {
                 selectedrow = e.RowIndex;
                 string option = Commands[Command.Index, selectedrow].EditedFormattedValue.ToString();
-                string cmd = Commands[0, selectedrow].Value.ToString();
+                string cmd;
+                try
+                {
+                    cmd = Commands[Command.Index, selectedrow].Value.ToString();
+                }
+                catch { cmd = option; }
                 Console.WriteLine("editformat " + option + " value " + cmd);
                 ChangeColumnHeader(cmd);
             }
@@ -873,14 +883,8 @@ namespace ArdupilotMega.GCSViews
                         {
                             if (Commands.Rows[a].HeaderCell.Value == null)
                             {
-                                if (ArdupilotMega.MainV2.MAC)
-                                {
-                                    Commands.Rows[a].HeaderCell.Value = "    " + (a + 1).ToString(); // mac doesnt auto center header text
-                                }
-                                else
-                                {
+                                    Commands.Rows[a].HeaderCell.Style.Alignment = DataGridViewContentAlignment.MiddleCenter;
                                     Commands.Rows[a].HeaderCell.Value = (a + 1).ToString();
-                                }
                             }
                             // skip rows with the correct number
                             string rowno = Commands.Rows[a].HeaderCell.Value.ToString();
@@ -920,14 +924,14 @@ namespace ArdupilotMega.GCSViews
                             pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()));
                             addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2));
 
-                            avglong += double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString());
-                            avglat += double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString());
+                            avglong += double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString());
+                            avglat += double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString());
                             usable++;
 
-                            maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()), maxlong);
-                            maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()), maxlat);
-                            minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Param4.Index].Value.ToString()), minlong);
-                            minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Param3.Index].Value.ToString()), minlat);
+                            maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), maxlong);
+                            maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), maxlat);
+                            minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), minlong);
+                            minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), minlat);
 
                             System.Diagnostics.Debug.WriteLine(temp - System.Diagnostics.Stopwatch.GetTimestamp());
                         }
@@ -974,9 +978,11 @@ namespace ArdupilotMega.GCSViews
                 else if (home.Length > 5 && usable == 0)
                 {
                     lookat = "<LookAt>     <longitude>" + TXT_homelng.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</longitude>     <latitude>" + TXT_homelat.Text.ToString(new System.Globalization.CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
+                    MainMap.HoldInvalidation = true;
                     MainMap.ZoomAndCenterMarkers("objects");
                     MainMap.Zoom -= 2;
                     MainMap_OnMapZoomChanged();
+                    MainMap.HoldInvalidation = false;
                 }
 
                 RegeneratePolygon();
@@ -2176,12 +2182,21 @@ namespace ArdupilotMega.GCSViews
         private void BUT_Prefetch_Click(object sender, EventArgs e)
         {
             RectLatLng area = MainMap.SelectedArea;
+            if (area.IsEmpty)
+            {
+                DialogResult res = MessageBox.Show("No ripp area defined, ripp displayed on screen?", "Rip", MessageBoxButtons.YesNo);
+                if (res == DialogResult.Yes)
+                {
+                    area = MainMap.CurrentViewArea;
+                }
+            }
+
             if (!area.IsEmpty)
             {
-                for (int i = (int)MainMap.Zoom; i <= MainMap.MaxZoom; i++)
-                {
-                    DialogResult res = MessageBox.Show("Ready ripp at Zoom = " + i + " ?", "GMap.NET", MessageBoxButtons.YesNoCancel);
+                DialogResult res = MessageBox.Show("Ready ripp at Zoom = " + (int)MainMap.Zoom + " ?", "GMap.NET", MessageBoxButtons.YesNo);
 
+                for (int i = 1; i <= MainMap.MaxZoom; i++)
+                {
                     if (res == DialogResult.Yes)
                     {
                         TilePrefetcher obj = new TilePrefetcher();
@@ -2588,6 +2603,7 @@ namespace ArdupilotMega.GCSViews
         private void clearMissionToolStripMenuItem_Click(object sender, EventArgs e)
         {
             Commands.Rows.Clear();
+            selectedrow = 0;
             writeKML();
         }
 
@@ -2611,7 +2627,7 @@ namespace ArdupilotMega.GCSViews
 
             Commands.Rows[row].Cells[Param1.Index].Value = 1;
 
-            Commands.Rows[row].Cells[Param3.Index].Value = repeat;
+            Commands.Rows[row].Cells[Param2.Index].Value = repeat;
         }
 
         private void jumpwPToolStripMenuItem_Click(object sender, EventArgs e)
@@ -2627,7 +2643,7 @@ namespace ArdupilotMega.GCSViews
 
             Commands.Rows[row].Cells[Param1.Index].Value = wp;
 
-            Commands.Rows[row].Cells[Param3.Index].Value = repeat;
+            Commands.Rows[row].Cells[Param2.Index].Value = repeat;
         }
 
         private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e)
@@ -2697,5 +2713,15 @@ namespace ArdupilotMega.GCSViews
             MainV2.fixtheme(form);
             form.Show();
         }
+
+        private void panelMap_Resize(object sender, EventArgs e)
+        {
+            // this is a mono fix for the zoom bar
+            Console.WriteLine("panelmap "+panelMap.Size.ToString());
+            MainMap.Size = new Size(panelMap.Size.Width - 50,panelMap.Size.Height);
+            trackBar1.Location = new Point(panelMap.Size.Width - 50,trackBar1.Location.Y);
+            trackBar1.Size = new System.Drawing.Size(trackBar1.Size.Width, panelMap.Size.Height - trackBar1.Location.Y);
+            label11.Location = new Point(panelMap.Size.Width - 50, label11.Location.Y);
+        }
     }
 }
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
index 1a4e7ea6cd..51ec819c4a 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/FlightPlanner.resx
@@ -1627,7 +1627,7 @@
     <value>Clear Mission</value>
   </data>
   <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 186</value>
+    <value>168, 164</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
     <value>contextMenuStrip1</value>
@@ -1636,7 +1636,7 @@
     <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 4</value>
+    <value>0, 0</value>
   </data>
   <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
     <value>838, 306</value>
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
index 64413d2ac4..ddb1f67db9 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
@@ -556,7 +556,7 @@ namespace ArdupilotMega.GCSViews
                         processArduPilot();
                     }
                 }
-                catch { }
+                catch (Exception ex) { Console.WriteLine("SIM Main loop exception " + ex.ToString()); }
 
                 if (hzcounttime.Second != DateTime.Now.Second)
                 {
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index ae1a902b69..172006310c 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -203,7 +203,14 @@ namespace ArdupilotMega
                 if (getparams == true)
                     getParamList();
             }
-            catch (Exception e) { MainV2.givecomport = false; frm.Close(); throw e; }
+            catch (Exception e) { 
+                try { 
+                    BaseStream.Close(); 
+                } catch { } 
+                MainV2.givecomport = false; 
+                frm.Close(); 
+                throw e; 
+            }
 
             frm.Close();
 
@@ -485,6 +492,12 @@ namespace ArdupilotMega
         /// <param name="value"></param>
         public bool setParam(string paramname, float value)
         {
+            if (!param.ContainsKey(paramname))
+            {
+                Console.WriteLine("Param doesnt exist " + paramname);
+                return false;
+            }
+
             MainV2.givecomport = true;
 
             __mavlink_param_set_t req = new __mavlink_param_set_t();
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.Designer.cs b/Tools/ArdupilotMegaPlanner/MainV2.Designer.cs
index 7f5d152408..72bec1db1e 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.Designer.cs
@@ -48,6 +48,7 @@
             // 
             // MenuFlightData
             // 
+            this.MenuFlightData.AutoSize = false;
             this.MenuFlightData.BackgroundImage = global::ArdupilotMega.Properties.Resources.data;
             this.MenuFlightData.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFlightData.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -59,6 +60,7 @@
             // 
             // MenuFlightPlanner
             // 
+            this.MenuFlightPlanner.AutoSize = false;
             this.MenuFlightPlanner.BackgroundImage = global::ArdupilotMega.Properties.Resources.planner;
             this.MenuFlightPlanner.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFlightPlanner.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -72,6 +74,7 @@
             // 
             // MenuConfiguration
             // 
+            this.MenuConfiguration.AutoSize = false;
             this.MenuConfiguration.BackgroundImage = global::ArdupilotMega.Properties.Resources.configuration;
             this.MenuConfiguration.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuConfiguration.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -85,6 +88,7 @@
             // 
             // MenuSimulation
             // 
+            this.MenuSimulation.AutoSize = false;
             this.MenuSimulation.BackgroundImage = global::ArdupilotMega.Properties.Resources.simulation;
             this.MenuSimulation.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuSimulation.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -98,6 +102,7 @@
             // 
             // MenuFirmware
             // 
+            this.MenuFirmware.AutoSize = false;
             this.MenuFirmware.BackgroundImage = global::ArdupilotMega.Properties.Resources.firmware;
             this.MenuFirmware.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuFirmware.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -112,6 +117,7 @@
             // MenuConnect
             // 
             this.MenuConnect.Alignment = System.Windows.Forms.ToolStripItemAlignment.Right;
+            this.MenuConnect.AutoSize = false;
             this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.connect;
             this.MenuConnect.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuConnect.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -132,6 +138,7 @@
             // 
             // MainMenu
             // 
+            this.MainMenu.AutoSize = false;
             this.MainMenu.BackColor = System.Drawing.SystemColors.Control;
             this.MainMenu.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("MainMenu.BackgroundImage")));
             this.MainMenu.GripMargin = new System.Windows.Forms.Padding(0);
@@ -159,6 +166,7 @@
             // 
             // MenuTerminal
             // 
+            this.MenuTerminal.AutoSize = false;
             this.MenuTerminal.BackgroundImage = global::ArdupilotMega.Properties.Resources.terminal;
             this.MenuTerminal.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuTerminal.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -198,6 +206,7 @@
             // 
             // MenuHelp
             // 
+            this.MenuHelp.AutoSize = false;
             this.MenuHelp.BackgroundImage = global::ArdupilotMega.Properties.Resources.help;
             this.MenuHelp.DisplayStyle = System.Windows.Forms.ToolStripItemDisplayStyle.Image;
             this.MenuHelp.ImageTransparentColor = System.Drawing.Color.Magenta;
@@ -247,7 +256,6 @@
             this.MainMenu.ResumeLayout(false);
             this.MainMenu.PerformLayout();
             this.ResumeLayout(false);
-            this.PerformLayout();
 
         }
 
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 18336eda58..6d0024a7a6 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -742,9 +742,17 @@ namespace ArdupilotMega
         {
             comportname = CMB_serialport.Text;
             if (comportname == "UDP" || comportname == "TCP")
+            {
                 CMB_baudrate.Enabled = false;
+                if (comportname == "TCP")
+                    MainV2.comPort.BaseStream = new TcpSerial();
+                if (comportname == "UDP")
+                    MainV2.comPort.BaseStream = new UdpSerial();
+            }
             else
+            {
                 CMB_baudrate.Enabled = true;
+            }
 
             try
             {
diff --git a/Tools/ArdupilotMegaPlanner/Program.cs b/Tools/ArdupilotMegaPlanner/Program.cs
index b0c92d534b..6c2ef0edd1 100644
--- a/Tools/ArdupilotMegaPlanner/Program.cs
+++ b/Tools/ArdupilotMegaPlanner/Program.cs
@@ -24,7 +24,7 @@ namespace ArdupilotMega
 
             Application.Idle += new EventHandler(Application_Idle);
 
-            MessageBox.Show("NOTE: This version may break advanced mission scripting");
+            //MessageBox.Show("NOTE: This version may break advanced mission scripting");
 
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 370e9d4a96..15678c9825 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.94")]
+[assembly: AssemblyFileVersion("1.0.95")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs
index 53f605a0f3..1f30541e5a 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.Designer.cs
@@ -1444,6 +1444,7 @@
             this.Controls.Add(this.tabControl1);
             this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.SizableToolWindow;
             this.Name = "Setup";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Setup_FormClosing);
             this.Load += new System.EventHandler(this.Setup_Load);
             this.tabControl1.ResumeLayout(false);
             this.tabReset.ResumeLayout(false);
diff --git a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
index bc715c0d10..2b55175ff8 100644
--- a/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
+++ b/Tools/ArdupilotMegaPlanner/Setup/Setup.cs
@@ -75,7 +75,7 @@ namespace ArdupilotMega.Setup
 
             if (tabControl1.SelectedTab == tabHeli)
             {
-                if (MainV2.comPort.param["HSV_MAN"].ToString() == "0")
+                if (MainV2.comPort.param["HSV_MAN"] == null || MainV2.comPort.param["HSV_MAN"].ToString() == "0")
                     return;
 
                 if (HS3.minline == 0)
@@ -1254,5 +1254,11 @@ namespace ArdupilotMega.Setup
             if (int.Parse(temp.Text) > 2100)
                 temp.Text = "2100";
         }
+
+        private void Setup_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            timer.Stop();
+            timer.Dispose();
+        }
     }
 }
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
index b9ee058b99..2ad8510544 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>N43U7y77mNy6nfkD9v5DNdwNLps=</dsig:DigestValue>
+        <dsig:DigestValue>d1SWduiRJYsMADkinyiFASzMBV8=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx
index 1a4e7ea6cd..51ec819c4a 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/FlightPlanner.resx
@@ -1627,7 +1627,7 @@
     <value>Clear Mission</value>
   </data>
   <data name="contextMenuStrip1.Size" type="System.Drawing.Size, System.Drawing">
-    <value>168, 186</value>
+    <value>168, 164</value>
   </data>
   <data name="&gt;&gt;contextMenuStrip1.Name" xml:space="preserve">
     <value>contextMenuStrip1</value>
@@ -1636,7 +1636,7 @@
     <value>System.Windows.Forms.ContextMenuStrip, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </data>
   <data name="MainMap.Location" type="System.Drawing.Point, System.Drawing">
-    <value>3, 4</value>
+    <value>0, 0</value>
   </data>
   <data name="MainMap.Size" type="System.Drawing.Size, System.Drawing">
     <value>838, 306</value>