diff --git a/.gitignore b/.gitignore
index 03e3788..3d8652c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,3 +44,4 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+*thirdParty*
diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index fe36d14..0d1f876 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -57,6 +57,11 @@ Waypoint::~Waypoint()
 
 }
 
+bool Waypoint::isNavigationType()
+{
+    return (action < MAV_CMD_NAV_LAST);
+}
+
 void Waypoint::save(QTextStream &saveStream)
 {
     QString position("%1\t%2\t%3");
diff --git a/src/Waypoint.h b/src/Waypoint.h
index e9607ab..0990edd 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -71,6 +71,8 @@ public:
     MAV_FRAME getFrame() const { return frame; }
     MAV_CMD getAction() const { return action; }
     const QString& getName() const { return name; }
+    /** @brief Returns true if x, y, z contain reasonable navigation data */
+    bool isNavigationType();
 
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 17680bd..b245a1e 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -506,6 +506,22 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
     return wps;
 }
 
+const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointList()
+{
+    // TODO Keep this global frame list up to date
+    // with complete waypoint list
+    // instead of filtering on each request
+    QVector<Waypoint*> wps;
+    foreach (Waypoint* wp, waypoints)
+    {
+        if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType())
+        {
+            wps.append(wp);
+        }
+    }
+    return wps;
+}
+
 int UASWaypointManager::getIndexOf(Waypoint* wp)
 {
     return waypoints.indexOf(wp);
@@ -531,6 +547,26 @@ int UASWaypointManager::getGlobalFrameIndexOf(Waypoint* wp)
     return -1;
 }
 
+int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp)
+{
+    // Search through all waypoints,
+    // counting only those in global frame
+    int i = 0;
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_GLOBAL && p->isNavigationType())
+        {
+            if (p == wp)
+            {
+                return i;
+            }
+            i++;
+        }
+    }
+
+    return -1;
+}
+
 int UASWaypointManager::getGlobalFrameCount()
 {
     // Search through all waypoints,
@@ -547,6 +583,22 @@ int UASWaypointManager::getGlobalFrameCount()
     return i;
 }
 
+int UASWaypointManager::getGlobalFrameAndNavTypeCount()
+{
+    // Search through all waypoints,
+    // counting only those in global frame
+    int i = 0;
+    foreach (Waypoint* p, waypoints)
+    {
+        if (p->getFrame() == MAV_FRAME_GLOBAL && p->isNavigationType())
+        {
+            i++;
+        }
+    }
+
+    return i;
+}
+
 int UASWaypointManager::getLocalFrameCount()
 {
     // Search through all waypoints,
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index 0157d4a..773470e 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -87,11 +87,14 @@ public:
     /*@{*/
     const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the waypoint list.
     const QVector<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
+    const QVector<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
     int getIndexOf(Waypoint* wp);                   ///< Get the index of a waypoint in the list
     int getGlobalFrameIndexOf(Waypoint* wp);    ///< Get the index of a waypoint in the list, counting only global waypoints
+    int getGlobalFrameAndNavTypeIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only global AND navigation mode waypoints
     int getLocalFrameIndexOf(Waypoint* wp);     ///< Get the index of a waypoint in the list, counting only local waypoints
     int getMissionFrameIndexOf(Waypoint* wp);   ///< Get the index of a waypoint in the list, counting only mission waypoints
     int getGlobalFrameCount(); ///< Get the count of global waypoints in the list
+    int getGlobalFrameAndNavTypeCount(); ///< Get the count of global waypoints in navigation mode in the list
     int getLocalFrameCount();   ///< Get the count of local waypoints in the list
     /*@}*/
 
diff --git a/src/ui/CommConfigurationWindow.cc b/src/ui/CommConfigurationWindow.cc
index 2a87d59..c09319b 100644
--- a/src/ui/CommConfigurationWindow.cc
+++ b/src/ui/CommConfigurationWindow.cc
@@ -111,9 +111,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     if(serial != 0)
     {
         QWidget* conf = new SerialConfigurationWindow(serial, this);
-        QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
-        layout->addWidget(conf);
-        ui.linkGroupBox->setLayout(layout);
+        //QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
+        //layout->addWidget(conf);
+        ui.linkScrollArea->setWidget(conf);
+        //ui.linkScrollArea->setLayout(layout);
         ui.linkGroupBox->setTitle(tr("Serial Link"));
         ui.linkType->setCurrentIndex(0);
         //ui.linkGroupBox->setTitle(link->getName());
@@ -123,9 +124,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     if (udp != 0)
     {
         QWidget* conf = new QGCUDPLinkConfiguration(udp, this);
-        QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
-        layout->addWidget(conf);
-        ui.linkGroupBox->setLayout(layout);
+        //QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
+        //layout->addWidget(conf);
+        //ui.linkGroupBox->setLayout(layout);
+        ui.linkScrollArea->setWidget(conf);
         ui.linkGroupBox->setTitle(tr("UDP Link"));
         ui.linkType->setCurrentIndex(1);
     }
@@ -162,9 +164,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     if (mavlink != 0)
     {
         QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
-        QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.protocolGroupBox);
-        layout->addWidget(conf);
-        ui.protocolGroupBox->setLayout(layout);
+        //QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.protocolGroupBox);
+        //layout->addWidget(conf);
+        //ui.protocolGroupBox->setLayout(layout);
+        ui.protocolScrollArea->setWidget(conf);
         ui.protocolGroupBox->setTitle(protocol->getName()+" (Global Settings)");
     }
     else
diff --git a/src/ui/CommSettings.ui b/src/ui/CommSettings.ui
index 71a4c30..3eeaea7 100644
--- a/src/ui/CommSettings.ui
+++ b/src/ui/CommSettings.ui
@@ -7,16 +7,19 @@
     <x>0</x>
     <y>0</y>
     <width>413</width>
-    <height>404</height>
+    <height>484</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2" rowstretch="0,0,0,100,100,0">
+  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,1,1,100,100,1">
    <property name="margin">
     <number>6</number>
    </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
    <item row="0" column="0">
     <spacer name="verticalSpacer">
      <property name="orientation">
@@ -28,7 +31,7 @@
      <property name="sizeHint" stdset="0">
       <size>
        <width>5</width>
-       <height>10</height>
+       <height>5</height>
       </size>
      </property>
     </spacer>
@@ -73,6 +76,31 @@
      <property name="title">
       <string>Link</string>
      </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>0</number>
+      </property>
+      <property name="margin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QScrollArea" name="linkScrollArea">
+        <property name="widgetResizable">
+         <bool>true</bool>
+        </property>
+        <widget class="QWidget" name="scrollAreaWidgetContents">
+         <property name="geometry">
+          <rect>
+           <x>0</x>
+           <y>0</y>
+           <width>393</width>
+           <height>154</height>
+          </rect>
+         </property>
+        </widget>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item row="4" column="0" colspan="2">
@@ -80,6 +108,31 @@
      <property name="title">
       <string>Protocol</string>
      </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <property name="spacing">
+       <number>0</number>
+      </property>
+      <property name="margin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QScrollArea" name="protocolScrollArea">
+        <property name="widgetResizable">
+         <bool>true</bool>
+        </property>
+        <widget class="QWidget" name="scrollAreaWidgetContents_2">
+         <property name="geometry">
+          <rect>
+           <x>0</x>
+           <y>0</y>
+           <width>393</width>
+           <height>154</height>
+          </rect>
+         </property>
+        </widget>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
    <item row="5" column="0">
@@ -97,6 +150,9 @@
    </item>
    <item row="5" column="1">
     <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>12</number>
+     </property>
      <property name="sizeConstraint">
       <enum>QLayout::SetDefaultConstraint</enum>
      </property>
diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc
index a803587..d1f2c18 100644
--- a/src/ui/MapWidget.cc
+++ b/src/ui/MapWidget.cc
@@ -492,14 +492,14 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
         if (uas == this->mav->getUASID())
         {
             // Only accept waypoints in global coordinate frame
-            if (wp->getFrame() == MAV_FRAME_GLOBAL)
+            if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType())
             {
                 // We're good, this is a global waypoint
 
                 // Get the index of this waypoint
-                // note the call to getGlobalFrameIndexOf()
+                // note the call to getGlobalFrameAndNavTypeIndexOf()
                 // as we're only handling global waypoints
-                int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameIndexOf(wp);
+                int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
                 // If not found, return (this should never happen, but helps safety)
                 if (wpindex == -1) return;
 
@@ -558,7 +558,7 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp, bool updateView)
                 // waypoint list. This implies that the coordinate frame of this
                 // waypoint was changed and the list containing only global
                 // waypoints was shortened. Thus update the whole list
-                if (waypointPath->points().count() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameCount())
+                if (waypointPath->points().count() > UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeCount())
                 {
                     updateWaypointList(uas);
                 }
@@ -659,7 +659,7 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
         // Update waypoint data storage
         if (mav)
         {
-            QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameWaypointList();
+            QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
             if (wps.size() > index)
             {
@@ -738,7 +738,7 @@ void MapWidget::updateWaypointList(int uas)
             }
 
             // Trim internal list to number of global waypoints in the waypoint manager list
-            int overSize = waypointPath->points().count() - uasInstance->getWaypointManager()->getGlobalFrameCount();
+            int overSize = waypointPath->points().count() - uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeCount();
             if (overSize > 0)
             {
                 // Remove n waypoints at the end of the list
diff --git a/src/ui/SerialSettings.ui b/src/ui/SerialSettings.ui
index 4910784..6056720 100644
--- a/src/ui/SerialSettings.ui
+++ b/src/ui/SerialSettings.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>449</width>
-    <height>250</height>
+    <width>304</width>
+    <height>283</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,10">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0" columnstretch="100,1">
    <property name="margin">
     <number>6</number>
    </property>
@@ -284,13 +284,6 @@
      </item>
     </layout>
    </item>
-   <item row="4" column="0">
-    <widget class="QLabel" name="portlabel_5">
-     <property name="text">
-      <string>Data bits</string>
-     </property>
-    </widget>
-   </item>
    <item row="4" column="1">
     <widget class="QSpinBox" name="dataBitsSpinBox">
      <property name="sizePolicy">
@@ -373,12 +366,19 @@
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>431</width>
-       <height>47</height>
+       <width>0</width>
+       <height>0</height>
       </size>
      </property>
     </spacer>
    </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="portlabel_5">
+     <property name="text">
+      <string>Data bits</string>
+     </property>
+    </widget>
+   </item>
   </layout>
   <action name="actionDelete">
    <property name="text">
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index 2b26892..6a69fc7 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -234,14 +234,14 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
 void QGCGoogleEarthView::updateWaypoint(int uas, Waypoint* wp)
 {
     // Only accept waypoints in global coordinate frame
-    if (wp->getFrame() == MAV_FRAME_GLOBAL)
+    if (wp->getFrame() == MAV_FRAME_GLOBAL && wp->isNavigationType())
     {
         // We're good, this is a global waypoint
 
         // Get the index of this waypoint
-        // note the call to getGlobalFrameIndexOf()
+        // note the call to getGlobalFrameAndNavTypeIndexOf()
         // as we're only handling global waypoints
-        int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameIndexOf(wp);
+        int wpindex = UASManager::instance()->getUASForId(uas)->getWaypointManager()->getGlobalFrameAndNavTypeIndexOf(wp);
         // If not found, return (this should never happen, but helps safety)
         if (wpindex == -1)
         {
@@ -267,7 +267,7 @@ void QGCGoogleEarthView::updateWaypointList(int uas)
     if (uasInstance)
     {
         // Get all waypoints, including non-global waypoints
-        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameWaypointList();
+        QVector<Waypoint*> wpList = uasInstance->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
         // Trim internal list to number of global waypoints in the waypoint manager list
         javaScript(QString("updateWaypointListLength(%1,%2);").arg(uas).arg(wpList.count()));
@@ -741,7 +741,7 @@ void QGCGoogleEarthView::updateState()
                     // Update waypoint or symbol
                     if (mav)
                     {
-                        QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameWaypointList();
+                        QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
 
                         bool ok;
                         int index = idText.toInt(&ok);