diff --git a/ChangeLog.md b/ChangeLog.md
index 8949f05..acda03b 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -13,6 +13,7 @@ Note: This file only contains high level features or important fixes.
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
 ### 3.5.1 - Not yet released
+* Fix visibility of PX4/ArduPilot logo in toolbar
 * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.
 
 ### 3.5.0 - Stable
diff --git a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
index 4d080ce..b2c4785 100644
--- a/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
+++ b/src/AutoPilotPlugins/APM/APMAirframeComponent.cc
@@ -43,8 +43,7 @@ QString APMAirframeComponent::name(void) const
 
 QString APMAirframeComponent::description(void) const
 {
-    return tr("Airframe Setup is used to select the airframe which matches your vehicle. "
-              "You can also the load default parameter values associated with known vehicle types.");
+    return tr("Airframe Setup is used to select the airframe which matches your vehicle.");
 }
 
 QString APMAirframeComponent::iconResource(void) const
diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index 5841b02..51c7bcc 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -52,7 +52,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -74,8 +74,9 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
-                "default":          0,
+                "units":            "deg",
+                "nanUnchanged":     true,
+                "default":          null,
                 "decimalPlaces":    2
             }
         },
@@ -100,7 +101,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -128,7 +129,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -158,7 +159,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
@@ -180,7 +181,7 @@
             },
             "param4": {
                 "label":            "Heading",
-                "units":            "radians",
+                "units":            "deg",
                 "nanUnchanged":     true,
                 "default":          null,
                 "decimalPlaces":    2
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index c1e3fd4..be20eaa 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -451,7 +451,9 @@ int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QS
 int MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i)
 {
     int sequenceNumber = _nextSequenceNumber();
-    bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) || qobject_cast<CorridorScanComplexItem*>(complexItem);
+    bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
+                            qobject_cast<CorridorScanComplexItem*>(complexItem) ||
+                            qobject_cast<StructureScanComplexItem*>(complexItem);
 
     if (surveyStyleItem) {
         bool rollSupported  = false;
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 08c3c26..e02d602 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1901,10 +1901,6 @@ void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
 
     _links.removeOne(link);
 
-    if (_priorityLink.data() == link) {
-        _priorityLink.clear();
-    }
-
     _updatePriorityLink(true /* updateActive */, true /* sendCommand */);
 
     if (_links.count() == 0 && !_allLinksInactiveSent) {
diff --git a/src/ui/toolbar/GPSRTKIndicator.qml b/src/ui/toolbar/GPSRTKIndicator.qml
index 767278b..38461c1 100644
--- a/src/ui/toolbar/GPSRTKIndicator.qml
+++ b/src/ui/toolbar/GPSRTKIndicator.qml
@@ -21,7 +21,7 @@ import QGroundControl.Palette               1.0
 //-- GPS Indicator
 Item {
     id:             satelitte
-    width:          (gpsValuesColumn.x + gpsValuesColumn.width) * 1.1
+    width:          visible ? (gpsValuesColumn.x + gpsValuesColumn.width) * 1.1 : 0
     anchors.top:    parent.top
     anchors.bottom: parent.bottom
     visible:        QGroundControl.gpsRtk.connected.value
diff --git a/src/ui/toolbar/LinkIndicator.qml b/src/ui/toolbar/LinkIndicator.qml
index a7238d4..f66fc99 100644
--- a/src/ui/toolbar/LinkIndicator.qml
+++ b/src/ui/toolbar/LinkIndicator.qml
@@ -23,7 +23,8 @@ import QGroundControl.Vehicle               1.0
 Item {
     anchors.top:    parent.top
     anchors.bottom: parent.bottom
-    width:          priorityLinkSelector.width
+    width:          visible ? priorityLinkSelector.width : 0
+    visible:        _visible
 
     property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
     property bool _visible: false
@@ -34,7 +35,6 @@ Item {
         font.pointSize:         ScreenTools.mediumFontPointSize
         color:                  qgcPal.buttonText
         anchors.verticalCenter: parent.verticalCenter
-        visible:                _visible
         Menu {
             id: linkSelectionMenu
         }