diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c18ac1a..26d0dab 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -341,7 +341,8 @@ FORMS += \
     src/ui/px4_configuration/QGCPX4SensorCalibration.ui \
     src/ui/px4_configuration/PX4RCCalibration.ui \
     src/ui/px4_configuration/PX4FirmwareUpgrade.ui \
-    src/ui/QGCUASFileView.ui
+    src/ui/QGCUASFileView.ui \
+    src/QGCQmlWidgetHolder.ui \
 
 HEADERS += \
     src/MG.h \
@@ -493,6 +494,7 @@ HEADERS += \
     src/audio/QGCAudioWorker.h \
     src/QGCQuickWidget.h \
     src/QGCPalette.h \
+    src/QGCQmlWidgetHolder.h \
 
 SOURCES += \
     src/main.cc \
@@ -633,6 +635,7 @@ SOURCES += \
     src/audio/QGCAudioWorker.cpp \
     src/QGCQuickWidget.cc \
     src/QGCPalette.cc \
+    src/QGCQmlWidgetHolder.cpp \
 
 #
 # Unit Test specific configuration goes here
@@ -725,6 +728,7 @@ HEADERS+= \
     src/AutoPilotPlugins/PX4/FlightModeConfig.h \
     src/AutoPilotPlugins/PX4/AirframeComponent.h \
     src/AutoPilotPlugins/PX4/SensorsComponent.h \
+    src/AutoPilotPlugins/PX4/SafetyComponent.h \
     src/AutoPilotPlugins/PX4/PX4ParameterFacts.h \
     src/VehicleSetup/SetupWidgetHolder.h \
 
@@ -743,6 +747,7 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/FlightModeConfig.cc \
     src/AutoPilotPlugins/PX4/AirframeComponent.cc \
     src/AutoPilotPlugins/PX4/SensorsComponent.cc \
+    src/AutoPilotPlugins/PX4/SafetyComponent.cc \
     src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc \
     src/VehicleSetup/SetupWidgetHolder.cc \
 
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index bca9f09..4074339 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -239,10 +239,11 @@
         <file alias="test.qml">src/test.qml</file>
         <file alias="QGroundControl/FactControls/qmldir">qml/QGroundControl/FactControls/qmldir</file>
         <file alias="QGroundControl/FactControls/SetupButton.qml">qml/QGroundControl/FactControls/SetupButton.qml</file>
-        <file alias="SetupViewConnected.qml">src/VehicleSetup/SetupViewConnected.qml</file>
-        <file alias="SetupViewDisconnected.qml">src/VehicleSetup/SetupViewDisconnected.qml</file>
         <file alias="octo_x.png">files/images/px4/airframes/octo_x.png</file>
         <file alias="px4fmu_2.x.png">files/images/px4/boards/px4fmu_2.x.png</file>
+        <file alias="SetupViewConnected.qml">src/VehicleSetup/SetupViewConnected.qml</file>
+        <file alias="SetupViewDisconnected.qml">src/VehicleSetup/SetupViewDisconnected.qml</file>
+        <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
     </qresource>
     <qresource prefix="/AutoPilotPlugins/PX4">
         <file alias="ParameterFactMetaData.xml">src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml</file>
diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.cc b/src/AutoPilotPlugins/PX4/AirframeComponent.cc
index c63f533..18cf67f 100644
--- a/src/AutoPilotPlugins/PX4/AirframeComponent.cc
+++ b/src/AutoPilotPlugins/PX4/AirframeComponent.cc
@@ -62,8 +62,8 @@ static const struct mavType mavTypeInfo[] = {
 };
 static size_t cMavTypes = sizeof(mavTypeInfo) / sizeof(mavTypeInfo[0]);
 
-AirframeComponent::AirframeComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+AirframeComponent::AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Airframe"))
 {
     // Validate that our mavTypeInfo array hasn't gotten out of sync
diff --git a/src/AutoPilotPlugins/PX4/AirframeComponent.h b/src/AutoPilotPlugins/PX4/AirframeComponent.h
index 5891a18..c4d1143 100644
--- a/src/AutoPilotPlugins/PX4/AirframeComponent.h
+++ b/src/AutoPilotPlugins/PX4/AirframeComponent.h
@@ -35,7 +35,7 @@ class AirframeComponent : public PX4Component
     Q_OBJECT
     
 public:
-    AirframeComponent(UASInterface* uas, QObject* parent = NULL);
+    AirframeComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
index d797d81..4d66d67 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
@@ -45,8 +45,8 @@ static const SwitchListItem switchList[] = {
 };
 static const size_t cSwitchList = sizeof(switchList) / sizeof(switchList[0]);
 
-FlightModesComponent::FlightModesComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+FlightModesComponent::FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Flight Modes"))
 {
 }
diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.h b/src/AutoPilotPlugins/PX4/FlightModesComponent.h
index 079d290..ccae9b0 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.h
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.h
@@ -35,7 +35,7 @@ class FlightModesComponent : public PX4Component
     Q_OBJECT
     
 public:
-    FlightModesComponent(UASInterface* uas, QObject* parent = NULL);
+    FlightModesComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 446a8c7..0a1ab92 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -26,6 +26,7 @@
 #include "RadioComponent.h"
 #include "SensorsComponent.h"
 #include "FlightModesComponent.h"
+#include "SafetyComponent.h"
 #include "AutoPilotPluginManager.h"
 #include "UASManager.h"
 #include "QGCUASParamManagerInterface.h"
@@ -196,19 +197,23 @@ const QVariantList& PX4AutoPilotPlugin::components(void)
 
         Q_ASSERT(_uas);
         
-        component = new AirframeComponent(_uas);
+        component = new AirframeComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new RadioComponent(_uas);
+        component = new RadioComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new FlightModesComponent(_uas);
+        component = new FlightModesComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
         
-        component = new SensorsComponent(_uas);
+        component = new SensorsComponent(_uas, this);
+        Q_CHECK_PTR(component);
+        _components.append(QVariant::fromValue(component));
+
+        component = new SafetyComponent(_uas, this);
         Q_CHECK_PTR(component);
         _components.append(QVariant::fromValue(component));
     }
diff --git a/src/AutoPilotPlugins/PX4/PX4Component.cc b/src/AutoPilotPlugins/PX4/PX4Component.cc
index 2c551e4..6fea92c 100644
--- a/src/AutoPilotPlugins/PX4/PX4Component.cc
+++ b/src/AutoPilotPlugins/PX4/PX4Component.cc
@@ -26,8 +26,8 @@
 
 #include "PX4Component.h"
 
-PX4Component::PX4Component(UASInterface* uas, QObject* parent) :
-    VehicleComponent(uas, parent)
+PX4Component::PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    VehicleComponent(uas, autopilot, parent)
 {
     bool fSuccess = connect(_paramMgr, SIGNAL(parameterUpdated(int, QString, QVariant)), this, SLOT(_parameterUpdated(int, QString, QVariant)));
     Q_ASSERT(fSuccess);
diff --git a/src/AutoPilotPlugins/PX4/PX4Component.h b/src/AutoPilotPlugins/PX4/PX4Component.h
index 70a58e1..9bffafb 100644
--- a/src/AutoPilotPlugins/PX4/PX4Component.h
+++ b/src/AutoPilotPlugins/PX4/PX4Component.h
@@ -35,7 +35,7 @@ class PX4Component : public VehicleComponent
     Q_OBJECT
     
 public:
-    PX4Component(UASInterface* uas, QObject* parent = NULL);
+    PX4Component(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     /// @brief Returns an array of parameter names for which a change should cause the setupCompleteChanged
     ///         signal to be emitted. Last element is signalled by NULL. Must be implemented by upper level class.
@@ -45,7 +45,6 @@ private slots:
     /// @brief Connected to QGCUASParamManagerInterface::parameterUpdated signal in order to signal
     ///         setupCompleteChanged at appropriate times.
     void _parameterUpdated(int compId, QString paramName, QVariant value);
-    
 };
 
 #endif
diff --git a/src/AutoPilotPlugins/PX4/RadioComponent.cc b/src/AutoPilotPlugins/PX4/RadioComponent.cc
index a071a6c..0e6ca43 100644
--- a/src/AutoPilotPlugins/PX4/RadioComponent.cc
+++ b/src/AutoPilotPlugins/PX4/RadioComponent.cc
@@ -31,8 +31,8 @@
 /// @brief Parameters which signal a change in setupComplete state
 static const char* triggerParams[] = { "RC_MAP_MODE_SW", NULL };
 
-RadioComponent::RadioComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+RadioComponent::RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Radio"))
 {
 }
diff --git a/src/AutoPilotPlugins/PX4/RadioComponent.h b/src/AutoPilotPlugins/PX4/RadioComponent.h
index 8c6c948..092e265 100644
--- a/src/AutoPilotPlugins/PX4/RadioComponent.h
+++ b/src/AutoPilotPlugins/PX4/RadioComponent.h
@@ -36,7 +36,7 @@ class RadioComponent : public PX4Component
     Q_OBJECT
     
 public:
-    RadioComponent(UASInterface* uas, QObject* parent = NULL);
+    RadioComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
new file mode 100644
index 0000000..7858864
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -0,0 +1,156 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "SafetyComponent.h"
+#include "PX4RCCalibration.h"
+#include "VehicleComponentSummaryItem.h"
+#include "QGCQmlWidgetHolder.h"
+
+/// @brief Parameters which signal a change in setupComplete state
+static const char* triggerParams[] = { NULL };
+
+SafetyComponent::SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
+    _name(tr("Safety"))
+{
+}
+
+QString SafetyComponent::name(void) const
+{
+    return _name;
+}
+
+QString SafetyComponent::description(void) const
+{
+    return tr("The Safety Component is used to setup triggers for Return to Land as well as the settings for Return to Land itself.");
+}
+
+QString SafetyComponent::icon(void) const
+{
+    return ":/files/images/px4/menu/remote.png";
+}
+
+bool SafetyComponent::requiresSetup(void) const
+{
+    return false;
+}
+
+bool SafetyComponent::setupComplete(void) const
+{
+    // FIXME: What aboout invalid settings?
+    return true;
+}
+
+QString SafetyComponent::setupStateDescription(void) const
+{
+    const char* stateDescription;
+    
+    if (requiresSetup()) {
+        stateDescription = "Requires setup";
+    } else {
+        stateDescription = "Setup complete";
+    }
+    return QString(stateDescription);
+}
+
+const char** SafetyComponent::setupCompleteChangedTriggerList(void) const
+{
+    return triggerParams;
+}
+
+QStringList SafetyComponent::paramFilterList(void) const
+{
+    QStringList list;
+    
+    return list;
+}
+
+QWidget* SafetyComponent::setupWidget(void) const
+{
+    QGCQmlWidgetHolder* holder = new QGCQmlWidgetHolder();
+    Q_CHECK_PTR(holder);
+    
+    holder->setAutoPilot(_autopilot);
+    
+    holder->setSource(QUrl::fromUserInput("qrc:/qml/SafetyComponent.qml"));
+    
+    return holder;
+}
+
+const QVariantList& SafetyComponent::summaryItems(void)
+{
+    // FIXME: No summary items yet
+#if 0
+    if (!_summaryItems.count()) {
+        QString name;
+        QString state;
+        
+        // FIXME: Need to pull receiver type from RSSI value
+        name = "Receiver type:";
+        state = "n/a";
+
+        VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+        
+        static const char* stickParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE" };
+        
+        QString summary("Chan ");
+        
+        bool allSticksMapped = true;
+        for (size_t i=0; i<sizeof(stickParams)/sizeof(stickParams[0]); i++) {
+            QVariant value;
+            
+            if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), stickParams[i], value)) {
+                if (value.toInt() == 0) {
+                    allSticksMapped = false;
+                    break;
+                } else {
+                    if (i != 0) {
+                        summary += ",";
+                    }
+                    summary += value.toString();
+                }
+            } else {
+                // Why is the parameter missing?
+                Q_ASSERT(false);
+                summary += "?";
+            }
+        }
+        
+        if (!allSticksMapped) {
+            summary = "Not mapped";
+        }
+
+        name = "Ail, Ele, Rud, Throt:";
+        state = summary;
+        
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+    }
+#endif
+    
+    return _summaryItems;
+}
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.h b/src/AutoPilotPlugins/PX4/SafetyComponent.h
new file mode 100644
index 0000000..3d13779
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.h
@@ -0,0 +1,60 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef SafetyComponent_H
+#define SafetyComponent_H
+
+#include "PX4Component.h"
+
+/// @file
+///     @brief The Radio VehicleComponent is used to calibrate the trasmitter and assign function mapping
+///             to channels.
+///     @author Don Gagne <don@thegagnes.com>
+
+class SafetyComponent : public PX4Component
+{
+    Q_OBJECT
+    
+public:
+    SafetyComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
+    
+    // Virtuals from PX4Component
+    virtual const char** setupCompleteChangedTriggerList(void) const;
+    
+    // Virtuals from VehicleComponent
+    virtual QString name(void) const;
+    virtual QString description(void) const;
+    virtual QString icon(void) const;
+    virtual bool requiresSetup(void) const;
+    virtual bool setupComplete(void) const;
+    virtual QString setupStateDescription(void) const;
+    virtual QWidget* setupWidget(void) const;
+    virtual QStringList paramFilterList(void) const;
+    virtual const QVariantList& summaryItems(void);
+    
+private:
+    const QString   _name;
+    QVariantList    _summaryItems;
+};
+
+#endif
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
new file mode 100644
index 0000000..3ef0471
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -0,0 +1,17 @@
+import QtQuick 2.2
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.2
+import QGroundControl.FactSystem 1.0
+
+Rectangle {
+    QGCPalette { id: palette; colorGroup: QGCPalette.Active }
+
+    width: 400
+    height: 400
+    color: palette.window
+
+    Column {
+        Label { text: "Work in Progress"; color: palette.windowText }
+        Label { text: autopilot.parameters["RTL_RETURN_ALT"].value; color: palette.windowText }
+    }
+}
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.cc b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
index 2e2cd57..afeefc9 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -36,8 +36,8 @@ static const char* triggerParams[] = {  "SENS_MAG_XOFF", "SENS_GYRO_XOFF", "SENS
 /// @brief Used to translate from parameter name to user string
 static const char* triggerSensors[] = { "Compass",       "Gyro",           "Acceleromter",  "Airspeed",       NULL };
 
-SensorsComponent::SensorsComponent(UASInterface* uas, QObject* parent) :
-    PX4Component(uas, parent),
+SensorsComponent::SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
+    PX4Component(uas, autopilot, parent),
     _name(tr("Sensors"))
 {
 }
diff --git a/src/AutoPilotPlugins/PX4/SensorsComponent.h b/src/AutoPilotPlugins/PX4/SensorsComponent.h
index 52a6815..7872f45 100644
--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.h
@@ -35,7 +35,7 @@ class SensorsComponent : public PX4Component
     Q_OBJECT
     
 public:
-    SensorsComponent(UASInterface* uas, QObject* parent = NULL);
+    SensorsComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     
     // Virtuals from PX4Component
     virtual const char** setupCompleteChangedTriggerList(void) const;
diff --git a/src/QGCQmlWidgetHolder.cpp b/src/QGCQmlWidgetHolder.cpp
new file mode 100644
index 0000000..75beeb7
--- /dev/null
+++ b/src/QGCQmlWidgetHolder.cpp
@@ -0,0 +1,49 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include "QGCQmlWidgetHolder.h"
+
+QGCQmlWidgetHolder::QGCQmlWidgetHolder(QWidget *parent) :
+    QWidget(parent)
+{
+    _ui.setupUi(this);
+}
+
+QGCQmlWidgetHolder::~QGCQmlWidgetHolder()
+{
+
+}
+
+void QGCQmlWidgetHolder::setAutoPilot(AutoPilotPlugin* autoPilot)
+{
+    _ui.qmlWidget->rootContext()->setContextProperty("autopilot", autoPilot);
+}
+
+void QGCQmlWidgetHolder::setSource(const QUrl& qmlUrl)
+{
+    _ui.qmlWidget->setSource(qmlUrl);
+    _ui.qmlWidget->setMinimumSize(_ui.qmlWidget->rootObject()->width(), _ui.qmlWidget->rootObject()->height());
+}
diff --git a/src/QGCQmlWidgetHolder.h b/src/QGCQmlWidgetHolder.h
new file mode 100644
index 0000000..90b8e08
--- /dev/null
+++ b/src/QGCQmlWidgetHolder.h
@@ -0,0 +1,59 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef QGCQmlWidgetHolder_h
+#define QGCQmlWidgetHolder_h
+
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
+#include <QWidget>
+
+#include "ui_QGCQmlWidgetHolder.h"
+#include "AutoPilotPlugin.h"
+
+namespace Ui {
+class QGCQmlWidgetHolder;
+}
+
+/// This is used to create widgets which are implemented in QML.
+
+class QGCQmlWidgetHolder : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCQmlWidgetHolder(QWidget *parent = 0);
+    ~QGCQmlWidgetHolder();
+    
+    /// Sets the UAS into the widget which in turn will load facts into the context
+    void setAutoPilot(AutoPilotPlugin* autoPilot);
+
+    /// Sets the QML into the control
+    void setSource(const QUrl& qmlUrl);
+
+private:
+    Ui::QGCQmlWidgetHolder _ui;
+};
+
+#endif
diff --git a/src/QGCQmlWidgetHolder.ui b/src/QGCQmlWidgetHolder.ui
new file mode 100644
index 0000000..0a000a7
--- /dev/null
+++ b/src/QGCQmlWidgetHolder.ui
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCQmlWidgetHolder</class>
+ <widget class="QWidget" name="QGCQmlWidgetHolder">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGCQuickWidget" name="qmlWidget" native="true"/>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QGCQuickWidget</class>
+   <extends>QQuickWidget</extends>
+   <header>QGCQuickWidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/src/VehicleSetup/SetupView.cc b/src/VehicleSetup/SetupView.cc
index caebee6..3718e29 100644
--- a/src/VehicleSetup/SetupView.cc
+++ b/src/VehicleSetup/SetupView.cc
@@ -142,13 +142,15 @@ void SetupView::_setupButtonClicked(const QVariant& component)
     VehicleComponent* vehicle = qobject_cast<VehicleComponent*>(component.value<QObject*>());
     Q_ASSERT(vehicle);
     
-    SetupWidgetHolder* dialog = new SetupWidgetHolder(MainWindow::instance());
-    dialog->setModal(true);
-    dialog->setWindowTitle(vehicle->name());
+    SetupWidgetHolder dialog(MainWindow::instance());
+    dialog.setModal(true);
+    dialog.setWindowTitle(vehicle->name());
     
     QWidget* setupWidget = vehicle->setupWidget();
-    qDebug() << setupWidget->minimumSize();
-    dialog->resize(setupWidget->minimumSize());
-    dialog->setInnerWidget(setupWidget);
-    dialog->exec();
+    
+    dialog.resize(setupWidget->minimumSize());
+    dialog.setInnerWidget(setupWidget);
+    dialog.exec();
+    
+    delete setupWidget;
 }
diff --git a/src/VehicleSetup/VehicleComponent.cc b/src/VehicleSetup/VehicleComponent.cc
index 0bb5eb9..956e607 100644
--- a/src/VehicleSetup/VehicleComponent.cc
+++ b/src/VehicleSetup/VehicleComponent.cc
@@ -25,13 +25,18 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "VehicleComponent.h"
+#include "AutoPilotPlugin.h"
 
-VehicleComponent::VehicleComponent(UASInterface* uas, QObject* parent) :
+VehicleComponent::VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent) :
     QObject(parent),
     _uas(uas),
-    _paramMgr(_uas->getParamManager())
+    _autopilot(autopilot)
 {
+    Q_ASSERT(uas);
+    Q_ASSERT(autopilot);
     
+    _paramMgr = _uas->getParamManager();
+    Q_ASSERT(_paramMgr);
 }
 
 VehicleComponent::~VehicleComponent()
diff --git a/src/VehicleSetup/VehicleComponent.h b/src/VehicleSetup/VehicleComponent.h
index 48c5c69..4c603b4 100644
--- a/src/VehicleSetup/VehicleComponent.h
+++ b/src/VehicleSetup/VehicleComponent.h
@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef VEHICLECOMPONENT_H
 #define VEHICLECOMPONENT_H
 
@@ -30,11 +33,10 @@
 
 #include "UASInterface.h"
 
-/// @file
-///     @brief Vehicle Component class. A vehicle component is an object which
-///             abstracts the physical portion of a vehicle into a set of
-///             configurable values and user interface.
-///     @author Don Gagne <don@thegagnes.com>
+class AutoPilotPlugin;
+
+/// A vehicle component is an object which abstracts the physical portion of a vehicle into a set of
+/// configurable values and user interface.
 
 class VehicleComponent : public QObject
 {
@@ -50,7 +52,7 @@ class VehicleComponent : public QObject
     Q_PROPERTY(QVariantList summaryItems READ summaryItems CONSTANT);
     
 public:
-    VehicleComponent(UASInterface* uas, QObject* parent = NULL);
+    VehicleComponent(UASInterface* uas, AutoPilotPlugin* autopilot, QObject* parent = NULL);
     ~VehicleComponent();
     
     virtual QString name(void) const = 0;
@@ -70,6 +72,7 @@ signals:
     
 protected:
     UASInterface*                   _uas;
+    AutoPilotPlugin*                _autopilot;
     QGCUASParamManagerInterface*    _paramMgr;
 };