diff --git a/qgcunittest.pro b/qgcunittest.pro
index 5f15703..5aea295 100644
--- a/qgcunittest.pro
+++ b/qgcunittest.pro
@@ -229,14 +229,21 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/designer/QGCCommandButton.ui \
     src/ui/QGCMAVLinkLogPlayer.ui \
     src/ui/QGCWaypointListMulti.ui \
-    src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
     src/ui/QGCSettingsWidget.ui \
     src/ui/UASControlParameters.ui \
-    src/ui/mission/QGCMissionDoWidget.ui \
-    src/ui/mission/QGCMissionConditionWidget.ui \
     src/ui/map/QGCMapTool.ui \
     src/ui/map/QGCMapToolBar.ui \
+    src/ui/mission/QGCMissionOther.ui \
+    src/ui/mission/QGCMissionConditionDelay.ui \
+    src/ui/mission/QGCMissionDoJump.ui \
+    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
+    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
+    src/ui/mission/QGCMissionNavLoiterTurns.ui \
+    src/ui/mission/QGCMissionNavTakeoff.ui \
+    src/ui/mission/QGCMissionNavLand.ui \
+    src/ui/mission/QGCMissionNavWaypoint.ui \
+    src/ui/mission/QGCMissionNavLoiterTime.ui \
     src/ui/QGCMAVLinkInspector.ui \
     src/ui/WaypointViewOnlyView.ui \    
     src/ui/WaypointEditableView.ui \    
@@ -326,6 +333,7 @@ HEADERS += src/MG.h \
     src/comm/QGCMAVLink.h \
     src/ui/QGCWebView.h \
     src/ui/map3D/QGCWebPage.h \
+    src/ui/map3D/PixhawkCheetahNode.cc \
     src/ui/SlugsDataSensorView.h \
     src/ui/SlugsHilSim.h \
     src/ui/SlugsPadCameraControl.h \
@@ -344,14 +352,22 @@ HEADERS += src/MG.h \
     src/ui/QGCUDPLinkConfiguration.h \
     src/ui/QGCSettingsWidget.h \
     src/ui/uas/UASControlParameters.h \
-    src/ui/mission/QGCMissionDoWidget.h \
-    src/ui/mission/QGCMissionConditionWidget.h \
     src/uas/QGCUASParamManager.h \
     src/ui/map/QGCMapWidget.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/QGCMapTool.h \
     src/ui/map/QGCMapToolBar.h \
+    src/ui/mission/QGCMissionOther.h \
+    src/ui/mission/QGCMissionConditionDelay.h \
+    src/ui/mission/QGCMissionDoJump.h \
+    src/ui/mission/QGCMissionNavReturnToLaunch.h \
+    src/ui/mission/QGCMissionNavLoiterUnlim.h \
+    src/ui/mission/QGCMissionNavLoiterTurns.h \
+    src/ui/mission/QGCMissionNavTakeoff.h \
+    src/ui/mission/QGCMissionNavLand.h \
+    src/ui/mission/QGCMissionNavWaypoint.h \
+    src/ui/mission/QGCMissionNavLoiterTime.h \
     src/libs/qextserialport/qextserialenumerator.h \
     src/QGCGeo.h \
     src/ui/QGCToolBar.h \
@@ -493,14 +509,22 @@ SOURCES += src/QGCCore.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
     src/ui/QGCSettingsWidget.cc \
     src/ui/uas/UASControlParameters.cpp \
-    src/ui/mission/QGCMissionDoWidget.cc \
-    src/ui/mission/QGCMissionConditionWidget.cc \
     src/uas/QGCUASParamManager.cc \
     src/ui/map/QGCMapWidget.cc \
     src/ui/map/MAV2DIcon.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/QGCMapTool.cc \
     src/ui/map/QGCMapToolBar.cc \
+    src/ui/mission/QGCMissionOther.cc \
+    src/ui/mission/QGCMissionConditionDelay.cc \
+    src/ui/mission/QGCMissionDoJump.cc \
+    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
+    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
+    src/ui/mission/QGCMissionNavLoiterTurns.cc \
+    src/ui/mission/QGCMissionNavTakeoff.cc \
+    src/ui/mission/QGCMissionNavLand.cc \
+    src/ui/mission/QGCMissionNavWaypoint.cc \
+    src/ui/mission/QGCMissionNavLoiterTime.cc \
     src/ui/QGCToolBar.cc \
     src/ui/QGCMAVLinkInspector.cc \
     src/ui/MAVLinkDecoder.cc \
@@ -533,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Q3DWidget.cc \
         src/ui/map3D/ImageWindowGeode.cc \
         src/ui/map3D/GCManipulator.cc \
-        src/ui/map3D/PixhawkCheetahGeode.cc \
+        src/ui/map3D/PixhawkCheetahNode.cc \
         src/ui/map3D/Pixhawk3DWidget.cc \
         src/ui/map3D/Q3DWidgetFactory.cc \
         src/ui/map3D/WebImageCache.cc \
diff --git a/qgcunittest/AutoTest.h b/qgcunittest/AutoTest.h
index e353d3d..892d814 100755
--- a/qgcunittest/AutoTest.h
+++ b/qgcunittest/AutoTest.h
@@ -15,7 +15,7 @@
 namespace AutoTest
 {
     typedef QList<QObject*> TestList;
-
+    
     inline TestList& testList()
     {
 	static TestList list;
@@ -49,14 +49,14 @@ namespace AutoTest
     }
 
     inline int run(int argc, char *argv[])
-    {
+    { 
 	int ret = 0;
-
+	QCoreApplication t(argc, argv);
 	foreach (QObject* test, testList())
-	{
-	    ret += QTest::qExec(test, argc, argv);
+	{  
+            ret += QTest::qExec(test, argc, argv);
 	}
-
+	
 	return ret;
     }
 }
diff --git a/qgcunittest/UASUnitTest.cc b/qgcunittest/UASUnitTest.cc
index 2fef763..5280e80 100644
--- a/qgcunittest/UASUnitTest.cc
+++ b/qgcunittest/UASUnitTest.cc
@@ -1,19 +1,25 @@
 #include "UASUnitTest.h"
-
+#include <stdio.h>
+#include <QObject>
 UASUnitTest::UASUnitTest()
 {
 }
-
-void UASUnitTest::initTestCase()
+//This function is called after every test
+void UASUnitTest::init()
 {
     mav = new MAVLinkProtocol();
-    uas = new UAS(mav,UASID);
+    uas = new UAS(mav, UASID);
+    uas->deleteSettings();
 }
-
-void UASUnitTest::cleanupTestCase()
+//this function is called after every test
+void UASUnitTest::cleanup()
 {
-  delete uas;
-  delete mav;
+   delete mav;
+   mav = NULL;
+   if(uas != NULL){
+   delete uas;
+   uas = NULL;
+   }
 }
 
 void UASUnitTest::getUASID_test()
@@ -32,6 +38,7 @@ void UASUnitTest::getUASID_test()
 
     // Make sure that ID >= 0
     QCOMPARE(uas->getUASID(), 100);
+
 }
 
 void UASUnitTest::getUASName_test()
@@ -118,11 +125,12 @@ void UASUnitTest::getStatusForCode_test()
 
     uas->getStatusForCode(5325, state, desc);
     QVERIFY(state == "UNKNOWN");
+
 }
 
 void UASUnitTest::getLocalX_test()
 {
-    QCOMPARE(uas->getLocalX(), 0.0);
+   QCOMPARE(uas->getLocalX(), 0.0);
 }
 void UASUnitTest::getLocalY_test()
 {
@@ -162,18 +170,32 @@ void UASUnitTest::getSelected_test()
 }
 
 void UASUnitTest::getSystemType_test()
-{
+{    //check that system type is set to MAV_TYPE_GENERIC when initialized
+    QCOMPARE(uas->getSystemType(), 0);
+    uas->setSystemType(13);
     QCOMPARE(uas->getSystemType(), 13);
 }
 
 void UASUnitTest::getAirframe_test()
 {
+    //when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC which is 0
     QCOMPARE(uas->getAirframe(), 0);
-
-    uas->setAirframe(25);
-    QVERIFY(uas->getAirframe() == 25);
 }
 
+void UASUnitTest::setAirframe_test()
+{
+    //check at construction, that airframe=0 (GENERIC)
+    QVERIFY(uas->getAirframe() == 0);
+
+    //check that set airframe works
+    uas->setAirframe(11);
+    QVERIFY(uas->getAirframe() == 11);
+
+    //check that setAirframe will not assign a number to airframe, that is 
+    //not defined in the enum 
+    uas->setAirframe(12);
+    QVERIFY(uas->getAirframe() == 11);
+}
 void UASUnitTest::getWaypointList_test()
 {
     QVector<Waypoint*> kk = uas->getWaypointManager()->getWaypointEditableList();
@@ -200,11 +222,12 @@ void UASUnitTest::getWaypointList_test()
     QCOMPARE(kk.count(), 0);
 
     qDebug()<<"disconnect SIGNAL waypointListChanged";
+
 }
 
 void UASUnitTest::getWaypoint_test()
 {
-    Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
+    Waypoint* wp = new Waypoint(0,5.6,2.0,3.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
 
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
@@ -213,22 +236,31 @@ void UASUnitTest::getWaypoint_test()
     QCOMPARE(wpList.count(), 1);
     QCOMPARE(static_cast<quint16>(0), static_cast<Waypoint*>(wpList.at(0))->getId());
 
-    wp = new Waypoint(0, 5.6, 2, 3);
-    uas->getWaypointManager()->addWaypointEditable(wp, true);
+    Waypoint*  wp3 = new Waypoint(1, 5.6, 2.0, 3.0);
+    uas->getWaypointManager()->addWaypointEditable(wp3, true);
+    wpList = uas->getWaypointManager()->getWaypointEditableList();
     Waypoint* wp2 = static_cast<Waypoint*>(wpList.at(0));
 
-    QCOMPARE(wp->getX(), wp2->getX());
-    QCOMPARE(wp->getFrame(), MAV_FRAME_GLOBAL);
-    QCOMPARE(wp->getFrame(), wp2->getFrame());
+    QCOMPARE(wpList.count(), 2);
+    QCOMPARE(wp3->getX(), wp2->getX());
+    QCOMPARE(wp3->getY(), wp2->getY());
+    QCOMPARE(wp3->getZ(), wp2->getZ());
+    QCOMPARE(wpList.at(1)->getId(), static_cast<quint16>(1));
+    QCOMPARE(wp3->getFrame(), MAV_FRAME_GLOBAL);
+    QCOMPARE(wp3->getFrame(), wp2->getFrame());
+
+    delete wp3;
+    delete wp;
 }
 
 void UASUnitTest::signalWayPoint_test()
 {
-    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointListChanged()));
-	
-    Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
+    QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
+
+    Waypoint* wp = new Waypoint(0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
     uas->getWaypointManager()->addWaypointEditable(wp, true);
 
+
     QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint
     uas->getWaypointManager()->removeWaypoint(0);
     QCOMPARE(spy.count(), 2); // 2 listChanged for remove wayPoint
@@ -238,18 +270,21 @@ void UASUnitTest::signalWayPoint_test()
     QCOMPARE( spyDestroyed.count(), 0 );
 
     delete uas;// delete(destroyed) uas for validating
+    uas = NULL;
     QCOMPARE(spyDestroyed.count(), 1);// count destroyed uas should are 1
-
     uas = new UAS(mav,UASID);
-    QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointListChanged()));
+    QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged()));
     QCOMPARE(spy2.count(), 0);
+    Waypoint* wp2 = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah");
 
-    uas->getWaypointManager()->addWaypointEditable(wp, true);
+    uas->getWaypointManager()->addWaypointEditable(wp2, true);
     QCOMPARE(spy2.count(), 1);
 
     uas->getWaypointManager()->clearWaypointList();
     QVector<Waypoint*> wpList = uas->getWaypointManager()->getWaypointEditableList();
     QCOMPARE(wpList.count(), 1);
+
+    delete wp2;
 }
 
 void UASUnitTest::signalUASLink_test()
@@ -308,6 +343,7 @@ void UASUnitTest::signalUASLink_test()
     LinkManager::instance()->add(link);
     LinkManager::instance()->addProtocol(link, mav);
     QCOMPARE(spyS.count(), 3);
+
 }
 
 void UASUnitTest::signalIdUASLink_test()
@@ -331,4 +367,5 @@ void UASUnitTest::signalIdUASLink_test()
 
     QCOMPARE(a->getName(), QString("serial port COM 17"));
     QCOMPARE(b->getName(), QString("serial port COM 18"));
+
 }
diff --git a/qgcunittest/UASUnitTest.h b/qgcunittest/UASUnitTest.h
index 5ff6667..192257e 100644
--- a/qgcunittest/UASUnitTest.h
+++ b/qgcunittest/UASUnitTest.h
@@ -26,10 +26,9 @@ public:
   UASUnitTest();
 
 private slots:
-  void initTestCase();
-  void cleanupTestCase();
-
-
+  void init();
+  void cleanup();
+  
   void getUASID_test();
   void getUASName_test();
   void getUpTime_test();
@@ -47,16 +46,13 @@ private slots:
   void getRoll_test();
   void getPitch_test();
   void getYaw_test();
-
   void getSelected_test();
   void getSystemType_test();
   void getAirframe_test();
-
-
+  void setAirframe_test();
   void getWaypointList_test();
-  void getWaypoint_test();
-
   void signalWayPoint_test();
+  void getWaypoint_test();
   void signalUASLink_test();
   void signalIdUASLink_test();
 };
diff --git a/src/comm/QGCMAVLink.h b/src/comm/QGCMAVLink.h
index ac2249e..e47c067 100644
--- a/src/comm/QGCMAVLink.h
+++ b/src/comm/QGCMAVLink.h
@@ -30,8 +30,8 @@ This file is part of the QGROUNDCONTROL project
 #ifndef QGCMAVLINK_H
 #define QGCMAVLINK_H
 
-#include <mavlink_types.h>
-#include <mavlink.h>
+#include <../../mavlink/include/mavlink/v1.0/mavlink_types.h>
+#include <../../mavlink/include/mavlink/v1.0/common/mavlink.h>
 
 #ifdef MAVLINK_CONF
 #define MY_MACRO(x) <x>
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index d3e7ae8..510c59a 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
 #define SLUGSMAV_H
 
 #include "UAS.h"
-#include "mavlink.h"
+#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
 #include <QTimer>
 
 #define SLUGS_UPDATE_RATE   200   // in ms
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 4df4b57..30f3f3e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -86,7 +86,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     receivedRGBDImageTimestamp(0.0),
     #endif
     paramsOnceRequested(false),
-    airframe(QGC_AIRFRAME_EASYSTAR),
+    airframe(QGC_AIRFRAME_GENERIC),
     attitudeKnown(false),
     paramManager(NULL),
     attitudeStamped(false),
@@ -97,20 +97,22 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     systemIsArmed(false),
     nedPosGlobalOffset(0,0,0),
     nedAttGlobalOffset(0,0,0)
+
 {
     for (unsigned int i = 0; i<255;++i)
     {
         componentID[i] = -1;
         componentMulti[i] = false;
     }
-
+    
     color = UASInterface::getNextColor();
+    
     setBatterySpecs(QString("9V,9.5V,12.6V"));
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
-    readSettings();
-
+    readSettings(); 
+    type = MAV_TYPE_GENERIC;
     // Initial signals
     emit disarmed();
     emit armingChanged(false);
@@ -122,7 +124,6 @@ UAS::~UAS()
     delete links;
     links=NULL;
 }
-
 void UAS::writeSettings()
 {
     QSettings settings;
@@ -149,6 +150,14 @@ void UAS::readSettings()
     settings.endGroup();
 }
 
+void UAS::deleteSettings()
+{
+    this->name = "";
+    this->airframe = QGC_AIRFRAME_GENERIC;
+    this->autopilot = -1;
+    setBatterySpecs(QString("9V,9.5V,12.6V"));
+}
+
 int UAS::getUASID() const
 {
     return uasId;
@@ -2073,21 +2082,25 @@ void UAS::requestParameter(int component, const QString& parameter)
 
 void UAS::setSystemType(int systemType)
 {
-    type = systemType;
-    // If the airframe is still generic, change it to a close default type
-    if (airframe == 0)
-    {
-        switch (systemType)
-        {
-        case MAV_TYPE_FIXED_WING:
-            airframe = QGC_AIRFRAME_EASYSTAR;
-            break;
-        case MAV_TYPE_QUADROTOR:
-            airframe = QGC_AIRFRAME_MIKROKOPTER;
-            break;
-        }
-    }
-    emit systemSpecsChanged(uasId);
+    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
+    {
+      type = systemType;
+    
+      // If the airframe is still generic, change it to a close default type
+      if (airframe == 0)
+      {
+          switch (systemType)
+          {
+          case MAV_TYPE_FIXED_WING:
+              airframe = QGC_AIRFRAME_EASYSTAR;
+              break;
+          case MAV_TYPE_QUADROTOR:
+              airframe = QGC_AIRFRAME_MIKROKOPTER;
+              break;
+          }
+      }
+      emit systemSpecsChanged(uasId);
+   }
 }
 
 void UAS::setUASName(const QString& name)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index bf6ad12..3f2e591 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -143,7 +143,6 @@ public:
         return yaw;
     }
     bool getSelected() const;
-
     QVector3D getNedPosGlobalOffset() const
     {
         return nedPosGlobalOffset;
@@ -430,7 +429,7 @@ public:
 
     QImage getImage();
     void requestImage();
-    int getAutopilotType() {
+    int getAutopilotType(){
         return autopilot;
     }
     QString getAutopilotTypeName()
@@ -491,8 +490,12 @@ public slots:
     /** @brief Set the specific airframe type */
     void setAirframe(int airframe)
     {
-        this->airframe = airframe;
-        emit systemSpecsChanged(uasId);
+        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
+        {
+          this->airframe = airframe;
+          emit systemSpecsChanged(uasId);
+        }
+        
     }
     /** @brief Set a new name **/
     void setUASName(const QString& name);
@@ -638,9 +641,8 @@ public slots:
 
     void startDataRecording();
     void stopDataRecording();
-
+    void deleteSettings();
 signals:
-
     /** @brief The main/battery voltage has changed/was updated */
     //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
     /** @brief An actuator value has changed */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 5b11944..034d77b 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -149,7 +149,8 @@ public:
         QGC_AIRFRAME_COAXIAL,
         QGC_AIRFRAME_PTERYX,
         QGC_AIRFRAME_TRICOPTER,
-        QGC_AIRFRAME_HEXCOPTER
+        QGC_AIRFRAME_HEXCOPTER,
+        QGC_AIRFRAME_END_OF_ENUM
     };
 
     /**
@@ -171,36 +172,34 @@ public:
      */
     static QColor getNextColor() {
         /* Create color map */
-        static QList<QColor> colors = QList<QColor>();
+        static QList<QColor> colors = QList<QColor>() 
+		<< QColor(231,72,28) 
+		<< QColor(104,64,240) 
+		<< QColor(203,254,121) 
+		<< QColor(161,252,116)
+               	<< QColor(232,33,47) 
+		<< QColor(116,251,110) 
+		<< QColor(234,38,107) 
+		<< QColor(104,250,138)
+                << QColor(235,43,165) 
+		<< QColor(98,248,176) 
+		<< QColor(236,48,221) 
+		<< QColor(92,247,217)
+                << QColor(200,54,238) 
+		<< QColor(87,231,246) 
+		<< QColor(151,59,239) 
+		<< QColor(81,183,244)
+                << QColor(75,133,243) 
+		<< QColor(242,255,128) 
+		<< QColor(230,126,23);
+        
         static int nextColor = -1;
-
-        if (nextColor == -1) {
-            ///> Color map for plots, includes 20 colors
-            ///> Map will start from beginning when the first 20 colors are exceeded
-
-            colors.append(QColor(231,72,28));
-            colors.append(QColor(104,64,240));
-            colors.append(QColor(203,254,121));
-            colors.append(QColor(161,252,116));
-            colors.append(QColor(232,33,47));
-            colors.append(QColor(116,251,110));
-            colors.append(QColor(234,38,107));
-            colors.append(QColor(104,250,138));
-            colors.append(QColor(235,43,165));
-            colors.append(QColor(98,248,176));
-            colors.append(QColor(236,48,221));
-            colors.append(QColor(92,247,217));
-            colors.append(QColor(200,54,238));
-            colors.append(QColor(87,231,246));
-            colors.append(QColor(151,59,239));
-            colors.append(QColor(81,183,244));
-            colors.append(QColor(75,133,243));
-            colors.append(QColor(242,255,128));
-            colors.append(QColor(230,126,23));
-            nextColor = 0;
+        if(nextColor == 18){//if at the end of the list
+            nextColor = -1;//go back to the beginning
         }
-        return colors[nextColor++];
-    }
+        nextColor++; 
+        return colors[nextColor];//return the next color
+   }
 
     /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
     virtual int getSystemType() = 0;
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 5462cf9..0e49f24 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -31,7 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASWaypointManager.h"
 #include "UAS.h"
-#include "mavlink_types.h"
+#include "../../mavlink/include/mavlink/v1.0/mavlink_types.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 20        ///< minimum delay between sent messages
diff --git a/src/uas/senseSoarMAV.h b/src/uas/senseSoarMAV.h
index 78434f1..01930d3 100644
--- a/src/uas/senseSoarMAV.h
+++ b/src/uas/senseSoarMAV.h
@@ -4,7 +4,7 @@
 
 
 #include "UAS.h"
-#include "mavlink.h"
+#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
 #include <QTimer>
 
 
@@ -26,4 +26,4 @@ private:
 	void quat2euler(const double *quat, double &roll, double &pitch, double &yaw); 
 };
 
-#endif // _SENSESOARMAV_H_
\ No newline at end of file
+#endif // _SENSESOARMAV_H_
diff --git a/src/ui/DebugConsole.cc b/src/ui/DebugConsole.cc
index 471c0bd..da0b888 100644
--- a/src/ui/DebugConsole.cc
+++ b/src/ui/DebugConsole.cc
@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_DebugConsole.h"
 #include "LinkManager.h"
 #include "UASManager.h"
-#include "protocol.h"
+#include "../../mavlink/include/mavlink/v1.0/protocol.h"
 #include "QGC.h"
 
 #include <QDebug>
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.h b/src/ui/RadioCalibration/RadioCalibrationWindow.h
index ebd6a94..8555401 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.h
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.h
@@ -50,8 +50,8 @@ This file is part of the QGROUNDCONTROL project
 #include "SwitchCalibrator.h"
 #include "CurveCalibrator.h"
 
-#include "mavlink.h"
-#include "mavlink_types.h"
+#include "../../../mavlink/include/mavlink/v1.0/common/mavlink.h"
+#include "../../../mavlink/include/mavlink/v1.0/mavlink_types.h"
 #include "UAS.h"
 #include "UASManager.h"
 #include "RadioCalibrationData.h"
diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h
index 628f6e2..999b0b8 100644
--- a/src/ui/SlugsDataSensorView.h
+++ b/src/ui/SlugsDataSensorView.h
@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASInterface.h"
 #include "SlugsMAV.h"
-#include "mavlink.h"
+#include "../../mavlink/include/mavlink/v1.0/common/mavlink.h"
 
 
 namespace Ui
diff --git a/src/ui/WaypointEditableView.cc b/src/ui/WaypointEditableView.cc
index e0d4d45..b0b0934 100644
--- a/src/ui/WaypointEditableView.cc
+++ b/src/ui/WaypointEditableView.cc
@@ -21,19 +21,19 @@
 #include "ui_WaypointEditableView.h"
 
 
-#include "QGCMissionNavWaypoint.h"
-#include "QGCMissionNavLoiterUnlim.h"
-#include "QGCMissionNavLoiterTurns.h"
-#include "QGCMissionNavLoiterTime.h"
-#include "QGCMissionNavReturnToLaunch.h"
-#include "QGCMissionNavLand.h"
-#include "QGCMissionNavTakeoff.h"
-#include "QGCMissionNavSweep.h"
-#include "QGCMissionConditionDelay.h"
-#include "QGCMissionDoJump.h"
-#include "QGCMissionDoStartSearch.h"
-#include "QGCMissionDoFinishSearch.h"
-#include "QGCMissionOther.h"
+#include "mission/QGCMissionNavWaypoint.h"
+#include "mission/QGCMissionNavLoiterUnlim.h"
+#include "mission/QGCMissionNavLoiterTurns.h"
+#include "mission/QGCMissionNavLoiterTime.h"
+#include "mission/QGCMissionNavReturnToLaunch.h"
+#include "mission/QGCMissionNavLand.h"
+#include "mission/QGCMissionNavTakeoff.h"
+#include "mission/QGCMissionNavSweep.h"
+#include "mission/QGCMissionConditionDelay.h"
+#include "mission/QGCMissionDoJump.h"
+#include "mission/QGCMissionDoStartSearch.h"
+#include "mission/QGCMissionDoFinishSearch.h"
+#include "mission/QGCMissionOther.h"
 
 
 WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :