diff --git a/Tools/ArdupilotMegaPlanner/CurrentState.cs b/Tools/ArdupilotMegaPlanner/CurrentState.cs
index 2ac2a6abe6..ef5b08abc9 100644
--- a/Tools/ArdupilotMegaPlanner/CurrentState.cs
+++ b/Tools/ArdupilotMegaPlanner/CurrentState.cs
@@ -77,6 +77,8 @@ namespace ArdupilotMega
         public float my { get; set; }
         public float mz { get; set; }
 
+        public float magfield { get { return (float)Math.Sqrt(Math.Pow(mx, 2) + Math.Pow(my, 2) + Math.Pow(mz, 2)); } }
+
         // calced turn rate
         public float turnrate { get { if (groundspeed <= 1) return 0; return (roll * 9.8f) / groundspeed; } }
 
diff --git a/Tools/ArdupilotMegaPlanner/MAVLink.cs b/Tools/ArdupilotMegaPlanner/MAVLink.cs
index a659e0b912..4eebf9b91b 100644
--- a/Tools/ArdupilotMegaPlanner/MAVLink.cs
+++ b/Tools/ArdupilotMegaPlanner/MAVLink.cs
@@ -327,7 +327,7 @@ namespace ArdupilotMega
                 byte[] buffer = readPacket();
                 if (buffer.Length > 5)
                 {
-                    log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] );
+                    //log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer[5] );
                     if (buffer[5] == MAVLINK_MSG_ID_HEARTBEAT)
                     {
                         return buffer;
@@ -618,7 +618,7 @@ namespace ArdupilotMega
             DateTime start = DateTime.Now;
             DateTime restart = DateTime.Now;
 
-            while (got.Count < param_total)
+            do
             {
 
                 if (frmProgressReporter.doWorkArgs.CancelRequested)
@@ -629,7 +629,8 @@ namespace ArdupilotMega
                     return param;
                 }
 
-                if (!(start.AddMilliseconds(5000) > DateTime.Now))
+                // 2 seconds between valid packets
+                if (!(start.AddMilliseconds(2000) > DateTime.Now))
                 {
                     if (retrys > 0)
                     {
@@ -640,7 +641,7 @@ namespace ArdupilotMega
                         continue;
                     }
                     MainV2.givecomport = false;
-                    throw new Exception("Timeout on read - getParamList " + param_count +" "+ param_total);
+                    throw new Exception("Timeout on read - getParamList " + param_count + " " + param_total);
                 }
 
                 byte[] buffer = readPacket();
@@ -656,9 +657,9 @@ namespace ArdupilotMega
                         __mavlink_param_value_t par = buffer.ByteArrayToStructure<__mavlink_param_value_t>(6);
 
                         // set new target
-                        param_total = (par.param_count);
+                        param_total = (par.param_count - 1);
+
 
-                        
                         string paramID = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);
 
                         int pos = paramID.IndexOf('\0');
@@ -681,9 +682,13 @@ namespace ArdupilotMega
                         param_count++;
                         got.Add(par.param_index);
 
-//                        if (Progress != null)
-//                            Progress((param.Count * 100) / param_total, "Got param " + paramID);
+                        //                        if (Progress != null)
+                        //                            Progress((param.Count * 100) / param_total, "Got param " + paramID);
                         this.frmProgressReporter.UpdateProgressAndStatus((got.Count * 100) / param_total, "Got param " + paramID);
+
+                        // we have them all - lets escape eq total = 176 index = 0-175
+                        if (par.param_index == (param_total - 1))
+                            break;
                     }
                     else
                     {
@@ -692,7 +697,7 @@ namespace ArdupilotMega
                     //stopwatch.Stop();
                     //Console.WriteLine("Time elapsed: {0}", stopwatch.Elapsed);
                 }
-            }
+            } while (got.Count < param_total);
 
             if (got.Count != param_total)
             {
diff --git a/Tools/ArdupilotMegaPlanner/MagCalib.cs b/Tools/ArdupilotMegaPlanner/MagCalib.cs
index ca36613cfd..e205c7b7ba 100644
--- a/Tools/ArdupilotMegaPlanner/MagCalib.cs
+++ b/Tools/ArdupilotMegaPlanner/MagCalib.cs
@@ -38,10 +38,13 @@ namespace ArdupilotMega
 
             if (openFileDialog1.ShowDialog() == DialogResult.OK)
             {
+                try
+                {
+                    double[] ans = getOffsets(openFileDialog1.FileName);
 
-                double[] ans = getOffsets(openFileDialog1.FileName);
-
-                SaveOffsets(ans);
+                    SaveOffsets(ans);
+                }
+                catch (Exception ex) { log.Debug(ex.ToString()); }
             }
         }
 
@@ -153,6 +156,12 @@ namespace ArdupilotMega
                 mine.logplaybackfile.Close();
                 mine.logplaybackfile = null;
 
+                if (data.Count < 10)
+                {
+                    CustomMessageBox.Show("Log does not contain enough data");
+                    throw new Exception("Not Enough Data");
+                }
+
                 double[] x = LeastSq(data);
 
                 System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx) / 2, -(maxy + miny) / 2, -(maxz + minz) / 2);
diff --git a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
index 4b01b971ff..a870ddc764 100644
--- a/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
+++ b/Tools/ArdupilotMegaPlanner/MavlinkLog.cs
@@ -366,7 +366,11 @@ namespace ArdupilotMega
                 {
 
                     MAVLink mine = new MAVLink();
-                    mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
+                    try
+                    {
+                        mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
+                    }
+                    catch (Exception ex) { log.Debug(ex.ToString()); CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
                     mine.logreadmode = true;
 
                     mine.packets.Initialize(); // clear
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 58eeae5426..33c9b20f74 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.1.51")]
+[assembly: AssemblyFileVersion("1.1.52")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
index 4df910db41..a8ce858821 100644
Binary files a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb and b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb differ