diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index d0f6d16..0574c1e 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UDPLink.h"
 #include "LinkManager.h"
 #include "MG.h"
-#include <netinet/in.h>
+//#include <netinet/in.h>
 
 UDPLink::UDPLink(QHostAddress host, quint16 port)
 {
diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index 5fcbc0f..56ed826 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -1,26 +1,3 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 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/>.
-
-======================================================================*/
-
 #include "SlugsMAV.h"
 
 #include <QDebug>
@@ -29,8 +6,6 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
         UAS(mavlink, id)//,
         // Place other initializers here
 {
-
-
 }
 
 /**
@@ -55,7 +30,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         }
 
-#ifdef MAVLINK_ENABLED_SLUGS
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
 
     case MAVLINK_MSG_ID_CPU_LOAD:
         {
@@ -67,7 +42,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, tr("ControlDSC Load"), cpu_load.ctrlLoad, time);
                 emit valueChanged(uasId, tr("Battery Volt"), cpu_load.batVolt, time);
 
-                emit newCpuLoad (uasId, &cpu_load);
+                emit slugsCPULoad(uasId,
+                                  cpu_load.sensLoad,
+                                  cpu_load.ctrlLoad,
+                                  cpu_load.batVolt,
+                                  time);
 
             break;
         }
@@ -80,6 +59,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, tr("Static Pressure"),air_data.staticPressure, time);
                 emit valueChanged(uasId, tr("Temp"),air_data.temperature,time);
 
+                emit slugsAirData(uasId,
+                                  air_data.dynamicPressure,
+                                  air_data.staticPressure,
+                                  air_data.temperature,
+                                  time);
+
             break;
         }
     case MAVLINK_MSG_ID_SENSOR_BIAS:
@@ -94,6 +79,16 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,tr("Gy Bias"),sensor_bias.gyBias,time);
                 emit valueChanged(uasId,tr("Gz Bias"),sensor_bias.gzBias,time);
 
+                emit slugsSensorBias(uasId,
+                                     sensor_bias.axBias,
+                                     sensor_bias.ayBias,
+                                     sensor_bias.azBias,
+                                     sensor_bias.gxBias,
+                                     sensor_bias.gyBias,
+                                     sensor_bias.gzBias,
+                                     time);
+
+
             break;
         }
     case MAVLINK_MSG_ID_DIAGNOSTIC:
@@ -108,6 +103,14 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,tr("Diag S2"),diagnostic.diagSh2,time);
                 emit valueChanged(uasId,tr("Diag S3"),diagnostic.diagSh3,time);
 
+                emit slugsDiagnostic(uasId,
+                                     diagnostic.diagFl1,
+                                     diagnostic.diagFl2,
+                                     diagnostic.diagFl3,
+                                     diagnostic.diagSh1,
+                                     diagnostic.diagSh2,
+                                     diagnostic.diagSh3);
+
             break;
         }
     case MAVLINK_MSG_ID_PILOT_CONSOLE:
@@ -121,6 +124,15 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,"dr",pilot.dr,time);
                 emit valueChanged(uasId,"de",pilot.de,time);
 
+                emit slugsPilotConsolePWM(uasId,
+                                          pilot.dt,
+                                          pilot.dla,
+                                          pilot.dra,
+                                          pilot.dr,
+                                          pilot.de,
+                                          time);
+
+
             break;
         }
     case MAVLINK_MSG_ID_PWM_COMMANDS:
@@ -139,6 +151,19 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,"da1_c",pwm.aux1,time);
                 emit valueChanged(uasId,"da2_c",pwm.aux2,time);
 
+                emit slugsPWM(uasId,
+                              pwm.dt_c,
+                              pwm.dla_c,
+                              pwm.dra_c,
+                              pwm.dr_c,
+                              pwm.dle_c,
+                              pwm.dre_c,
+                              pwm.dlf_c,
+                              pwm.drf_c,
+                              pwm.aux1,
+                              pwm.aux2,
+                              time);
+
 
             break;
         }
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index d112989..135cd28 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -383,6 +383,62 @@ signals:
      * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
      */
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
+
+
+    // ESPECIAL SLUGS MESSAGE
+    void slugsCPULoad(UASInterface* uas,
+                      uint8_t sensLoad,
+                      uint8_t ctrlLoad,
+                      uint8_t batVolt,
+                      quint64 time);
+
+    void slugsAirData(UASInterface* uas,
+                      float dinamicPressure,
+                      float staticPresure,
+                      uint16_t temperature,
+                      quint64 time);
+
+    void slugsSensorBias(UASInterface* uas,
+                         double axBias,
+                         double ayBias,
+                         double azBias,
+                         double gxBias,
+                         double gyBias,
+                         double gzBias,
+                         quint64 time);
+
+    void slugsDiagnostic(UASInterface* uas,
+                         double diagFl1,
+                         double diagFl2,
+                         double diagFl3,
+                         int16_t diagSh1,
+                         int16_t diagSh2,
+                         int16_t diagSh3,
+                         quint64 time);
+
+    void slugsPilotConsolePWM(UASInterface* uas,
+                              uint16_t dt,
+                              uint16_t dla,
+                              uint16_t dra,
+                              uint16_t dr,
+                              uint16_t de,
+                              quint64 time);
+
+    void slugsPWM(UASInterface* uas,
+                  uint16_t dt_c,
+                  uint16_t dla_c,
+                  uint16_t dra_c,
+                  uint16_t dr_c,
+                  uint16_t dle_c,
+                  uint16_t dre_c,
+                  uint16_t dlf_c,
+                  uint16_t drf_c,
+                  uint16_t da1_c,
+                  uint16_t da2_c,
+                  quint64 time);
+
+
+
 };
 
 Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 2703aa3..1c725ea 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -181,6 +181,7 @@ void MainWindow::buildWidgets()
     slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
 
+
 }
 
 /**
@@ -540,7 +541,17 @@ void MainWindow::UASCreated(UASInterface* uas)
         PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
         if (mav) loadPixhawkView();
         SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-        if (mav2) loadSlugsView();
+        if (mav2)
+        {
+            SlugsDataSensorView* slugDataView = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+            if(slugDataView)
+            {
+                slugDataView->addUAS(uas);
+            }
+            loadSlugsView();
+        }
+
+
 
     }
 }
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index a83c229..b70a853 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -47,12 +47,11 @@ void SlugsDataSensorView::loadParameters()
     Axb = 0;
     Ayb = 0;
     Azb = 0;
-    TimeActualAcel = 0;
     //Gyro
     Gxb = 0;
     Gyb = 0;
     Gzb = 0;
-    TimeActualGyro = 0;
+    TimeActualBias = 0;
 
 }
 
@@ -68,7 +67,7 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChange(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(sensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsSensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(slugsSensorBias(UASInterface*,double,double,double,double,double,double,quint64)), this, SLOT(slugsSensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)));
 
         // Set this UAS as active if it is the first one
         if(activeUAS == 0)
@@ -81,35 +80,48 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
 void SlugsDataSensorView::setActiveUAS(UASInterface* uas)
 {
     activeUAS = uas;
+
+
 }
 
 
 void SlugsDataSensorView::refresh()
 {
+    if(activeUAS)
+    {
 
-    //refresh UI position data
-    ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
-    ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
-    ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
-
-    //refresh UI speed position data
-    ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
-    ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
-    ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
-
-    //refresh UI attitude data
-    ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
-    ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
-    ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
+            //refresh UI position data
+            ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
+            ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
+            ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
+
+            //refresh UI speed position data
+            ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
+            ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
+            ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
+
+            //refresh UI attitude data
+            ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
+            ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
+            ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
+
+            //refresh UI sensor bias acelerometer data
+            ui->m_SlugsAxBiases_textEdit->setText(QString::number(Axb, 'f', 4));
+            ui->m_SlugsAyBiases_textEdit->setText(QString::number(Ayb, 'f', 4));
+            ui->m_SlugsAzBiases_textEdit->setText(QString::number(Azb, 'f', 4));
+            ui->m_SlugsGxBiases_textEdit->setText(QString::number(Gxb, 'f', 4));
+            ui->m_SlugsGyBiases_textEdit->setText(QString::number(Gyb, 'f', 4));
+            ui->m_SlugsGzBiases_textEdit->setText(QString::number(Gzb, 'f', 4));
 
-    //refresh UI sensor bias acelerometer data
-    ui->m_SlugsAxBiases_textEdit->setText(QString::number(Axb, 'f', 4));
-    ui->m_SlugsAyBiases_textEdit->setText(QString::number(Ayb, 'f', 4));
-    ui->m_SlugsAzBiases_textEdit->setText(QString::number(Azb, 'f', 4));
+    }
 
 }
 
-void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp, double x, double y, double z, quint64 time)
+void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp,
+                                                   double x,
+                                                   double y,
+                                                   double z,
+                                                   quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -120,7 +132,11 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp, doubl
 
 }
 
-void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp, double vx, double vy, double vz, quint64 time)
+void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp,
+                                                        double vx,
+                                                        double vy,
+                                                        double vz,
+                                                        quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -130,7 +146,11 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp, d
     TimeActualSpeed = time;
 }
 
-void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp, double slugroll, double slugpitch, double slugyaw, quint64 time)
+void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp,
+                                              double slugroll,
+                                              double slugpitch,
+                                              double slugyaw,
+                                              quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -140,14 +160,24 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp, double slug
     TimeActualAttitude = time;
 }
 
-void SlugsDataSensorView::slugsSensorBiasAcelerometerChanged(UASInterface *uasTemp, double axb, double ayb, double azb, quint64 time)
+void SlugsDataSensorView::slugsSensorBiasChanged(UASInterface *uasTemp,
+                                                 double axb,
+                                                 double ayb,
+                                                 double azb,
+                                                 double gxb,
+                                                 double gyb,
+                                                 double gzb,
+                                                 quint64 time)
 {
      Q_UNUSED( uasTemp);
 
      Axb = axb;
      Ayb = ayb;
      Azb = azb;
-     TimeActualAcel = time;
+     Gxb = gxb;
+     Gyb = gyb;
+     Gzb = gzb;
+     TimeActualBias = time;
 
 
 }
diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h
index df0347c..9b51b95 100644
--- a/src/ui/SlugsDataSensorView.h
+++ b/src/ui/SlugsDataSensorView.h
@@ -75,10 +75,35 @@ public slots:
     void refresh();
 
 
-    void slugLocalPositionChanged(UASInterface* uasTemp,double x,double y,double z,quint64 time);
-    void slugSpeedLocalPositionChanged(UASInterface* uasTemp,double vx,double vy,double vz,quint64 time);
-    void slugAttitudeChanged(UASInterface* uasTemp,double slugroll,double slugpitch,double slugyaw, quint64 time);
-    void slugsSensorBiasAcelerometerChanged(UASInterface* uasTemp, double axb, double ayb, double azb, quint64 time);
+
+
+
+    void slugLocalPositionChanged(UASInterface* uasTemp,
+                                  double x,
+                                  double y,
+                                  double z,
+                                  quint64 time);
+
+    void slugSpeedLocalPositionChanged(UASInterface* uasTemp,
+                                       double vx,
+                                       double vy,
+                                       double vz,
+                                       quint64 time);
+
+    void slugAttitudeChanged(UASInterface* uasTemp,
+                             double slugroll,
+                             double slugpitch,
+                             double slugyaw,
+                             quint64 time);
+
+    void slugsSensorBiasChanged(UASInterface* uasTemp,
+                                            double axb,
+                                            double ayb,
+                                            double azb,
+                                            double gxb,
+                                            double gyb,
+                                            double gzb,
+                                            quint64 time);
 
 protected:
     QTimer* updateTimer;
@@ -106,12 +131,14 @@ protected:
      double Axb;
      double Ayb;
      double Azb;
-     quint64 TimeActualAcel;
+
      //Gyro
      double Gxb;
      double Gyb;
      double Gzb;
-      quint64 TimeActualGyro;
+     quint64 TimeActualBias;
+
+     //
 
 
 
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index 7a22e95..9ecc9a5 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>323</width>
-    <height>610</height>
+    <width>335</width>
+    <height>646</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -31,15 +31,471 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_4">
-   <property name="margin">
-    <number>0</number>
+  <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>10</y>
+     <width>317</width>
+     <height>628</height>
+    </rect>
    </property>
-   <property name="spacing">
-    <number>0</number>
+   <property name="currentIndex">
+    <number>3</number>
    </property>
-   <item row="2" column="0">
+   <widget class="QWidget" name="tab">
+    <attribute name="title">
+     <string>Position</string>
+    </attribute>
+    <widget class="QGroupBox" name="position_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>9</y>
+       <width>293</width>
+       <height>108</height>
+      </rect>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>10</pointsize>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="title">
+      <string>Position</string>
+     </property>
+     <widget class="QLabel" name="label">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>26</y>
+        <width>16</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::NoFrame</enum>
+      </property>
+      <property name="text">
+       <string>X</string>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_x">
+      <property name="geometry">
+       <rect>
+        <x>32</x>
+        <y>26</y>
+        <width>65</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_2">
+      <property name="geometry">
+       <rect>
+        <x>103</x>
+        <y>26</y>
+        <width>16</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="text">
+       <string>Y</string>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_y">
+      <property name="geometry">
+       <rect>
+        <x>126</x>
+        <y>26</y>
+        <width>65</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_3">
+      <property name="geometry">
+       <rect>
+        <x>197</x>
+        <y>26</y>
+        <width>16</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::NoFrame</enum>
+      </property>
+      <property name="text">
+       <string>Z</string>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_z">
+      <property name="geometry">
+       <rect>
+        <x>219</x>
+        <y>26</y>
+        <width>64</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_4">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>65</y>
+        <width>16</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="text">
+       <string>Vx</string>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_5">
+      <property name="geometry">
+       <rect>
+        <x>103</x>
+        <y>65</y>
+        <width>17</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="text">
+       <string>Vy</string>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_vy">
+      <property name="geometry">
+       <rect>
+        <x>126</x>
+        <y>65</y>
+        <width>65</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QLabel" name="label_6">
+      <property name="geometry">
+       <rect>
+        <x>197</x>
+        <y>65</y>
+        <width>16</width>
+        <height>16</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>10</pointsize>
+        <weight>75</weight>
+        <bold>true</bold>
+       </font>
+      </property>
+      <property name="text">
+       <string>Vz</string>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_vz">
+      <property name="geometry">
+       <rect>
+        <x>219</x>
+        <y>65</y>
+        <width>64</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+     <widget class="QPlainTextEdit" name="ed_vx">
+      <property name="geometry">
+       <rect>
+        <x>32</x>
+        <y>65</y>
+        <width>65</width>
+        <height>18</height>
+       </rect>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>16777215</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="frameShape">
+       <enum>QFrame::WinPanel</enum>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="readOnly">
+       <bool>true</bool>
+      </property>
+     </widget>
+    </widget>
     <widget class="QGroupBox" name="attitude_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>123</y>
+       <width>293</width>
+       <height>107</height>
+      </rect>
+     </property>
      <property name="minimumSize">
       <size>
        <width>0</width>
@@ -48,15 +504,15 @@
      </property>
      <property name="maximumSize">
       <size>
-       <width>311</width>
-       <height>61</height>
+       <width>16777215</width>
+       <height>16777215</height>
       </size>
      </property>
      <property name="font">
       <font>
        <pointsize>10</pointsize>
-       <weight>50</weight>
-       <bold>false</bold>
+       <weight>75</weight>
+       <bold>true</bold>
       </font>
      </property>
      <property name="title">
@@ -225,56 +681,40 @@
       </item>
      </layout>
     </widget>
-   </item>
-   <item row="3" column="0">
-    <widget class="QGroupBox" name="PWMCommands_groupBox">
+    <widget class="QGroupBox" name="navigation_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>236</y>
+       <width>293</width>
+       <height>108</height>
+      </rect>
+     </property>
      <property name="minimumSize">
       <size>
-       <width>311</width>
-       <height>171</height>
+       <width>0</width>
+       <height>0</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
-       <width>311</width>
-       <height>171</height>
+       <width>16777215</width>
+       <height>16777215</height>
       </size>
      </property>
+     <property name="font">
+      <font>
+       <pointsize>10</pointsize>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
      <property name="title">
-      <string>PWM Commands</string>
+      <string>Navigation</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_5">
-      <property name="spacing">
-       <number>6</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_16">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Thro</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QTextEdit" name="m_SlugsThro_textEdit">
+     <layout class="QGridLayout" name="gridLayout_6">
+      <item row="0" column="1">
+       <widget class="QTextEdit" name="m_SlugsUm_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -301,8 +741,8 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="2">
-       <widget class="QTextEdit" name="m_SlugsAile_textEdit">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_27">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -315,22 +755,20 @@
           <height>16777215</height>
          </size>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+        <property name="text">
+         <string>Pitch C</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="2">
-       <widget class="QTextEdit" name="m_SlugsElev_textEdit">
+      <item row="1" column="1">
+       <widget class="QTextEdit" name="m_SlugsPitchC_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -357,8 +795,8 @@
         </property>
        </widget>
       </item>
-      <item row="3" column="2">
-       <widget class="QTextEdit" name="m_SlugsRudd_textEdit">
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_28">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -371,22 +809,20 @@
           <height>16777215</height>
          </size>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+        <property name="text">
+         <string>Psi_d C</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="2">
-       <widget class="QTextEdit" name="m_SlugsFailSafe_textEdit">
+      <item row="2" column="1">
+       <widget class="QTextEdit" name="m_SlugsPsidC_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -413,8 +849,8 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_17">
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_29">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -435,12 +871,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Aile</string>
+         <string>Phi C</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_18">
+      <item row="3" column="1">
+       <widget class="QTextEdit" name="m_SlugsPhiC_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -453,20 +889,22 @@
           <height>16777215</height>
          </size>
         </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+        <property name="frameShape">
+         <enum>QFrame::WinPanel</enum>
         </property>
-        <property name="text">
-         <string>Elev</string>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_19">
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_30">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -487,12 +925,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Rudd</string>
+         <string>Ay body</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_20">
+      <item row="4" column="1">
+       <widget class="QTextEdit" name="m_SlugsAyBody_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -505,20 +943,22 @@
           <height>16777215</height>
          </size>
         </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+        <property name="frameShape">
+         <enum>QFrame::WinPanel</enum>
         </property>
-        <property name="text">
-         <string>FailSafe</string>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="0" column="3">
-       <widget class="QLabel" name="label_21">
+       <widget class="QLabel" name="label_31">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -539,12 +979,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Thro Trim</string>
+         <string>From WP</string>
         </property>
        </widget>
       </item>
       <item row="0" column="4">
-       <widget class="QTextEdit" name="m_SlugsThTrim_textEdit">
+       <widget class="QTextEdit" name="m_SlugsFromWP_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -572,7 +1012,7 @@
        </widget>
       </item>
       <item row="1" column="3">
-       <widget class="QLabel" name="label_22">
+       <widget class="QLabel" name="label_32">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -593,12 +1033,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Aile Trim</string>
+         <string>To WP</string>
         </property>
        </widget>
       </item>
       <item row="1" column="4">
-       <widget class="QTextEdit" name="m_SlugsAileTrim_textEdit">
+       <widget class="QTextEdit" name="m_SlugsToWP_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -625,8 +1065,8 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="3">
-       <widget class="QLabel" name="label_23">
+      <item row="3" column="3">
+       <widget class="QLabel" name="label_33">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -647,12 +1087,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Elev Trim</string>
+         <string>Tot Run</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="4">
-       <widget class="QTextEdit" name="m_SlugsElevTrim_textEdit">
+      <item row="3" column="4">
+       <widget class="QTextEdit" name="m_SlugsTotRun_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -679,8 +1119,8 @@
         </property>
        </widget>
       </item>
-      <item row="3" column="3">
-       <widget class="QLabel" name="label_24">
+      <item row="4" column="3">
+       <widget class="QLabel" name="label_34">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -701,12 +1141,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Rudd Trim</string>
+         <string>Dist to G</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="4">
-       <widget class="QTextEdit" name="m_SlugsRuddTrim_textEdit">
+      <item row="4" column="4">
+       <widget class="QTextEdit" name="m_SlugsDistToGround_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -733,543 +1173,8 @@
         </property>
        </widget>
       </item>
-      <item row="4" column="3">
-       <widget class="QLabel" name="label_25">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Available</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="4">
-       <widget class="QTextEdit" name="m_SlugsAvailable_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="4" column="0">
-    <widget class="QGroupBox" name="navigation_groupBox">
-     <property name="minimumSize">
-      <size>
-       <width>311</width>
-       <height>171</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>311</width>
-       <height>171</height>
-      </size>
-     </property>
-     <property name="title">
-      <string>Navigation</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_6">
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="m_SlugsUm_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_27">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Pitch C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="m_SlugsPitchC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_28">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Psi_d C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="m_SlugsPsidC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_29">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Phi C</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QTextEdit" name="m_SlugsPhiC_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="0">
-       <widget class="QLabel" name="label_30">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Ay body</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="1">
-       <widget class="QTextEdit" name="m_SlugsAyBody_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QLabel" name="label_31">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>From WP</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="4">
-       <widget class="QTextEdit" name="m_SlugsFromWP_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QLabel" name="label_32">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>To WP</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="4">
-       <widget class="QTextEdit" name="m_SlugsToWP_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="3">
-       <widget class="QLabel" name="label_33">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Tot Run</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="4">
-       <widget class="QTextEdit" name="m_SlugsTotRun_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="3">
-       <widget class="QLabel" name="label_34">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Dist to G</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="4">
-       <widget class="QTextEdit" name="m_SlugsDistToGround_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_26">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_26">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1296,378 +1201,476 @@
       </item>
      </layout>
     </widget>
-   </item>
-   <item row="5" column="0">
-    <widget class="QGroupBox" name="sensorBiases_groupBox">
-     <property name="minimumSize">
-      <size>
-       <width>311</width>
-       <height>111</height>
-      </size>
+    <widget class="QGroupBox" name="diagnosticMessages_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>350</y>
+       <width>293</width>
+       <height>107</height>
+      </rect>
      </property>
-     <property name="maximumSize">
-      <size>
-       <width>311</width>
-       <height>111</height>
-      </size>
+     <property name="font">
+      <font>
+       <pointsize>10</pointsize>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
      </property>
      <property name="title">
-      <string>Sensor Biases</string>
+      <string>Diagnostic Messages</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_3">
+     <layout class="QGridLayout" name="gridLayout_8">
       <item row="0" column="0">
-       <widget class="QLabel" name="label_10">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
+       <widget class="QLabel" name="label_35">
         <property name="text">
-         <string>Axb</string>
+         <string>Fl1</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
-       <widget class="QTextEdit" name="m_SlugsAxBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="horizontalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_36">
+        <property name="text">
+         <string>Fl2</string>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_37">
+        <property name="text">
+         <string>Fl3</string>
         </property>
        </widget>
       </item>
       <item row="0" column="2">
-       <widget class="QLabel" name="label_13">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
+       <widget class="QLabel" name="label_38">
         <property name="text">
-         <string>Gxb</string>
+         <string>Sh1</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="3">
-       <widget class="QTextEdit" name="m_SlugsGxBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+      <item row="1" column="2">
+       <widget class="QLabel" name="label_39">
+        <property name="text">
+         <string>Sh2</string>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_40">
+        <property name="text">
+         <string>Sh3</string>
         </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QTextEdit" name="m_SlugsFl1_textEdit">
         <property name="verticalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_11">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+      <item row="1" column="1">
+       <widget class="QTextEdit" name="m_SlugsFl2_textEdit">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="text">
-         <string>Ayb</string>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QTextEdit" name="m_SlugsAyBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
-        </property>
+      <item row="2" column="1">
+       <widget class="QTextEdit" name="m_SlugsFl3_textEdit">
         <property name="verticalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
        </widget>
       </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_14">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+      <item row="0" column="3">
+       <widget class="QTextEdit" name="m_SlugsSh1_textEdit">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="text">
-         <string>Gyb</string>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
        </widget>
       </item>
       <item row="1" column="3">
-       <widget class="QTextEdit" name="m_SlugsGyBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+       <widget class="QTextEdit" name="m_SlugsSh2_textEdit">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QTextEdit" name="m_SlugsSh3_textEdit">
         <property name="verticalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+    <widget class="QGroupBox" name="logMessages_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>463</y>
+       <width>293</width>
+       <height>107</height>
+      </rect>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>10</pointsize>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="title">
+      <string>Log Messages</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_9">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_41">
+        <property name="text">
+         <string>Fl1</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_12">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_42">
+        <property name="text">
+         <string>Fl2</string>
         </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_43">
+        <property name="text">
+         <string>Fl3</string>
         </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_44">
+        <property name="text">
+         <string>Fl4</string>
         </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QLabel" name="label_45">
         <property name="text">
-         <string>Azb</string>
+         <string>Fl5</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
-       <widget class="QTextEdit" name="m_SlugsAzBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_46">
+        <property name="text">
+         <string>Fl6</string>
         </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QTextEdit" name="textEdit">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QTextEdit" name="textEdit_2">
         <property name="verticalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
        </widget>
       </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_15">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
+      <item row="2" column="1">
+       <widget class="QTextEdit" name="textEdit_3">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="font">
-         <font>
-          <pointsize>10</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QTextEdit" name="textEdit_4">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="text">
-         <string>Gzb</string>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
        </widget>
       </item>
-      <item row="2" column="3">
-       <widget class="QTextEdit" name="m_SlugsGzBiases_textEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
+      <item row="1" column="3">
+       <widget class="QTextEdit" name="textEdit_5">
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::WinPanel</enum>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QTextEdit" name="textEdit_6">
         <property name="verticalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
         <property name="horizontalScrollBarPolicy">
          <enum>Qt::ScrollBarAlwaysOff</enum>
         </property>
-        <property name="readOnly">
-         <bool>true</bool>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </widget>
+   <widget class="QWidget" name="tab_3">
+    <attribute name="title">
+     <string>Navigation</string>
+    </attribute>
+    <widget class="QGroupBox" name="gpsData_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>0</x>
+       <y>40</y>
+       <width>301</width>
+       <height>121</height>
+      </rect>
+     </property>
+     <property name="title">
+      <string>GPS Data</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_7">
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_47">
+        <property name="text">
+         <string>Time</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_48">
+        <property name="text">
+         <string>Date</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_49">
+        <property name="text">
+         <string>Longitude</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_50">
+        <property name="text">
+         <string>Latitude</string>
         </property>
        </widget>
       </item>
+      <item row="0" column="1">
+       <widget class="QTextEdit" name="textEdit_7"/>
+      </item>
      </layout>
     </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="position_groupBox">
+   </widget>
+   <widget class="QWidget" name="tab_5">
+    <attribute name="title">
+     <string>Page</string>
+    </attribute>
+    <widget class="QLineEdit" name="lineEdit_2">
+     <property name="geometry">
+      <rect>
+       <x>62</x>
+       <y>99</y>
+       <width>133</width>
+       <height>20</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_54">
+     <property name="geometry">
+      <rect>
+       <x>201</x>
+       <y>99</y>
+       <width>46</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_4">
+     <property name="geometry">
+      <rect>
+       <x>253</x>
+       <y>99</y>
+       <width>133</width>
+       <height>20</height>
+      </rect>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_52">
+     <property name="geometry">
+      <rect>
+       <x>10</x>
+       <y>99</y>
+       <width>46</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_51">
+     <property name="geometry">
+      <rect>
+       <x>13</x>
+       <y>12</y>
+       <width>46</width>
+       <height>16</height>
+      </rect>
+     </property>
      <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>46</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit">
+     <property name="geometry">
+      <rect>
+       <x>65</x>
+       <y>12</y>
+       <width>80</width>
+       <height>19</height>
+      </rect>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>80</width>
        <height>0</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
+       <width>100</width>
+       <height>19</height>
+      </size>
+     </property>
+    </widget>
+    <widget class="QLabel" name="label_53">
+     <property name="geometry">
+      <rect>
+       <x>150</x>
+       <y>10</y>
+       <width>46</width>
+       <height>16</height>
+      </rect>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>46</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+    <widget class="QLineEdit" name="lineEdit_3">
+     <property name="geometry">
+      <rect>
+       <x>200</x>
+       <y>10</y>
+       <width>133</width>
+       <height>20</height>
+      </rect>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>133</width>
+       <height>0</height>
+      </size>
+     </property>
+    </widget>
+   </widget>
+   <widget class="QWidget" name="tab_4">
+    <attribute name="title">
+     <string>Sensor Biases</string>
+    </attribute>
+    <widget class="QGroupBox" name="sensorBiases_groupBox">
+     <property name="geometry">
+      <rect>
+       <x>9</x>
+       <y>237</y>
+       <width>311</width>
+       <height>111</height>
+      </rect>
+     </property>
+     <property name="minimumSize">
+      <size>
        <width>311</width>
-       <height>91</height>
+       <height>111</height>
       </size>
      </property>
-     <property name="font">
-      <font>
-       <weight>50</weight>
-       <bold>false</bold>
-      </font>
+     <property name="maximumSize">
+      <size>
+       <width>311</width>
+       <height>111</height>
+      </size>
      </property>
      <property name="title">
-      <string>Position</string>
+      <string>Sensor Biases</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
+     <layout class="QGridLayout" name="gridLayout_3">
       <item row="0" column="0">
-       <widget class="QLabel" name="label">
+       <widget class="QLabel" name="label_10">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1687,16 +1690,13 @@
           <bold>true</bold>
          </font>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::NoFrame</enum>
-        </property>
         <property name="text">
-         <string>X</string>
+         <string>Axb</string>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
-       <widget class="QPlainTextEdit" name="ed_x">
+       <widget class="QTextEdit" name="m_SlugsAxBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1724,7 +1724,7 @@
        </widget>
       </item>
       <item row="0" column="2">
-       <widget class="QLabel" name="label_2">
+       <widget class="QLabel" name="label_13">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1745,12 +1745,12 @@
          </font>
         </property>
         <property name="text">
-         <string>Y</string>
+         <string>Gxb</string>
         </property>
        </widget>
       </item>
       <item row="0" column="3">
-       <widget class="QPlainTextEdit" name="ed_y">
+       <widget class="QTextEdit" name="m_SlugsGxBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1777,8 +1777,8 @@
         </property>
        </widget>
       </item>
-      <item row="0" column="4">
-       <widget class="QLabel" name="label_3">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_11">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1798,16 +1798,13 @@
           <bold>true</bold>
          </font>
         </property>
-        <property name="frameShape">
-         <enum>QFrame::NoFrame</enum>
-        </property>
         <property name="text">
-         <string>Z</string>
+         <string>Ayb</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="5">
-       <widget class="QPlainTextEdit" name="ed_z">
+      <item row="1" column="1">
+       <widget class="QTextEdit" name="m_SlugsAyBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1834,33 +1831,8 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_4">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Vx</string>
-        </property>
-       </widget>
-      </item>
       <item row="1" column="2">
-       <widget class="QLabel" name="label_5">
+       <widget class="QLabel" name="label_14">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1875,17 +1847,18 @@
         </property>
         <property name="font">
          <font>
+          <pointsize>10</pointsize>
           <weight>75</weight>
           <bold>true</bold>
          </font>
         </property>
         <property name="text">
-         <string>Vy</string>
+         <string>Gyb</string>
         </property>
        </widget>
       </item>
       <item row="1" column="3">
-       <widget class="QPlainTextEdit" name="ed_vy">
+       <widget class="QTextEdit" name="m_SlugsGyBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1912,8 +1885,8 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="4">
-       <widget class="QLabel" name="label_6">
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_12">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1928,17 +1901,18 @@
         </property>
         <property name="font">
          <font>
+          <pointsize>10</pointsize>
           <weight>75</weight>
           <bold>true</bold>
          </font>
         </property>
         <property name="text">
-         <string>Vz</string>
+         <string>Azb</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="5">
-       <widget class="QPlainTextEdit" name="ed_vz">
+      <item row="2" column="1">
+       <widget class="QTextEdit" name="m_SlugsAzBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1965,8 +1939,34 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QPlainTextEdit" name="ed_vx">
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_15">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>10</pointsize>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Gzb</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QTextEdit" name="m_SlugsGzBiases_textEdit">
         <property name="minimumSize">
          <size>
           <width>0</width>
@@ -1995,8 +1995,591 @@
       </item>
      </layout>
     </widget>
-   </item>
-  </layout>
+    <zorder>sensorBiases_groupBox</zorder>
+    <zorder>lineEdit</zorder>
+    <zorder>label_51</zorder>
+    <zorder>lineEdit</zorder>
+    <zorder>lineEdit_2</zorder>
+    <zorder>lineEdit_3</zorder>
+    <zorder>lineEdit_4</zorder>
+    <zorder>label_51</zorder>
+    <zorder>label_52</zorder>
+    <zorder>label_53</zorder>
+    <zorder>label_54</zorder>
+    <zorder>lineEdit</zorder>
+   </widget>
+   <widget class="QWidget" name="tab_2">
+    <attribute name="title">
+     <string>PWM Command</string>
+    </attribute>
+    <layout class="QGridLayout" name="gridLayout_11">
+     <item row="0" column="0">
+      <widget class="QGroupBox" name="PWMCommands_groupBox">
+       <property name="minimumSize">
+        <size>
+         <width>311</width>
+         <height>171</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>311</width>
+         <height>171</height>
+        </size>
+       </property>
+       <property name="title">
+        <string>PWM Commands</string>
+       </property>
+       <layout class="QGridLayout" name="gridLayout_5">
+        <property name="spacing">
+         <number>6</number>
+        </property>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_16">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Thro</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QTextEdit" name="m_SlugsThro_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QTextEdit" name="m_SlugsAile_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QTextEdit" name="m_SlugsElev_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="1">
+         <widget class="QTextEdit" name="m_SlugsRudd_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="1">
+         <widget class="QTextEdit" name="m_SlugsFailSafe_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_17">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Aile</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_18">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Elev</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_19">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Rudd</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="0">
+         <widget class="QLabel" name="label_20">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>FailSafe</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_21">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Thro Trim</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="3">
+         <widget class="QTextEdit" name="m_SlugsThTrim_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QLabel" name="label_22">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Aile Trim</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="3">
+         <widget class="QTextEdit" name="m_SlugsAileTrim_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QLabel" name="label_23">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Elev Trim</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="3">
+         <widget class="QTextEdit" name="m_SlugsElevTrim_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="2">
+         <widget class="QLabel" name="label_24">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Rudd Trim</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="3">
+         <widget class="QTextEdit" name="m_SlugsRuddTrim_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="2">
+         <widget class="QLabel" name="label_25">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <pointsize>10</pointsize>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="text">
+           <string>Available</string>
+          </property>
+         </widget>
+        </item>
+        <item row="4" column="3">
+         <widget class="QTextEdit" name="m_SlugsAvailable_textEdit">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="frameShape">
+           <enum>QFrame::WinPanel</enum>
+          </property>
+          <property name="verticalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="horizontalScrollBarPolicy">
+           <enum>Qt::ScrollBarAlwaysOff</enum>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+  </widget>
  </widget>
  <resources/>
  <connections/>