diff --git a/src/QGCCore.cc b/src/QGCCore.cc
index 571c252..d7593b1 100644
--- a/src/QGCCore.cc
+++ b/src/QGCCore.cc
@@ -84,16 +84,20 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
     bool upgraded = false;
     QString lastApplicationVersion("");
-    if (settings.contains("QGC_APPLICATION_VERSION")) {
+    if (settings.contains("QGC_APPLICATION_VERSION"))
+    {
         QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
-        if (qgcVersion != QGC_APPLICATION_VERSION) {
+        if (qgcVersion != QGC_APPLICATION_VERSION)
+        {
             lastApplicationVersion = qgcVersion;
             settings.clear();
             // Write current application version
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;
         }
-    } else {
+    }
+    else
+    {
         // If application version is not set, clear settings anyway
         settings.clear();
         // Write current application version
@@ -117,7 +121,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // Load application font
     QFontDatabase fontDatabase = QFontDatabase();
     const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
-    const QString fontFamilyName = "Bitstream Vera Sans";
+    //const QString fontFamilyName = "Bitstream Vera Sans";
     if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
     fontDatabase.addApplicationFont(fontFileName);
     // Avoid Using setFont(). In the Qt docu you can read the following:
@@ -132,9 +136,6 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     splashScreen->showMessage(tr("Starting UAS Manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
     startUASManager();
 
-    //tarsus = new ViconTarsusProtocol();
-    //tarsus->start();
-
     // Start the user interface
     splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
     // Start UI
@@ -143,21 +144,18 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // to make sure that all components are initialized when the
     // first messages arrive
     UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
-	MainWindow::instance()->addLink(udpLink);
+    MainWindow::instance()->addLink(udpLink);
     // Listen on Multicast-Address 239.255.77.77, Port 14550
     //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
     //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
-    //mainWindow->addLink(udpLink);
 
 #ifdef OPAL_RT
     // Add OpalRT Link, but do not connect
     OpalLink* opalLink = new OpalLink();
-    //mainWindow->addLink(opalLink);
+    MainWindow::instance()->addLink(opalLink);
 #endif
-    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     simulationLink->disconnect();
-    //mainWindow->addLink(simulationLink);
 
     mainWindow = MainWindow::instance(splashScreen);
 
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index a9d5137..e4dc520 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -63,11 +63,16 @@ LinkManager::LinkManager()
 LinkManager::~LinkManager()
 {
     disconnectAll();
+    foreach (LinkInterface* link, links)
+    {
+        if(link) link->deleteLater();
+    }
 }
 
 void LinkManager::add(LinkInterface* link)
 {
-    if (!links.contains(link)) {
+    if (!links.contains(link))
+    {
         if(!link) return;
         connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
         links.append(link);
@@ -85,7 +90,8 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
 
     // If protocol has not been added before (list length == 0)
     // OR if link has not been added to protocol, add
-    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0) {
+    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0)
+    {
         // Protocol is new, add
         connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
         // Store the connection information in the protocol links map
@@ -104,7 +110,8 @@ bool LinkManager::connectAll()
 {
     bool allConnected = true;
 
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         if(!link) {}
         else if(!link->connect()) allConnected = false;
     }
@@ -116,7 +123,8 @@ bool LinkManager::disconnectAll()
 {
     bool allDisconnected = true;
 
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         //static int i=0;
         if(!link) {}
         else if(!link->disconnect()) allDisconnected = false;
@@ -140,22 +148,27 @@ bool LinkManager::disconnectLink(LinkInterface* link)
 void LinkManager::removeLink(QObject* link)
 {
     LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
-    if (linkInterface) {
+    if (linkInterface)
+    {
         removeLink(linkInterface);
     }
 }
 
 bool LinkManager::removeLink(LinkInterface* link)
 {
-    if(link) {
-        for (int i=0; i < QList<LinkInterface*>(links).size(); i++) {
-            if(link==links.at(i)) {
+    if(link)
+    {
+        for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
+        {
+            if(link==links.at(i))
+            {
                 links.removeAt(i); //remove from link list
             }
         }
         // Remove link from protocol map
         QList<ProtocolInterface* > protocols = protocolLinks.keys(link);
-        foreach (ProtocolInterface* proto, protocols) {
+        foreach (ProtocolInterface* proto, protocols)
+        {
             protocolLinks.remove(proto, link);
         }
         return true;
@@ -171,7 +184,8 @@ bool LinkManager::removeLink(LinkInterface* link)
  */
 LinkInterface* LinkManager::getLinkForId(int id)
 {
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         if (link->getId() == id) return link;
     }
     return NULL;
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 38f6529..dfef647 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -470,7 +470,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
 void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Create buffer
-    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+    static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Rewriting header to ensure correct link ID is set
     static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
     if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
@@ -491,12 +491,14 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
  */
 void MAVLinkProtocol::sendHeartbeat()
 {
-    if (m_heartbeatsEnabled) {
+    if (m_heartbeatsEnabled)
+    {
         mavlink_message_t beat;
         mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
         sendMessage(beat);
     }
-    if (m_authEnabled) {
+    if (m_authEnabled)
+    {
         mavlink_message_t msg;
         mavlink_auth_key_t auth;
         if (m_authKey.length() != MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN) m_authKey.resize(MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN);
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index ba21ad0..e268f8a 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -84,15 +84,19 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     // Comments on the variables can be found in the header file
 
     simulationFile = new QFile(readFile, this);
-    if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text)) {
+    if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text))
+    {
         simulationHeader = simulationFile->readLine();
     }
     receiveFile = new QFile(writeFile, this);
     lastSent = QGC::groundTimeMilliseconds();
 
-    if (simulationFile->exists()) {
+    if (simulationFile->exists())
+    {
         this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName();
-    } else {
+    }
+    else
+    {
         this->name = "MAVLink simulation link";
     }
 
@@ -111,6 +115,11 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink()
     //TODO Check destructor
     //    fileStream->flush();
     //    outStream->flush();
+    // Force termination, there is no
+    // need for cleanup since
+    // this thread is not manipulating
+    // any relevant data
+    terminate();
     delete simulationFile;
 }
 
@@ -124,28 +133,26 @@ void MAVLinkSimulationLink::run()
     system.custom_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_SAFETY_ARMED;
     system.system_status = MAV_STATE_UNINIT;
 
-    forever {
-
+    forever
+    {
         static quint64 last = 0;
 
-        if (QGC::groundTimeMilliseconds() - last >= rate) {
-            if (_isConnected) {
+        if (QGC::groundTimeMilliseconds() - last >= rate)
+        {
+            if (_isConnected)
+            {
                 mainloop();
-
-                // FIXME Hacky code to read from packet log file
-//                readyBufferMutex.lock();
-//                for (int i = 0; i < streampointer; i++)
-//                {
-//                    readyBuffer.enqueue(*(stream + i));
-//                }
-//                readyBufferMutex.unlock();
-
                 readBytes();
             }
+            else
+            {
+                // Sleep for substantially longer
+                // if not connected
+                QGC::SLEEP::msleep(500);
+            }
             last = QGC::groundTimeMilliseconds();
         }
         QGC::SLEEP::msleep(3);
-
     }
 }
 
@@ -157,7 +164,8 @@ void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
 
     // Pack to link buffer
     readyBufferMutex.lock();
-    for (unsigned int i = 0; i < bufferlength; i++) {
+    for (unsigned int i = 0; i < bufferlength; i++)
+    {
         readyBuffer.enqueue(*(buf + i));
     }
     readyBufferMutex.unlock();
@@ -217,14 +225,17 @@ void MAVLinkSimulationLink::mainloop()
 
     static int state = 0;
 
-    if (state == 0) {
+    if (state == 0)
+    {
         state++;
     }
 
 
     // 50 HZ TASKS
-    if (rate50hzCounter == 1000 / rate / 40) {
-        if (simulationFile->isOpen()) {
+    if (rate50hzCounter == 1000 / rate / 40)
+    {
+        if (simulationFile->isOpen())
+        {
             if (simulationFile->atEnd()) {
                 // We reached the end of the file, start from scratch
                 simulationFile->reset();
@@ -916,7 +927,8 @@ void MAVLinkSimulationLink::readBytes()
 bool MAVLinkSimulationLink::disconnect()
 {
 
-    if(isConnected()) {
+    if(isConnected())
+    {
         //        timer->stop();
 
         _isConnected = false;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 10f99c3..d07863c 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -142,7 +142,8 @@ void UAS::readSettings()
     this->name = settings.value("NAME", this->name).toString();
     this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
     this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
-    if (settings.contains("BATTERY_SPECS")) {
+    if (settings.contains("BATTERY_SPECS"))
+    {
         setBatterySpecs(settings.value("BATTERY_SPECS").toString());
     }
     settings.endGroup();
@@ -1479,9 +1480,11 @@ void UAS::sendMessage(mavlink_message_t message)
     // Emit message on all links that are currently connected
     foreach (LinkInterface* link, *links)
     {
+        qDebug() << "ITERATING THROUGH LINKS";
         if (link)
         {
             sendMessage(link, message);
+            qDebug() << "SENT MESSAGE";
         }
         else
         {
@@ -1716,6 +1719,7 @@ void UAS::requestParameters()
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
     sendMessage(msg);
+    qDebug() << __FILE__ << __LINE__ << "LOADING PARAM LIST";
 }
 
 void UAS::writeParametersToStorage()
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 88a5966..9dd8312 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -234,8 +234,21 @@ MainWindow::MainWindow(QWidget *parent):
 
 MainWindow::~MainWindow()
 {
-    delete mavlink;
-    delete joystick;
+    if (mavlink)
+    {
+        delete mavlink;
+        mavlink = NULL;
+    }
+//    if (simulationLink)
+//    {
+//        simulationLink->deleteLater();
+//        simulationLink = NULL;
+//    }
+    if (joystick)
+    {
+        delete joystick;
+        joystick = NULL;
+    }
 
     // Get and delete all dockwidgets and contained
     // widgets
@@ -252,10 +265,12 @@ MainWindow::~MainWindow()
             // removeDockWidget(dockWidget);
             // delete dockWidget->widget();
             delete dockWidget;
+            dockWidget = NULL;
         }
-        else if (dynamic_cast<QObject*>(*i))
+        else if (dynamic_cast<QWidget*>(*i))
         {
-            delete dynamic_cast<QObject*>(*i);
+            delete dynamic_cast<QWidget*>(*i);
+            *i = NULL;
         }
     }
     // Delete all UAS objects
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index eccfa4e..565d16f 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -95,23 +95,27 @@ public:
     static MainWindow* instance(QSplashScreen* screen = 0);
     ~MainWindow();
 
-    enum QGC_MAINWINDOW_STYLE {
+    enum QGC_MAINWINDOW_STYLE
+    {
         QGC_MAINWINDOW_STYLE_NATIVE,
         QGC_MAINWINDOW_STYLE_INDOOR,
         QGC_MAINWINDOW_STYLE_OUTDOOR
     };
 
     /** @brief Get current visual style */
-    int getStyle() {
+    int getStyle()
+    {
         return currentStyle;
     }
     /** @brief Get auto link reconnect setting */
-    bool autoReconnectEnabled() {
+    bool autoReconnectEnabled()
+    {
         return autoReconnect;
     }
 
     /** @brief Get low power mode setting */
-    bool lowPowerModeEnabled() {
+    bool lowPowerModeEnabled()
+    {
         return lowPowerMode;
     }
 
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 31fe803..3115690 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -590,7 +590,6 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
  */
 void QGCParamWidget::requestParameterList()
 {
-    qDebug() << "LOADING PARAM LIST";
     if (!mav) return;
     // FIXME This call does not belong here
     // Once the comm handling is moved to a new
@@ -606,7 +605,8 @@ void QGCParamWidget::requestParameterList()
     // Clear transmission state
     transmissionListMode = true;
     transmissionListSizeKnown.clear();
-    foreach (int key, transmissionMissingPackets.keys()) {
+    foreach (int key, transmissionMissingPackets.keys())
+    {
         transmissionMissingPackets.value(key)->clear();
     }
     transmissionActive = true;
diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
index 74becbd..3bf0f4f 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -80,6 +80,7 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
     ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
     ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO);
     ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START);
+    ui->editCommandComboBox->addItem("MAV_CMD_COMPONENT_ARM_DISARM", MAV_CMD_COMPONENT_ARM_DISARM);
     ui->editCommandComboBox->setEditable(true);
 }
 
@@ -136,6 +137,7 @@ void QGCCommandButton::startEditMode()
     ui->commandButton->hide();
     ui->nameLabel->hide();
 
+    ui->editCommandComboBox->blockSignals(false);
     ui->editCommandComboBox->show();
     ui->editFinishButton->show();
     ui->editNameLabel->show();
@@ -158,6 +160,7 @@ void QGCCommandButton::startEditMode()
 
 void QGCCommandButton::endEditMode()
 {
+    ui->editCommandComboBox->blockSignals(true);
     ui->editCommandComboBox->hide();
     ui->editFinishButton->hide();
     ui->editNameLabel->hide();
diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/include/common/common.h
index 3f550e6..4901cf3 100644
--- a/thirdParty/mavlink/include/common/common.h
+++ b/thirdParty/mavlink/include/common/common.h
@@ -283,7 +283,8 @@ enum MAV_CMD
 	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
 	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
 	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_ENUM_END=301, /*  | */
+	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	MAV_CMD_ENUM_END=401, /*  | */
 };
 #endif
 
diff --git a/thirdParty/mavlink/include/common/version.h b/thirdParty/mavlink/include/common/version.h
index 7b9daa4..49e7ff0 100644
--- a/thirdParty/mavlink/include/common/version.h
+++ b/thirdParty/mavlink/include/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Feb 25 17:32:04 2012"
+#define MAVLINK_BUILD_DATE "Sun Feb 26 16:49:33 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/thirdParty/mavlink/include/pixhawk/version.h b/thirdParty/mavlink/include/pixhawk/version.h
index 2f8836e..966aaed 100644
--- a/thirdParty/mavlink/include/pixhawk/version.h
+++ b/thirdParty/mavlink/include/pixhawk/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sat Feb 25 17:32:04 2012"
+#define MAVLINK_BUILD_DATE "Sun Feb 26 16:49:33 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml
index 9abc275..faa9f8a 100644
--- a/thirdParty/mavlink/message_definitions/common.xml
+++ b/thirdParty/mavlink/message_definitions/common.xml
@@ -668,6 +668,10 @@
                     <param index="1">first_item: the first mission item to run</param>
                     <param index="2">last_item:  the last mission item to run (after this item is run, the mission ends)</param>
                </entry>
+              <entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM">
+                  <description>Arms / Disarms a component</description>
+                  <param index="1">1 to arm, 0 to disarm</param>
+              </entry>
           </enum>
           <enum name="MAV_DATA_STREAM">
                <description>Data stream IDs. A data stream is not a fixed set of messages, but rather a