diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index d21f553..aeec771 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1661,9 +1661,13 @@ void UAS::setHomePosition(double lat, double lon, double alt)
     if (blockHomePositionChanges)
         return;
 
+    QString uasName = (getUASName() == "")?
+                tr("UAS") + QString::number(getUASID())
+              : getUASName();
+
     QMessageBox msgBox;
     msgBox.setIcon(QMessageBox::Warning);
-    msgBox.setText(tr("Set a new home position for vehicle %s").arg(getUASName()));
+    msgBox.setText(tr("Set a new home position for vehicle %1").arg(uasName));
     msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
     msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
     msgBox.setDefaultButton(QMessageBox::Cancel);
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index 6282368..d3cf955 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -932,6 +932,8 @@ void QGCVehicleConfig::writeCalibrationRC()
 {
     if (!mav) return;
 
+    setTrimPositions();
+
     QString minTpl("RC%1_MIN");
     QString maxTpl("RC%1_MAX");
     QString trimTpl("RC%1_TRIM");
diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc
index 9146e34..748d1c2 100644
--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -38,6 +38,7 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
 
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
+    // Go to options
     QAction *guidedaction = new QAction(this);
     guidedaction->setText("Go To Here (Guided Mode)");
     connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
@@ -46,10 +47,16 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     guidedaction->setText("Go To Here Alt (Guided Mode)");
     connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
     this->addAction(guidedaction);
+    // Point camera option
     QAction *cameraaction = new QAction(this);
     cameraaction->setText("Point Camera Here");
     connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
     this->addAction(cameraaction);
+    // Set home location option
+    QAction *sethomeaction = new QAction(this);
+    sethomeaction->setText("Set Home Location Here");
+    connect(sethomeaction,SIGNAL(triggered()),this,SLOT(setHomeActionTriggered()));
+    this->addAction(sethomeaction);
 }
 void QGCMapWidget::guidedActionTriggered()
 {
@@ -111,8 +118,44 @@ void QGCMapWidget::cameraActionTriggered()
     }
 }
 
+/**
+ * @brief QGCMapWidget::setHomeActionTriggered
+ */
+bool QGCMapWidget::setHomeActionTriggered()
+{
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return false;
+    }
+    UASManager *uasManager = UASManager::instance();
+    if (!uasManager) { return false; }
+
+    // Enter an altitude
+    bool ok = false;
+    double alt = QInputDialog::getDouble(this,"Home Altitude","Enter altitude (in meters) of new home location",0.0,0.0,30000.0,2,&ok);
+    if (!ok) return false; //Use has chosen cancel. Do not send the waypoint
+
+    // Create new waypoint and send it to the WPManager to send out.
+    internals::PointLatLng pos = map->FromLocalToLatLng(contextMousePressPos.x(), contextMousePressPos.y());
+    qDebug("Set home location sent. Lat: %f, Lon: %f, Alt: %f.", pos.Lat(), pos.Lng(), alt);
+
+    bool success = uasManager->setHomePositionAndNotify(pos.Lat(),pos.Lng(), alt);
+
+    qDebug() << ((success)? "Set new home location." : "Failed to set new home location.");
+
+    return success;
+}
+
 void QGCMapWidget::mousePressEvent(QMouseEvent *event)
 {
+
+    // Store right-click event presses separate for context menu
+    // TODO add check if click was on map, or popup box.
+    if (event->button() == Qt::RightButton) {
+        contextMousePressPos = event->pos();
+    }
+
     mapcontrol::OPMapWidget::mousePressEvent(event);
 }
 
@@ -122,6 +165,15 @@ void QGCMapWidget::mouseReleaseEvent(QMouseEvent *event)
     mapcontrol::OPMapWidget::mouseReleaseEvent(event);
 }
 
+/*
+void QGCMapWidget::contextMenuEvent(QContextMenuEvent *event)
+{
+    // TODO Remove this method
+    qDebug() << "Context menu event triggered.";
+    mapcontrol::OPMapWidget::contextMenuEvent(event);
+}
+*/
+
 QGCMapWidget::~QGCMapWidget()
 {
     SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
@@ -520,6 +572,7 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double
     Home->SetAltitude(altitude);
     homeAltitude = altitude;
     SetShowHome(true);                      // display the HOME position on the map
+    Home->RefreshPos();
 }
 
 void QGCMapWidget::goHome()
diff --git a/src/ui/map/QGCMapWidget.h b/src/ui/map/QGCMapWidget.h
index d6f3b53..8657ede 100644
--- a/src/ui/map/QGCMapWidget.h
+++ b/src/ui/map/QGCMapWidget.h
@@ -46,6 +46,8 @@ public slots:
     void guidedActionTriggered();
     /** @brief Action triggered when guided action is selected from the context menu, allows for altitude selection */
     bool guidedAltActionTriggered();
+    /** @brief Action triggered when set home action is selected from the context menu. */
+    bool setHomeActionTriggered();
     /** @brief Add system to map view */
     void addUAS(UASInterface* uas);
     /** @brief Update the global position of a system */
@@ -136,6 +138,8 @@ protected:
     void mouseReleaseEvent(QMouseEvent *event);
     void mouseDoubleClickEvent(QMouseEvent* event);
 
+    //void contextMenuEvent(QContextMenuEvent *);
+
     UASWaypointManager* currWPManager; ///< The current waypoint manager
     bool offlineMode;
     QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
@@ -160,6 +164,7 @@ protected:
     bool mapInitialized;                ///< Map initialized?
     float homeAltitude;                 ///< Home altitude
     QPoint mousePressPos;               ///< Mouse position when the button is released.
+    QPoint contextMousePressPos;        ///< Mouse position when context menu activated.
     int defaultGuidedAlt;               ///< Default altitude for guided mode
     UASInterface *uas;                  ///< Currently selected UAS.