diff --git a/custom-example/custom.pri b/custom-example/custom.pri
index 03cd010..ab24fd8 100644
--- a/custom-example/custom.pri
+++ b/custom-example/custom.pri
@@ -58,11 +58,13 @@ QML_IMPORT_PATH += \
 # Our own, custom sources
 SOURCES += \
     $$PWD/src/CustomPlugin.cc \
-    $$PWD/src/CustomQuickInterface.cc
+    $$PWD/src/CustomQuickInterface.cc \
+    $$PWD/src/CustomVideoManager.cc
 
 HEADERS += \
     $$PWD/src/CustomPlugin.h \
-    $$PWD/src/CustomQuickInterface.h
+    $$PWD/src/CustomQuickInterface.h \
+    $$PWD/src/CustomVideoManager.h
 
 INCLUDEPATH += \
     $$PWD/src \
diff --git a/custom-example/src/CustomPlugin.cc b/custom-example/src/CustomPlugin.cc
index 87fc0d5..f715a4e 100644
--- a/custom-example/src/CustomPlugin.cc
+++ b/custom-example/src/CustomPlugin.cc
@@ -17,6 +17,7 @@
 
 #include "CustomPlugin.h"
 #include "CustomQuickInterface.h"
+#include "CustomVideoManager.h"
 
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
@@ -192,6 +193,13 @@ CustomPlugin::overrideSettingsGroupVisibility(QString name)
 }
 
 //-----------------------------------------------------------------------------
+VideoManager*
+CustomPlugin::createVideoManager(QGCApplication *app, QGCToolbox *toolbox)
+{
+    return new CustomVideoManager(app, toolbox);
+}
+
+//-----------------------------------------------------------------------------
 VideoReceiver*
 CustomPlugin::createVideoReceiver(QObject* parent)
 {
diff --git a/custom-example/src/CustomPlugin.h b/custom-example/src/CustomPlugin.h
index b089c3e..d97746f 100644
--- a/custom-example/src/CustomPlugin.h
+++ b/custom-example/src/CustomPlugin.h
@@ -79,6 +79,7 @@ public:
     QString                 brandImageIndoor                () const final;
     QString                 brandImageOutdoor               () const final;
     bool                    overrideSettingsGroupVisibility (QString name) final;
+    VideoManager*           createVideoManager              (QGCApplication* app, QGCToolbox* toolbox) final;
     VideoReceiver*          createVideoReceiver             (QObject* parent) final;
     QQmlApplicationEngine*  createRootWindow                (QObject* parent) final;
     bool                    adjustSettingMetaData           (const QString& settingsGroup, FactMetaData& metaData) final;
diff --git a/custom-example/src/CustomVideoManager.cc b/custom-example/src/CustomVideoManager.cc
new file mode 100644
index 0000000..7e72973
--- /dev/null
+++ b/custom-example/src/CustomVideoManager.cc
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "CustomVideoManager.h"
+#include "MultiVehicleManager.h"
+#include "CustomCameraManager.h"
+#include "CustomCameraControl.h"
+
+//-----------------------------------------------------------------------------
+CustomVideoManager::CustomVideoManager(QGCApplication* app, QGCToolbox* toolbox)
+    : VideoManager(app, toolbox)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+CustomVideoManager::_updateSettings()
+{
+    if(!_videoSettings || !_videoReceiver)
+        return;
+    //-- Check encoding
+    if(_activeVehicle && _activeVehicle->dynamicCameras()) {
+        CustomCameraControl* pCamera = dynamic_cast<CustomCameraControl*>(_activeVehicle->dynamicCameras()->currentCameraInstance());
+        if(pCamera) {
+            Fact *fact = pCamera->videoEncoding();
+            if (fact) {
+                _videoReceiver->setVideoDecoder(static_cast<VideoReceiver::VideoEncoding>(fact->rawValue().toInt()));
+            }
+        }
+    }
+    VideoManager::_updateSettings();
+}
+
diff --git a/custom-example/src/CustomVideoManager.h b/custom-example/src/CustomVideoManager.h
new file mode 100644
index 0000000..58d7fe1
--- /dev/null
+++ b/custom-example/src/CustomVideoManager.h
@@ -0,0 +1,28 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QTimer>
+#include <QTime>
+#include <QUrl>
+
+#include "VideoManager.h"
+
+class CustomVideoManager : public VideoManager
+{
+    Q_OBJECT
+public:
+    CustomVideoManager      (QGCApplication* app, QGCToolbox* toolbox);
+
+protected:
+    void _updateSettings    ();
+
+};
diff --git a/custom-example/src/FirmwarePlugin/CustomCameraControl.cc b/custom-example/src/FirmwarePlugin/CustomCameraControl.cc
index 7817a46..4311928 100644
--- a/custom-example/src/FirmwarePlugin/CustomCameraControl.cc
+++ b/custom-example/src/FirmwarePlugin/CustomCameraControl.cc
@@ -19,6 +19,7 @@ QGC_LOGGING_CATEGORY(CustomCameraVerboseLog, "CustomCameraVerboseLog")
 
 static const char* kCAM_IRPALETTE            = "CAM_IRPALETTE";
 static const char* kCAM_NEXTVISION_IRPALETTE = "IR_SENS_POL";
+static const char* kCAM_ENC                  = "CAM_ENC";
 
 //-----------------------------------------------------------------------------
 CustomCameraControl::CustomCameraControl(const mavlink_camera_information_t *info, Vehicle* vehicle, int compID, QObject* parent)
@@ -117,6 +118,13 @@ CustomCameraControl::irPalette()
 }
 
 //-----------------------------------------------------------------------------
+Fact*
+CustomCameraControl::videoEncoding()
+{
+    return _paramComplete ? getFact(kCAM_ENC) : nullptr;
+}
+
+//-----------------------------------------------------------------------------
 void
 CustomCameraControl::setThermalMode(ThermalViewMode mode)
 {
diff --git a/custom-example/src/FirmwarePlugin/CustomCameraControl.h b/custom-example/src/FirmwarePlugin/CustomCameraControl.h
index 475ed33..a52dae9 100644
--- a/custom-example/src/FirmwarePlugin/CustomCameraControl.h
+++ b/custom-example/src/FirmwarePlugin/CustomCameraControl.h
@@ -29,8 +29,11 @@ public:
     CustomCameraControl(const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = nullptr);
 
     Q_PROPERTY(Fact*        irPalette       READ    irPalette           NOTIFY parametersReady)
+    Q_PROPERTY(Fact*        videoEncoding   READ    videoEncoding       NOTIFY parametersReady)
 
     Fact*       irPalette           ();
+    Fact*       videoEncoding       ();
+
     bool        takePhoto           () override;
     bool        stopTakePhoto       () override;
     bool        startVideo          () override;
diff --git a/src/Camera/QGCCameraControl.cc b/src/Camera/QGCCameraControl.cc
index f50a6f5..ed69458 100644
--- a/src/Camera/QGCCameraControl.cc
+++ b/src/Camera/QGCCameraControl.cc
@@ -70,9 +70,6 @@ const char* QGCCameraControl::kCAM_SHUTTERSPD  = "CAM_SHUTTERSPD";
 const char* QGCCameraControl::kCAM_APERTURE    = "CAM_APERTURE";
 const char* QGCCameraControl::kCAM_WBMODE      = "CAM_WBMODE";
 const char* QGCCameraControl::kCAM_MODE        = "CAM_MODE";
-const char* QGCCameraControl::kCAM_BITRATE     = "CAM_BITRATE";
-const char* QGCCameraControl::kCAM_FPS         = "CAM_FPS";
-const char* QGCCameraControl::kCAM_ENC         = "CAM_ENC";
 
 //-----------------------------------------------------------------------------
 QGCCameraOptionExclusion::QGCCameraOptionExclusion(QObject* parent, QString param_, QString value_, QStringList exclusions_)
@@ -2117,27 +2114,6 @@ QGCCameraControl::mode()
 }
 
 //-----------------------------------------------------------------------------
-Fact*
-QGCCameraControl::bitRate()
-{
-    return _paramComplete ? getFact(kCAM_BITRATE) : nullptr;
-}
-
-//-----------------------------------------------------------------------------
-Fact*
-QGCCameraControl::frameRate()
-{
-    return _paramComplete ? getFact(kCAM_FPS) : nullptr;
-}
-
-//-----------------------------------------------------------------------------
-Fact*
-QGCCameraControl::videoEncoding()
-{
-    return _paramComplete ? getFact(kCAM_ENC) : nullptr;
-}
-
-//-----------------------------------------------------------------------------
 QGCVideoStreamInfo::QGCVideoStreamInfo(QObject* parent, const mavlink_video_stream_information_t *si)
     : QObject(parent)
 {
diff --git a/src/Camera/QGCCameraControl.h b/src/Camera/QGCCameraControl.h
index d0a21df..95f0991 100644
--- a/src/Camera/QGCCameraControl.h
+++ b/src/Camera/QGCCameraControl.h
@@ -167,9 +167,6 @@ public:
     Q_PROPERTY(Fact*        aperture            READ aperture           NOTIFY parametersReady)
     Q_PROPERTY(Fact*        wb                  READ wb                 NOTIFY parametersReady)
     Q_PROPERTY(Fact*        mode                READ mode               NOTIFY parametersReady)
-    Q_PROPERTY(Fact*        bitRate             READ bitRate            NOTIFY parametersReady)
-    Q_PROPERTY(Fact*        frameRate           READ frameRate          NOTIFY parametersReady)
-    Q_PROPERTY(Fact*        videoEncoding       READ videoEncoding      NOTIFY parametersReady)
 
     Q_PROPERTY(QStringList  activeSettings      READ activeSettings                                 NOTIFY activeSettingsChanged)
     Q_PROPERTY(VideoStatus  videoStatus         READ videoStatus                                    NOTIFY videoStatusChanged)
@@ -255,9 +252,6 @@ public:
     virtual Fact*       aperture            ();
     virtual Fact*       wb                  ();
     virtual Fact*       mode                ();
-    virtual Fact*       bitRate             ();
-    virtual Fact*       frameRate           ();
-    virtual Fact*       videoEncoding       ();
 
     //-- Stream names to show the user (for selection)
     virtual QStringList streamLabels        () { return _streamLabels; }
@@ -289,7 +283,6 @@ public:
     //-- Allow controller to modify or invalidate parameter change
     virtual bool        validateParameter   (Fact* pFact, QVariant& newValue);
 
-
     // Known Parameters
     static const char* kCAM_EV;
     static const char* kCAM_EXPMODE;
@@ -298,9 +291,6 @@ public:
     static const char* kCAM_APERTURE;
     static const char* kCAM_WBMODE;
     static const char* kCAM_MODE;
-    static const char* kCAM_BITRATE;
-    static const char* kCAM_FPS;
-    static const char* kCAM_ENC;
 
 signals:
     void    infoChanged                     ();
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index e5ba76c..10e5abb 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
     APMCustomMode(mode, settable)
 {
     setEnumToStringMapping({
-        {STABILIZE,      "Stabilize"},
-        {ACRO,           "Acro"},
-        {ALT_HOLD,       "Altitude Hold"},
-        {AUTO,           "Auto"},
-        {GUIDED,         "Guided"},
-        {LOITER,         "Loiter"},
-        {RTL,            "RTL"},
-        {CIRCLE,         "Circle"},
-        {LAND,           "Land"},
-        {DRIFT,          "Drift"},
-        {SPORT,          "Sport"},
-        {FLIP,           "Flip"},
-        {AUTOTUNE,       "Autotune"},
-        {POS_HOLD,       "Position Hold"},
-        {BRAKE,          "Brake"},
-        {THROW,          "Throw"},
-        {AVOID_ADSB,     "Avoid ADSB"},
-        {GUIDED_NOGPS,   "Guided No GPS"},
-        {SAFE_RTL,       "Smart RTL"},
+        { STABILIZE,    "Stabilize"},
+        { ACRO,         "Acro"},
+        { ALT_HOLD,     "Altitude Hold"},
+        { AUTO,         "Auto"},
+        { GUIDED,       "Guided"},
+        { LOITER,       "Loiter"},
+        { RTL,          "RTL"},
+        { CIRCLE,       "Circle"},
+        { LAND,         "Land"},
+        { DRIFT,        "Drift"},
+        { SPORT,        "Sport"},
+        { FLIP,         "Flip"},
+        { AUTOTUNE,     "Autotune"},
+        { POS_HOLD,     "Position Hold"},
+        { BRAKE,        "Brake"},
+        { THROW,        "Throw"},
+        { AVOID_ADSB,   "Avoid ADSB"},
+        { GUIDED_NOGPS, "Guided No GPS"},
+        { SMART_RTL,    "Smart RTL"},
+        { FLOWHOLD,     "Flow Hold" },
+        { FOLLOW,       "Follow Vehicle" },
+        { ZIGZAG,       "ZigZag" },
     });
 }
 
 ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
 {
     setSupportedModes({
-        APMCopterMode(APMCopterMode::STABILIZE ,true),
-        APMCopterMode(APMCopterMode::ACRO      ,true),
-        APMCopterMode(APMCopterMode::ALT_HOLD  ,true),
-        APMCopterMode(APMCopterMode::AUTO      ,true),
-        APMCopterMode(APMCopterMode::GUIDED    ,true),
-        APMCopterMode(APMCopterMode::LOITER    ,true),
-        APMCopterMode(APMCopterMode::RTL       ,true),
-        APMCopterMode(APMCopterMode::CIRCLE    ,true),
-        APMCopterMode(APMCopterMode::LAND      ,true),
-        APMCopterMode(APMCopterMode::DRIFT     ,true),
-        APMCopterMode(APMCopterMode::SPORT     ,true),
-        APMCopterMode(APMCopterMode::FLIP      ,true),
-        APMCopterMode(APMCopterMode::AUTOTUNE  ,true),
-        APMCopterMode(APMCopterMode::POS_HOLD  ,true),
-        APMCopterMode(APMCopterMode::BRAKE     ,true),
-        APMCopterMode(APMCopterMode::THROW     ,true),
-        APMCopterMode(APMCopterMode::AVOID_ADSB,true),
-        APMCopterMode(APMCopterMode::GUIDED_NOGPS,true),
-        APMCopterMode(APMCopterMode::SAFE_RTL,true),
+        APMCopterMode(APMCopterMode::STABILIZE,     true),
+        APMCopterMode(APMCopterMode::ACRO,          true),
+        APMCopterMode(APMCopterMode::ALT_HOLD,      true),
+        APMCopterMode(APMCopterMode::AUTO,          true),
+        APMCopterMode(APMCopterMode::GUIDED,        true),
+        APMCopterMode(APMCopterMode::LOITER,        true),
+        APMCopterMode(APMCopterMode::RTL,           true),
+        APMCopterMode(APMCopterMode::CIRCLE,        true),
+        APMCopterMode(APMCopterMode::LAND,          true),
+        APMCopterMode(APMCopterMode::DRIFT,         true),
+        APMCopterMode(APMCopterMode::SPORT,         true),
+        APMCopterMode(APMCopterMode::FLIP,          true),
+        APMCopterMode(APMCopterMode::AUTOTUNE,      true),
+        APMCopterMode(APMCopterMode::POS_HOLD,      true),
+        APMCopterMode(APMCopterMode::BRAKE,         true),
+        APMCopterMode(APMCopterMode::THROW,         true),
+        APMCopterMode(APMCopterMode::AVOID_ADSB,    true),
+        APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
+        APMCopterMode(APMCopterMode::SMART_RTL,     true),
+        APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+        APMCopterMode(APMCopterMode::FOLLOW,        true),
+        APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
     if (!_remapParamNameIntialized) {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 563baf7..a675e74 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -41,9 +41,11 @@ public:
         THROW       = 18,
         AVOID_ADSB  = 19,
         GUIDED_NOGPS= 20,
-        SAFE_RTL   = 21,   //Safe Return to Launch
+        SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
+        FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+        FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+        ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
-    static const int modeCount = 22;
 
     APMCopterMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index cd0ce2e..0094a66 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -42,7 +42,6 @@ public:
         QLOITER       = 19,
         QLAND         = 20,
         QRTL          = 21,
-        modeCount
     };
 
     APMPlaneMode(uint32_t mode, bool settable);
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 6dd7882..ad17a03 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -33,7 +33,6 @@ public:
         GUIDED          = 15,
         INITIALIZING    = 16,
     };
-    static const int modeCount = 17;
 
     APMRoverMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index b826c1e..7f6426b 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -96,7 +96,6 @@ public:
         RESERVED_18       = 18,
         MANUAL            = 19
     };
-    static const int modeCount = 20;
 
     APMSubMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index f5c8e75..795cd6c 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -137,6 +137,61 @@
       <min>0</min>
     </parameter>
   </group>
+  <group name="Airspeed Validator">
+    <parameter default="1.0" name="ARSP_ARSP_SCALE" type="FLOAT">
+      <short_desc>Airspeed scale (scale from IAS to CAS/EAS)</short_desc>
+      <long_desc>Scale can either be entered manually, or estimated in-flight by setting ARSP_SCALE_EST to 1.</long_desc>
+      <min>0.5</min>
+      <max>1.5</max>
+    </parameter>
+    <parameter default="1" name="ARSP_BETA_GATE" type="INT32">
+      <short_desc>Airspeed Selector: Gate size for true sideslip fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1</min>
+      <max>5</max>
+      <unit>SD</unit>
+    </parameter>
+    <parameter default="0.3" name="ARSP_BETA_NOISE" type="FLOAT">
+      <short_desc>Airspeed Selector: Wind estimator sideslip measurement noise</short_desc>
+      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
+      <min>0</min>
+      <max>1</max>
+      <unit>rad</unit>
+    </parameter>
+    <parameter default="0" name="ARSP_SCALE_EST" type="INT32">
+      <short_desc>Automatic airspeed scale estimation on</short_desc>
+      <long_desc>Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended level (keeping altitude) while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved in the ARSP_ARSP_SCALE parameter.</long_desc>
+      <boolean />
+    </parameter>
+    <parameter default="0.0001" name="ARSP_SC_P_NOISE" type="FLOAT">
+      <short_desc>Airspeed Selector: Wind estimator true airspeed scale process noise</short_desc>
+      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
+      <min>0</min>
+      <max>0.1</max>
+      <unit>1/s</unit>
+    </parameter>
+    <parameter default="3" name="ARSP_TAS_GATE" type="INT32">
+      <short_desc>Airspeed Selector: Gate size for true airspeed fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1</min>
+      <max>5</max>
+      <unit>SD</unit>
+    </parameter>
+    <parameter default="1.4" name="ARSP_TAS_NOISE" type="FLOAT">
+      <short_desc>Airspeed Selector: Wind estimator true airspeed measurement noise</short_desc>
+      <long_desc>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
+      <min>0</min>
+      <max>4</max>
+      <unit>m/s</unit>
+    </parameter>
+    <parameter default="0.1" name="ARSP_W_P_NOISE" type="FLOAT">
+      <short_desc>Airspeed Selector: Wind estimator wind process noise</short_desc>
+      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
+      <min>0</min>
+      <max>1</max>
+      <unit>m/s/s</unit>
+    </parameter>
+  </group>
   <group name="Attitude Q estimator">
     <parameter default="1" name="ATT_ACC_COMP" type="INT32">
       <short_desc>Acceleration compensation based on GPS
@@ -537,6 +592,11 @@ Set to 2 to use heading from motion capture</short_desc>
 * the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
       <long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm</long_desc>
     </parameter>
+    <parameter default="1" name="COM_ARM_CHK_ESCS" type="INT32">
+      <short_desc>Require all the ESCs to be detected to arm</short_desc>
+      <long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>
+      <boolean />
+    </parameter>
     <parameter default="1.73e-3" name="COM_ARM_EKF_AB" type="FLOAT">
       <short_desc>Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
 Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful</short_desc>
@@ -654,9 +714,13 @@ Set -1 to disable the check</short_desc>
     </parameter>
     <parameter default="2.0" name="COM_DISARM_LAND" type="FLOAT">
       <short_desc>Time-out for auto disarm after landing</short_desc>
-      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
-      <min>-1</min>
-      <max>20</max>
+      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
+      <unit>s</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter default="10.0" name="COM_DISARM_PRFLT" type="FLOAT">
+      <short_desc>Time-out for auto disarm if too slow to takeoff</short_desc>
+      <long_desc>A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.</long_desc>
       <unit>s</unit>
       <decimal>2</decimal>
     </parameter>
@@ -4705,10 +4769,10 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <max>2.0</max>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="0.3" name="MPC_XY_TRAJ_P" type="FLOAT">
+    <parameter default="0.5" name="MPC_XY_TRAJ_P" type="FLOAT">
       <short_desc>Proportional gain for horizontal trajectory position error</short_desc>
       <min>0.1</min>
-      <max>5.0</max>
+      <max>1.0</max>
       <decimal>1</decimal>
     </parameter>
     <parameter default="0.01" name="MPC_XY_VEL_D" type="FLOAT">
@@ -4762,7 +4826,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
     <parameter default="0.3" name="MPC_Z_TRAJ_P" type="FLOAT">
       <short_desc>Proportional gain for vertical trajectory position error</short_desc>
       <min>0.1</min>
-      <max>5.0</max>
+      <max>1.0</max>
       <decimal>1</decimal>
     </parameter>
     <parameter default="0.0" name="MPC_Z_VEL_D" type="FLOAT">
@@ -10487,50 +10551,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
       <increment>0.01</increment>
     </parameter>
   </group>
-  <group name="Wind Estimator">
-    <parameter default="1" name="WEST_BETA_GATE" type="INT32">
-      <short_desc>Gate size for true sideslip fusion</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
-      <min>1</min>
-      <max>5</max>
-      <unit>SD</unit>
-    </parameter>
-    <parameter default="0.3" name="WEST_BETA_NOISE" type="FLOAT">
-      <short_desc>Wind estimator sideslip measurement noise</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <unit>rad</unit>
-    </parameter>
-    <parameter default="0" name="WEST_EN" type="INT32">
-      <short_desc>Enable Wind estimator</short_desc>
-      <boolean />
-      <reboot_required>true</reboot_required>
-    </parameter>
-    <parameter default="0.0001" name="WEST_SC_P_NOISE" type="FLOAT">
-      <short_desc>Wind estimator true airspeed scale process noise</short_desc>
-      <min>0</min>
-      <max>0.1</max>
-    </parameter>
-    <parameter default="3" name="WEST_TAS_GATE" type="INT32">
-      <short_desc>Gate size for true airspeed fusion</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
-      <min>1</min>
-      <max>5</max>
-      <unit>SD</unit>
-    </parameter>
-    <parameter default="1.4" name="WEST_TAS_NOISE" type="FLOAT">
-      <short_desc>Wind estimator true airspeed measurement noise</short_desc>
-      <min>0</min>
-      <max>4</max>
-      <unit>m/s</unit>
-    </parameter>
-    <parameter default="0.1" name="WEST_W_P_NOISE" type="FLOAT">
-      <short_desc>Wind estimator wind process noise</short_desc>
-      <min>0</min>
-      <max>1</max>
-      <unit>m/s/s</unit>
-    </parameter>
-  </group>
   <group name="Miscellaneous">
     <parameter default="0.1" name="EXFW_HDNG_P" type="FLOAT">
       <short_desc>EXFW_HDNG_P</short_desc>
diff --git a/src/FlightDisplay/VideoManager.cc b/src/FlightDisplay/VideoManager.cc
index f825927..ee1ac37 100644
--- a/src/FlightDisplay/VideoManager.cc
+++ b/src/FlightDisplay/VideoManager.cc
@@ -273,19 +273,26 @@ VideoManager::uvcEnabled()
 
 //-----------------------------------------------------------------------------
 void
+VideoManager::setfullScreen(bool f)
+{
+    if(f) {
+        //-- No can do if no vehicle or connection lost
+        if(!_activeVehicle || _activeVehicle->connectionLost()) {
+            f = false;
+        }
+    }
+    _fullScreen = f;
+    emit fullScreenChanged();
+}
+
+//-----------------------------------------------------------------------------
+void
 VideoManager::_updateSettings()
 {
     if(!_videoSettings || !_videoReceiver)
         return;
     //-- Auto discovery
     if(_activeVehicle && _activeVehicle->dynamicCameras()) {
-        QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
-        if(pCamera) {
-            Fact *fact = pCamera->videoEncoding();
-            if (fact) {
-                _videoReceiver->setVideoDecoder(static_cast<VideoReceiver::VideoEncoding>(fact->rawValue().toInt()));
-            }
-        }
         QGCVideoStreamInfo* pInfo = _activeVehicle->dynamicCameras()->currentStreamInstance();
         if(pInfo) {
             qCDebug(VideoManagerLog) << "Configure primary stream: " << pInfo->uri();
@@ -364,6 +371,7 @@ void
 VideoManager::_setActiveVehicle(Vehicle* vehicle)
 {
     if(_activeVehicle) {
+        disconnect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
         if(_activeVehicle->dynamicCameras()) {
             QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
             if(pCamera) {
@@ -374,6 +382,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
     }
     _activeVehicle = vehicle;
     if(_activeVehicle) {
+        connect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
         if(_activeVehicle->dynamicCameras()) {
             connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::restartVideo);
             QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
@@ -381,6 +390,9 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
                 pCamera->resumeStream();
             }
         }
+    } else {
+        //-- Disable full screen video if vehicle is gone
+        setfullScreen(false);
     }
     emit autoStreamConfiguredChanged();
     restartVideo();
@@ -388,6 +400,16 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
 
 //----------------------------------------------------------------------------------------
 void
+VideoManager::_connectionLostChanged(bool connectionLost)
+{
+    if(connectionLost) {
+        //-- Disable full screen video if connection is lost
+        setfullScreen(false);
+    }
+}
+
+//----------------------------------------------------------------------------------------
+void
 VideoManager::_aspectRatioChanged()
 {
     emit aspectRatioChanged();
diff --git a/src/FlightDisplay/VideoManager.h b/src/FlightDisplay/VideoManager.h
index 7d9ad61..fcd8707 100644
--- a/src/FlightDisplay/VideoManager.h
+++ b/src/FlightDisplay/VideoManager.h
@@ -34,7 +34,7 @@ class VideoManager : public QGCTool
 
 public:
     VideoManager    (QGCApplication* app, QGCToolbox* toolbox);
-    ~VideoManager   ();
+    virtual ~VideoManager   ();
 
     Q_PROPERTY(bool             hasVideo                READ    hasVideo                                    NOTIFY hasVideoChanged)
     Q_PROPERTY(bool             isGStreamer             READ    isGStreamer                                 NOTIFY isGStreamerChanged)
@@ -51,34 +51,33 @@ public:
     Q_PROPERTY(bool             autoStreamConfigured    READ    autoStreamConfigured                        NOTIFY autoStreamConfiguredChanged)
     Q_PROPERTY(bool             hasThermal              READ    hasThermal                                  NOTIFY aspectRatioChanged)
 
-    bool        hasVideo            ();
-    bool        isGStreamer         ();
-    bool        isAutoStream        ();
-    bool        isTaisync           () { return _isTaisync; }
-    bool        fullScreen          () { return _fullScreen; }
-    QString     videoSourceID       () { return _videoSourceID; }
-    double      aspectRatio         ();
-    double      thermalAspectRatio  ();
-    double      hfov                ();
-    double      thermalHfov         ();
-    bool        autoStreamConfigured();
-    bool        hasThermal          ();
-    void        restartVideo        ();
-
-    VideoReceiver*  videoReceiver           () { return _videoReceiver; }
-    VideoReceiver*  thermalVideoReceiver    () { return _thermalVideoReceiver; }
+    virtual bool        hasVideo            ();
+    virtual bool        isGStreamer         ();
+    virtual bool        isTaisync           () { return _isTaisync; }
+    virtual bool        fullScreen          () { return _fullScreen; }
+    virtual QString     videoSourceID       () { return _videoSourceID; }
+    virtual double      aspectRatio         ();
+    virtual double      thermalAspectRatio  ();
+    virtual double      hfov                ();
+    virtual double      thermalHfov         ();
+    virtual bool        autoStreamConfigured();
+    virtual bool        hasThermal          ();
+    virtual void        restartVideo        ();
+
+    virtual VideoReceiver*  videoReceiver           () { return _videoReceiver; }
+    virtual VideoReceiver*  thermalVideoReceiver    () { return _thermalVideoReceiver; }
 
 #if defined(QGC_DISABLE_UVC)
-    bool        uvcEnabled          () { return false; }
+    virtual bool        uvcEnabled          () { return false; }
 #else
-    bool        uvcEnabled          ();
+    virtual bool        uvcEnabled          ();
 #endif
 
-    void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
-    void        setIsTaisync        (bool t) { _isTaisync = t;  emit isTaisyncChanged(); }
+    virtual void        setfullScreen       (bool f);
+    virtual void        setIsTaisync        (bool t) { _isTaisync = t;  emit isTaisyncChanged(); }
 
     // Override from QGCTool
-    void        setToolbox          (QGCToolbox *toolbox);
+    virtual void        setToolbox          (QGCToolbox *toolbox);
 
     Q_INVOKABLE void startVideo     ();
     Q_INVOKABLE void stopVideo      ();
@@ -93,7 +92,7 @@ signals:
     void aspectRatioChanged         ();
     void autoStreamConfiguredChanged();
 
-private slots:
+protected slots:
     void _videoSourceChanged        ();
     void _udpPortChanged            ();
     void _rtspUrlChanged            ();
@@ -101,11 +100,12 @@ private slots:
     void _updateUVC                 ();
     void _setActiveVehicle          (Vehicle* vehicle);
     void _aspectRatioChanged        ();
+    void _connectionLostChanged     (bool connectionLost);
 
-private:
+protected:
     void _updateSettings            ();
 
-private:
+protected:
     SubtitleWriter  _subtitleWriter;
     bool            _isTaisync              = false;
     VideoReceiver*  _videoReceiver          = nullptr;
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index e75f00b..79e2115 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3046,7 +3046,7 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
     if (!coordinate().isValid()) {
         return;
     }
-    double maxDistance = 1000.0;
+    double maxDistance = 10000.0;
     if (coordinate().distanceTo(gotoCoord) > maxDistance) {
         qgcApp()->showMessage(QString("New location is too far. Must be less than %1 %2").arg(qRound(FactMetaData::metersToAppSettingsDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsDistanceUnitsString()));
         return;
diff --git a/src/VideoStreaming/VideoReceiver.cc b/src/VideoStreaming/VideoReceiver.cc
index cd62f8d..dc96386 100644
--- a/src/VideoStreaming/VideoReceiver.cc
+++ b/src/VideoStreaming/VideoReceiver.cc
@@ -611,14 +611,14 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding)
     */
 
     if (encoding == H265_HW || encoding == H265_SW) {
-        _depayName = "rtph265depay";
+        _depayName  = "rtph265depay";
         _parserName = "h265parse";
 #if defined(__android__)
         _hwDecoderName = "amcviddec-omxgooglehevcdecoder";
 #endif
         _swDecoderName = "avdec_h265";
     } else {
-        _depayName = "rtph264depay";
+        _depayName  = "rtph264depay";
         _parserName = "h264parse";
 #if defined(__android__)
         _hwDecoderName = "amcviddec-omxgoogleh264decoder";
@@ -630,6 +630,7 @@ VideoReceiver::setVideoDecoder(VideoEncoding encoding)
         _hwDecoderName = nullptr;
     }
 }
+
 //-----------------------------------------------------------------------------
 // When we finish our pipeline will look like this:
 //
diff --git a/src/api/QGCCorePlugin.cc b/src/api/QGCCorePlugin.cc
index 91d95d2..9c22b19 100644
--- a/src/api/QGCCorePlugin.cc
+++ b/src/api/QGCCorePlugin.cc
@@ -15,6 +15,7 @@
 #include "SettingsManager.h"
 #include "AppMessages.h"
 #include "QmlObjectListModel.h"
+#include "VideoManager.h"
 #include "VideoReceiver.h"
 #include "QGCLoggingCategory.h"
 #include "QGCCameraManager.h"
@@ -408,6 +409,11 @@ QmlObjectListModel* QGCCorePlugin::customMapItems()
     return &_p->_emptyCustomMapItems;
 }
 
+VideoManager* QGCCorePlugin::createVideoManager(QGCApplication *app, QGCToolbox *toolbox)
+{
+    return new VideoManager(app, toolbox);
+}
+
 VideoReceiver* QGCCorePlugin::createVideoReceiver(QObject* parent)
 {
     return new VideoReceiver(parent);
diff --git a/src/api/QGCCorePlugin.h b/src/api/QGCCorePlugin.h
index a299944..3187789 100644
--- a/src/api/QGCCorePlugin.h
+++ b/src/api/QGCCorePlugin.h
@@ -104,6 +104,8 @@ public:
     /// Allows the plugin to override the creation of the root (native) window.
     virtual QQmlApplicationEngine* createRootWindow(QObject* parent);
 
+    /// Allows the plugin to override the creation of VideoManager.
+    virtual VideoManager* createVideoManager(QGCApplication* app, QGCToolbox* toolbox);
     /// Allows the plugin to override the creation of VideoReceiver.
     virtual VideoReceiver* createVideoReceiver(QObject* parent);