diff --git a/ChangeLog.md b/ChangeLog.md
index 3fa9ce4..bc3c3ce 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* Basic object avoidance added to vehicles.
 * Added ability to set a joystick button to be single action or repeated action while the button is held down.
 * Rework joysticks. Fixed several issues and updated setup UI.
 * Adding support for UDP RTP h.265 video streams
diff --git a/custom-example/res/CustomFlyView.qml b/custom-example/res/CustomFlyView.qml
index c7e8f01..90760fa 100644
--- a/custom-example/res/CustomFlyView.qml
+++ b/custom-example/res/CustomFlyView.qml
@@ -604,6 +604,26 @@ Item {
         }
     }
     //-------------------------------------------------------------------------
+    //-- Object Avoidance
+    Item {
+        visible:                activeVehicle && activeVehicle.objectAvoidance.available && activeVehicle.objectAvoidance.enabled
+        anchors.centerIn:       parent
+        width:                  parent.width  * 0.5
+        height:                 parent.height * 0.5
+        Repeater {
+            model:              activeVehicle && activeVehicle.objectAvoidance.gridSize > 0 ? activeVehicle.objectAvoidance.gridSize : []
+            Rectangle {
+                width:          ScreenTools.defaultFontPixelWidth
+                height:         width
+                radius:         width * 0.5
+                color:          distance < 0.25 ? "red" : "orange"
+                x:              (parent.width  * activeVehicle.objectAvoidance.grid(modelData).x) + (parent.width  * 0.5)
+                y:              (parent.height * activeVehicle.objectAvoidance.grid(modelData).y) + (parent.height * 0.5)
+                property real distance: activeVehicle.objectAvoidance.distance(modelData)
+            }
+        }
+    }
+    //-------------------------------------------------------------------------
     //-- Connection Lost While Armed
     Popup {
         id:                     connectionLostArmed
diff --git a/qgcimages.qrc b/qgcimages.qrc
index 446cea1..2da131c 100644
--- a/qgcimages.qrc
+++ b/qgcimages.qrc
@@ -1,6 +1,5 @@
 <RCC>
     <qresource prefix="/qmlimages">
-        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="adsbVehicle.svg">src/FlightMap/Images/adsbVehicle.svg</file>
         <file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
         <file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
@@ -59,6 +58,7 @@
         <file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
         <file alias="AwarenessAircraft.svg">src/FlightMap/Images/AwarenessAircraft.svg</file>
         <file alias="Battery.svg">src/ui/toolbar/Images/Battery.svg</file>
+        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
         <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
         <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
@@ -91,6 +91,7 @@
         <file alias="Hamburger.svg">src/ui/toolbar/Images/Hamburger.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
+        <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>
         <file alias="Home.svg">src/FlightMap/Images/Home.svg</file>
         <file alias="Joystick.png">src/ui/toolbar/Images/Joystick.png</file>
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
@@ -117,6 +118,7 @@
         <file alias="MotorComponentIcon.svg">src/AutoPilotPlugins/Common/Images/MotorComponentIcon.svg</file>
         <file alias="no-logging-light.svg">src/AutoPilotPlugins/PX4/Images/no-logging-light.svg</file>
         <file alias="no-logging.svg">src/AutoPilotPlugins/PX4/Images/no-logging.svg</file>
+        <file alias="ObjectAvoidance.svg">src/AutoPilotPlugins/PX4/Images/ObjectAvoidance.svg</file>
         <file alias="PaperPlane.svg">src/ui/toolbar/Images/PaperPlane.svg</file>
         <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
         <file alias="pipHide.svg">src/FlightMap/Images/pipHide.svg</file>
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 55ac49c..818ed0c 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -855,6 +855,7 @@ HEADERS+= \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/GPSRTKFactGroup.h \
     src/Vehicle/Vehicle.h \
+    src/Vehicle/VehicleObjectAvoidance.h \
     src/VehicleSetup/VehicleComponent.h \
 
 !MobileBuild { !NoSerialBuild {
@@ -881,6 +882,7 @@ SOURCES += \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/GPSRTKFactGroup.cc \
     src/Vehicle/Vehicle.cc \
+    src/Vehicle/VehicleObjectAvoidance.cc \
     src/VehicleSetup/VehicleComponent.cc \
 
 !MobileBuild { !NoSerialBuild {
diff --git a/src/AutoPilotPlugins/PX4/Images/HITL.svg b/src/AutoPilotPlugins/PX4/Images/HITL.svg
new file mode 100644
index 0000000..d8b318b
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/HITL.svg
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+	.st1{fill:#FFFFFF;stroke:#FFFFFF;}
+	.st2{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
+	.st3{fill:none;stroke:#FFFFFF;stroke-width:3;}
+	.st4{fill:#FFFFFF;stroke:#FFFFFF;stroke-width:3;}
+</style>
+<g>
+	<path class="st0" d="M274.534,5.498H13.465C6.043,5.498,0,11.545,0,18.963v200.232c0,7.418,6.042,13.465,13.465,13.465h94.671
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+		</g>
+		<path class="st3" d="M77.803,128.338c44.532-18.558,83.381-38.595,113.846-77.395"/>
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+		<path class="st4" d="M176.661,93.677c1.68,12.408-12.889,24.599-32.633,24.599s-34.313-12.191-32.633-24.599
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+	</g>
+</g>
+</svg>
diff --git a/src/AutoPilotPlugins/PX4/Images/LandMode.svg b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
index d6dabab..5a6f980 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandMode.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
@@ -1,26 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 39.07 60.197" style="enable-background:new 0 0 39.07 60.197;" xml:space="preserve">
+	 viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
 <style type="text/css">
 	.st0{fill:#FFFFFF;}
 	.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
 	.st2{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
 </style>
-<path class="st0" d="M39.022,8.423c0.114,0.401,0.022,0.755-0.277,1.064l-6.363,6.092l-1.061,7.694
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+	c0.2-0.1,0.4-0.3,0.7-0.4L18.3,6z"/>
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-		<line class="st1" x1="19.535" y1="32.389" x2="19.535" y2="30.889"/>
+		<line class="st1" x1="36" y1="65.5" x2="36" y2="63.7"/>
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 		<g>
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+			<polygon class="st0" points="36,71.8 39.6,62.9 36,65 32.4,62.9 			"/>
 		</g>
 	</g>
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diff --git a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
index 5cb700f..fb79a66 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 59.671 87.808" style="enable-background:new 0 0 59.671 87.808;" xml:space="preserve">
+	 viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
 <style type="text/css">
-	.st0{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;}
-	.st1{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;stroke-dasharray:2.8321,2.8321;}
+	.st0{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
+	.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
 	.st2{fill:#FFFFFF;}
 	.st3{fill:#FFFFFF;stroke:#FFFFFF;}
 	.st4{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
@@ -13,69 +13,38 @@
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-		<line class="st0" x1="29.835" y1="38.899" x2="29.835" y2="37.399"/>
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+			<polygon class="st2" points="36,71.8 39.6,62.9 36,65 32.4,62.9 			"/>
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+				c3.679,0.189,6.738,2.715,7.055,6.022c0.076,0.8-0.032,1.601-0.336,2.353"/>
+			<path id="path2991-6_3_" class="st7" d="M269.863,80.06c-1.342,0.286-2.617-0.396-2.838-1.478
+				c-0.222-1.081,0.634-2.143,1.903-2.414c1.27-0.271,2.531,0.34,2.825,1.407C272.048,78.641,271.206,79.775,269.863,80.06z"/>
+			<path id="path3761-1_3_" class="st8" d="M262.551,80.442c-1.228-3.119,0.799-6.475,4.199-7.794
+				c3.4-1.319,7.348-0.288,9.155,2.567c1.807,2.855,0.34,6.709-3.64,8.294c-0.962,0.384-2.005,0.602-3.046,0.638"/>
+			<path id="path2991-9_3_" class="st7" d="M272.669,106.102c-0.222-1.081,1.049-2.217,2.829-2.596
+				c1.779-0.379,3.452,0.13,3.745,1.195c0.295,1.067-0.959,2.301-2.811,2.696S272.892,107.185,272.669,106.102z"/>
+			<path id="path3761-2_3_" class="st8" d="M272.779,100.095c4.906-1.613,10.287-1.007,12.387,1.756
+				c2.1,2.764-0.319,6.943-5.794,8.874s-11.457,0.593-12.988-2.489c-0.37-0.745-0.47-1.547-0.311-2.357"/>
+			<path id="path2991-6-9_3_" class="st7" d="M229.653,103.506c1.779,0.379,3.05,1.515,2.829,2.596
+				c-0.222,1.081-1.912,1.689-3.764,1.295c-1.852-0.394-3.105-1.63-2.811-2.696C226.201,103.636,227.874,103.127,229.653,103.506z"
+				/>
+			<path id="path3761-1-5_3_" class="st8" d="M239.086,105.925c0.619,3.345-3.426,6.142-9.239,5.668s-10.651-4.119-10.632-7.525
+				c0.018-3.406,4.367-5.277,9.542-4.742c1.253,0.13,2.498,0.397,3.682,0.793"/>
 		</g>
-		<path class="st9" d="M230.281,94.257c15.501-6.427,26.238-13.176,37.581-25.54"/>
-		<path class="st9" d="M274.06,94.257c-15.501-6.427-26.238-13.175-37.581-25.54"/>
-		<path class="st10" d="M262.941,82.831c0.56,4.096-4.25,8.127-10.773,8.127s-11.332-4.031-10.773-8.127
-			c0.56-4.096,5.372-6.828,10.773-6.828C257.57,76.003,262.382,78.735,262.941,82.831z"/>
+		<path class="st9" d="M229.185,105.451c15.729-6.555,29.451-13.632,40.212-27.337"/>
+		<path class="st9" d="M275.971,105.451c-15.729-6.555-29.451-13.632-40.213-27.337"/>
+		<path class="st10" d="M264.102,93.209c0.594,4.383-4.552,8.689-11.526,8.689s-12.12-4.306-11.526-8.689
+			c0.593-4.383,5.742-7.311,11.526-7.311C258.36,85.898,263.507,88.825,264.102,93.209z"/>
 	</g>
 </g>
 </svg>
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
index 047b7a3..06224bf 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -27,7 +27,7 @@ QString SafetyComponent::name(void) const
 
 QString SafetyComponent::description(void) const
 {
-    return tr("Safety Setup is used to setup triggers for Return to Land as well as the settings for Return to Land itself.");
+    return QString();
 }
 
 QString SafetyComponent::iconResource(void) const
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index a510fe8..06e977c 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -14,11 +14,12 @@ import QtQuick.Controls.Styles  1.4
 import QtQuick.Layouts          1.2
 import QtGraphicalEffects       1.0
 
+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
-
+import QGroundControl.Palette       1.0
 
 SetupPage {
     id:             safetyPage
@@ -27,8 +28,8 @@ SetupPage {
         id: pageComponent
 
         Item {
-            width:  Math.max(availableWidth, outerGrid.width)
-            height: _hitlAvailable ? (lastRect.y + lastRect.height) : (otherLastRect.y + otherLastRect.height)
+            width:      Math.max(availableWidth, outerColumn.width)
+            height:     outerColumn.height
 
             FactPanelController {
                 id:         controller
@@ -37,539 +38,625 @@ SetupPage {
             readonly property string hitlParam: "SYS_HITL"
 
             property real _margins:         ScreenTools.defaultFontPixelHeight
-            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 20
-            property real _imageWidth:      ScreenTools.defaultFontPixelWidth * 15
+            property real _labelWidth:      ScreenTools.defaultFontPixelWidth  * 30
+            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth  * 24
             property real _imageHeight:     ScreenTools.defaultFontPixelHeight * 3
-
-            property Fact _enableLogging:   controller.getParameterFact(-1, "SDLOG_MODE")
-            property Fact _fenceAction:     controller.getParameterFact(-1, "GF_ACTION")
-            property Fact _fenceRadius:     controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
-            property Fact _fenceAlt:        controller.getParameterFact(-1, "GF_MAX_VER_DIST")
-            property Fact _rtlLandDelay:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
-            property Fact _lowBattAction:   controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
-            property Fact _rcLossAction:    controller.getParameterFact(-1, "NAV_RCL_ACT")
-            property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
-            property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
-            property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
-            property bool _hitlAvailable:   controller.parameterExists(-1, hitlParam)
-            property Fact _hitlEnabled:     controller.getParameterFact(-1, hitlParam, false)
-
-            Rectangle {
-                x:      lowBattGrid.x + outerGrid.x - _margins
-                y:      lowBattGrid.y + outerGrid.y - _margins
-                width:  lowBattGrid.width + (_margins * 2)
-                height: lowBattGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      rcLossGrid.x + outerGrid.x - _margins
-                y:      rcLossGrid.y + outerGrid.y - _margins
-                width:  rcLossGrid.width + (_margins * 2)
-                height: rcLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      dataLinkLossGrid.x + outerGrid.x - _margins
-                y:      dataLinkLossGrid.y + outerGrid.y - _margins
-                width:  dataLinkLossGrid.width + (_margins * 2)
-                height: dataLinkLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      geoFenceGrid.x + outerGrid.x - _margins
-                y:      geoFenceGrid.y + outerGrid.y - _margins
-                width:  geoFenceGrid.width + (_margins * 2)
-                height: geoFenceGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      returnHomeGrid.x + outerGrid.x - _margins
-                y:      returnHomeGrid.y + outerGrid.y - _margins
-                width:  returnHomeGrid.width + (_margins * 2)
-                height: returnHomeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      landModeGrid.x + outerGrid.x - _margins
-                y:      landModeGrid.y + outerGrid.y - _margins
-                width:  landModeGrid.width + (_margins * 2)
-                height: landModeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:     otherLastRect
-                x:      loggingGrid.x + outerGrid.x - _margins
-                y:      loggingGrid.y + outerGrid.y - _margins
-                width:  loggingGrid.width + (_margins * 2)
-                height: loggingGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:         lastRect
-                x:          hitlGrid.x + outerGrid.x - _margins
-                y:          hitlGrid.y + outerGrid.y - _margins
-                width:      hitlGrid.width + (_margins * 2)
-                height:     hitlGrid.height + (_margins * 2)
-                color:      qgcPal.windowShade
-                visible:    _hitlAvailable
-            }
-
-            GridLayout {
-                id:         outerGrid
-                columns:    3
+            property real _imageWidth:      _imageHeight * 2
+
+            property Fact _enableLogging:       controller.getParameterFact(-1, "SDLOG_MODE")
+            property Fact _fenceAction:         controller.getParameterFact(-1, "GF_ACTION")
+            property Fact _fenceRadius:         controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
+            property Fact _fenceAlt:            controller.getParameterFact(-1, "GF_MAX_VER_DIST")
+            property Fact _rtlLandDelay:        controller.getParameterFact(-1, "RTL_LAND_DELAY")
+            property Fact _lowBattAction:       controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+            property Fact _rcLossAction:        controller.getParameterFact(-1, "NAV_RCL_ACT")
+            property Fact _dlLossAction:        controller.getParameterFact(-1, "NAV_DLL_ACT")
+            property Fact _disarmLandDelay:     controller.getParameterFact(-1, "COM_DISARM_LAND")
+            property Fact _collisionPrevention: controller.getParameterFact(-1, "MPC_COL_PREV_D")
+            property Fact _objectAvoidance:     controller.getParameterFact(-1, "COM_OBS_AVOID")
+            property Fact _landSpeedMC:         controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
+            property bool _hitlAvailable:       controller.parameterExists(-1, hitlParam)
+            property Fact _hitlEnabled:         controller.getParameterFact(-1, hitlParam, false)
+
+            ColumnLayout {
+                id:         outerColumn
+                spacing:    _margins
                 anchors.horizontalCenter:   parent.horizontalCenter
 
                 QGCLabel {
-                    text:               qsTr("Low Battery Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Low Battery Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+                Rectangle {
+                    width:                  mainRow.width  + (_margins * 2)
+                    height:                 mainRow.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 mainRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _lowBattAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                Item { width: _margins; height: 1 }
+                            QGCLabel {
+                                text:               qsTr("Battery Warn Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_LOW_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                GridLayout {
-                    id:         lowBattGrid
-                    columns:    3
+                            QGCLabel {
+                                text:               qsTr("Battery Failsafe Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_CRIT_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
-                        Layout.rowSpan:         4
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
+                            QGCLabel {
+                                text:               qsTr("Battery Emergency Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_EMERGEN_THR")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _lowBattAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                QGCLabel {
+                    text:                   qsTr("Object Detection")
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Warn Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_LOW_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width + (_margins * 2)
+                    height:                 odRow.height  + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 odRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/ObjectAvoidance.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Collision Prevention:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _collisionPrevention
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                currentIndex:       _collisionPrevention ? (_collisionPrevention.rawValue > 0 ? 1 : 0) : 0
+                                onActivated: {
+                                    if(_collisionPrevention) {
+                                        _collisionPrevention.value = index > 0 ? 5 : -1
+                                        console.log('Collision prevention enabled: ' + _collisionPrevention.value)
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Failsafe Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_CRIT_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Obstacle Avoidance:")
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _objectAvoidance && _collisionPrevention.rawValue > 0
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                currentIndex:       _objectAvoidance ? (_objectAvoidance.value === 0 ? 0 : 1) : 0
+                                onActivated: {
+                                    if(_objectAvoidance) {
+                                        _objectAvoidance.value = index > 0 ? 1 : 0
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Emergency Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_EMERGEN_THR")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Minimum Distance: (") + QGroundControl.appSettingsDistanceUnitsString + ")"
+                                Layout.fillWidth:   true
+                                Layout.alignment:   Qt.AlignVCenter
+                            }
+                            QGCSlider {
+                                width:              _editFieldWidth
+                                enabled:            _collisionPrevention && _collisionPrevention.rawValue > 0
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 2
+                                Layout.fillWidth:   true
+                                Layout.fillHeight:  true
+                                maximumValue:       QGroundControl.metersToAppSettingsDistanceUnits(15)
+                                minimumValue:       QGroundControl.metersToAppSettingsDistanceUnits(1)
+                                stepSize:           1
+                                displayValue:       true
+                                updateValueWhileDragging:   false
+                                Layout.alignment:   Qt.AlignVCenter
+                                value: {
+                                    if (_collisionPrevention && _collisionPrevention.rawValue > 0) {
+                                        return QGroundControl.metersToAppSettingsDistanceUnits(_collisionPrevention.rawValue)
+                                    } else {
+                                        return 1;
+                                    }
+                                }
+                                onValueChanged: {
+                                    if(_collisionPrevention) {
+                                        //-- Negative means disabled
+                                        if(_collisionPrevention.rawValue >= 0) {
+                                            _collisionPrevention.rawValue = QGroundControl.appSettingsDistanceUnitsToMeters(value)
+                                        }
+                                    }
+                                }
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("RC Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("RC Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         rcLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _rcLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width     + (_margins * 2)
+                    height:                 rcLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 rcLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _rcLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("RC Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_RC_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("RC Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_RC_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Data Link Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("Data Link Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         dataLinkLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _dlLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width           + (_margins * 2)
+                    height:                 dataLinkLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 dataLinkLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _dlLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Data Link Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_DL_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Data Link Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_DL_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Geofence Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Geofence Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         geoFenceGrid
-                    columns:    3
+                Rectangle {
+                    width:                  mainRow.width       + (_margins * 2)
+                    height:                 geoFenceGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 geoFenceGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
 
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
 
-                    QGCLabel {
-                        text:               qsTr("Action on breach:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _fenceAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Action on breach:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _fenceAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceRadiusCheckBox
-                        text:               qsTr("Max Radius:")
-                        checked:            _fenceRadius.value > 0
-                        onClicked:          _fenceRadius.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceRadius
-                        enabled:                fenceRadiusCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCCheckBox {
+                                id:                 fenceRadiusCheckBox
+                                text:               qsTr("Max Radius:")
+                                checked:            _fenceRadius.value > 0
+                                onClicked:          _fenceRadius.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceRadius
+                                enabled:            fenceRadiusCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceAltMaxCheckBox
-                        text:               qsTr("Max Altitude:")
-                        checked:            _fenceAlt ? _fenceAlt.value > 0 : false
-                        onClicked:          _fenceAlt.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceAlt
-                        enabled:                fenceAltMaxCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 fenceAltMaxCheckBox
+                                text:               qsTr("Max Altitude:")
+                                checked:            _fenceAlt ? _fenceAlt.value > 0 : false
+                                onClicked:          _fenceAlt.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceAlt
+                                enabled:            fenceAltMaxCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Return Home Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         returnHomeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
-                        Layout.rowSpan:         7
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Climb to altitude of:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Return home, then:")
-                        Layout.columnSpan:  2
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
-                            text:               qsTr("Land immediately")
-                            onClicked:          _rtlLandDelay.value = 0
-                        }
-                    }
+                Rectangle {
+                    width:              mainRow.width         + (_margins * 2)
+                    height:             returnHomeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
                     Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterNoLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
-                            text:               qsTr("Loiter and do not land")
-                            onClicked:          _rtlLandDelay.value = -1
-                        }
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
-                            text:               qsTr("Loiter and land after specified time")
-                            onClicked:          _rtlLandDelay.value = 60
+                        id:                 returnHomeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
                         }
-                    }
+                        GridLayout {
+                            columns:                    2
+                            anchors.verticalCenter:     parent.verticalCenter
+
+                            QGCLabel {
+                                text:                   qsTr("Climb to altitude of:")
+                                Layout.minimumWidth:    _labelWidth
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
+                                Layout.minimumWidth:    _editFieldWidth
+                                Layout.fillWidth:       true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Time")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
-                        enabled:                homeLoiterLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:                   qsTr("Return home, then:")
+                                Layout.columnSpan:      2
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
+                                    text:               qsTr("Land immediately")
+                                    onClicked:          _rtlLandDelay.value = 0
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterNoLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
+                                    text:               qsTr("Loiter and do not land")
+                                    onClicked:          _rtlLandDelay.value = -1
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
+                                    text:               qsTr("Loiter and land after specified time")
+                                    onClicked:          _rtlLandDelay.value = 60
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Altitude")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
-                        enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:                   qsTr("Loiter Time")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
+                                enabled:                homeLoiterLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+
+                            QGCLabel {
+                                text:                   qsTr("Loiter Altitude")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+                                enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Land Mode Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         landModeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
-                        Layout.rowSpan:         landVelocityLabel.visible ? 2 : 1
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                    }
-
-                    QGCLabel {
-                        id:                 landVelocityLabel
-                        text:               qsTr("Landing Descent Rate:")
-                        Layout.fillWidth:   true
-                        visible:            controller.vehicle && !controller.vehicle.fixedWing
-                    }
-                    FactTextField {
-                        fact:                   _landSpeedMC
-                        Layout.minimumWidth:    _editFieldWidth
-                        visible:                controller.vehicle && !controller.vehicle.fixedWing
-                    }
+                Rectangle {
+                    width:              mainRow.width       + (_margins * 2)
+                    height:             landModeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 landModeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                id:                 landVelocityLabel
+                                text:               qsTr("Landing Descent Rate:")
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _landSpeedMC
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 disarmDelayCheckBox
-                        text:               qsTr("Disarm After:")
-                        checked:            _disarmLandDelay.value > 0
-                        onClicked:          _disarmLandDelay.value = checked ? 2 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _disarmLandDelay
-                        enabled:                disarmDelayCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 disarmDelayCheckBox
+                                text:               qsTr("Disarm After:")
+                                checked:            _disarmLandDelay.value > 0
+                                onClicked:          _disarmLandDelay.value = checked ? 2 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _disarmLandDelay
+                                enabled:            disarmDelayCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Vehicle Telemetry Logging")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:                         loggingGrid
-                    columns:                    4
-                    columnSpacing:              ScreenTools.defaultFontPixelWidth * 4
-                    Item {
-                        Layout.fillWidth:       true
-                    }
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-                    QGCCheckBox {
-                        text:                   qsTr("Enable telemetry logging to vehicle storage")
-                        checkedState:           _enableLogging ? (_enableLogging.value >= 0 ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
-                        Layout.minimumWidth:    _editFieldWidth
-                        Layout.alignment:       Qt.AlignVCenter
-                        onClicked:  {
-                            if(_enableLogging) {
-                                _enableLogging.value = checked ? 0 : -1
+                Rectangle {
+                    width:              mainRow.width      + (_margins * 2)
+                    height:             loggingGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 loggingGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("Telemetry logging to vehicle storage:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _enableLogging
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                Component.onCompleted: {
+                                    currentIndex = _enableLogging ? (_enableLogging.value >= 0 ? 1 : 0) : 0
+                                }
+                                onActivated: {
+                                    if(_enableLogging) {
+                                        _enableLogging.value = index > 0 ? 0 : -1
+                                    }
+                                }
                             }
                         }
-                    }
-                    Item {
-                        Layout.fillWidth:   true
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
                 QGCLabel {
                     text:               qsTr("Hardware in the Loop Simulation")
-                    Layout.columnSpan:  3
                     visible:            _hitlAvailable
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
-                Item { width: _margins; height: 1; visible: _hitlAvailable }
-
-                GridLayout {
-                    id:         hitlGrid
-                    columns:    3
-                    visible:    _hitlAvailable
-
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
-                        Layout.rowSpan:         3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("HITL Enabled:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _hitlEnabled
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
+                Rectangle {
+                    width:              mainRow.width   + (_margins * 2)
+                    height:             hitlGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    visible:            _hitlAvailable
+                    Row {
+                        id:                 hitlGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/HITL.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("HITL Enabled:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _hitlEnabled
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
-
             }
         }
     }
diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h
index f8ffcc1..af1d285 100644
--- a/src/FactSystem/Fact.h
+++ b/src/FactSystem/Fact.h
@@ -30,13 +30,13 @@ class Fact : public QObject
     Q_OBJECT
     
 public:
-    Fact(QObject* parent = NULL);
-    Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
-    Fact(const Fact& other, QObject* parent = NULL);
+    Fact(QObject* parent = nullptr);
+    Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = nullptr);
+    Fact(const Fact& other, QObject* parent = nullptr);
 
     /// Creates a Fact using the name and type from metaData. Also calls QGCCorePlugin::adjustSettingsMetaData allowing
     /// custom builds to override the metadata.
-    Fact(const QString& settingsGroup, FactMetaData* metaData, QObject* parent = NULL);
+    Fact(const QString& settingsGroup, FactMetaData* metaData, QObject* parent = nullptr);
 
     const Fact& operator=(const Fact& other);
 
@@ -51,7 +51,7 @@ public:
     Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumsChanged)
     Q_PROPERTY(QString      enumStringValue         READ enumStringValue        WRITE setEnumStringValue    NOTIFY valueChanged)
     Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumsChanged)
-    Q_PROPERTY(QString      category                READ category                                              CONSTANT)
+    Q_PROPERTY(QString      category                READ category                                           CONSTANT)
     Q_PROPERTY(QString      group                   READ group                                              CONSTANT)
     Q_PROPERTY(QString      longDescription         READ longDescription                                    CONSTANT)
     Q_PROPERTY(QVariant     max                     READ cookedMax                                          CONSTANT)
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 07ef945..28e2a9a 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -95,6 +95,7 @@
 #include "MAVLinkInspectorController.h"
 #include "GeoTagController.h"
 #include "LogReplayLink.h"
+#include "VehicleObjectAvoidance.h"
 
 #ifndef __mobile__
 #include "FirmwareUpgradeController.h"
@@ -466,18 +467,19 @@ void QGCApplication::_initCommon()
     qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
     qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
 
-    qmlRegisterUncreatableType<Vehicle>             (kQGCVehicle,                           1, 0, "Vehicle",                    kRefOnly);
-    qmlRegisterUncreatableType<MissionItem>         (kQGCVehicle,                           1, 0, "MissionItem",                kRefOnly);
-    qmlRegisterUncreatableType<MissionManager>      (kQGCVehicle,                           1, 0, "MissionManager",             kRefOnly);
-    qmlRegisterUncreatableType<ParameterManager>    (kQGCVehicle,                           1, 0, "ParameterManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraManager>    (kQGCVehicle,                           1, 0, "QGCCameraManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraControl>    (kQGCVehicle,                           1, 0, "QGCCameraControl",           kRefOnly);
-    qmlRegisterUncreatableType<QGCVideoStreamInfo>  (kQGCVehicle,                           1, 0, "QGCVideoStreamInfo",         kRefOnly);
-    qmlRegisterUncreatableType<LinkInterface>       (kQGCVehicle,                           1, 0, "LinkInterface",              kRefOnly);
-    qmlRegisterUncreatableType<MissionController>   (kQGCControllers,                       1, 0, "MissionController",          kRefOnly);
-    qmlRegisterUncreatableType<GeoFenceController>  (kQGCControllers,                       1, 0, "GeoFenceController",         kRefOnly);
-    qmlRegisterUncreatableType<RallyPointController>(kQGCControllers,                       1, 0, "RallyPointController",       kRefOnly);
-    qmlRegisterUncreatableType<VisualMissionItem>   (kQGCControllers,                       1, 0, "VisualMissionItem",          kRefOnly);
+    qmlRegisterUncreatableType<Vehicle>                 (kQGCVehicle,                       1, 0, "Vehicle",                    kRefOnly);
+    qmlRegisterUncreatableType<MissionItem>             (kQGCVehicle,                       1, 0, "MissionItem",                kRefOnly);
+    qmlRegisterUncreatableType<MissionManager>          (kQGCVehicle,                       1, 0, "MissionManager",             kRefOnly);
+    qmlRegisterUncreatableType<ParameterManager>        (kQGCVehicle,                       1, 0, "ParameterManager",           kRefOnly);
+    qmlRegisterUncreatableType<VehicleObjectAvoidance>  (kQGCVehicle,                       1, 0, "VehicleObjectAvoidance",     kRefOnly);
+    qmlRegisterUncreatableType<QGCCameraManager>        (kQGCVehicle,                       1, 0, "QGCCameraManager",           kRefOnly);
+    qmlRegisterUncreatableType<QGCCameraControl>        (kQGCVehicle,                       1, 0, "QGCCameraControl",           kRefOnly);
+    qmlRegisterUncreatableType<QGCVideoStreamInfo>      (kQGCVehicle,                       1, 0, "QGCVideoStreamInfo",         kRefOnly);
+    qmlRegisterUncreatableType<LinkInterface>           (kQGCVehicle,                       1, 0, "LinkInterface",              kRefOnly);
+    qmlRegisterUncreatableType<MissionController>       (kQGCControllers,                   1, 0, "MissionController",          kRefOnly);
+    qmlRegisterUncreatableType<GeoFenceController>      (kQGCControllers,                   1, 0, "GeoFenceController",         kRefOnly);
+    qmlRegisterUncreatableType<RallyPointController>    (kQGCControllers,                   1, 0, "RallyPointController",       kRefOnly);
+    qmlRegisterUncreatableType<VisualMissionItem>       (kQGCControllers,                   1, 0, "VisualMissionItem",          kRefOnly);
 
     qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                      1, 0, "CoordinateVector",           kRefOnly);
     qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                      1, 0, "QmlObjectListModel",         kRefOnly);
diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml
index 58a0ff2..a6639f6 100644
--- a/src/QmlControls/QGCColoredImage.qml
+++ b/src/QmlControls/QGCColoredImage.qml
@@ -27,18 +27,19 @@ Item {
     height: image.height
 
     Image {
-        id:             image
-        smooth:         true
-        mipmap:         true
-        antialiasing:   true
-        visible:        false
-        fillMode:       Image.PreserveAspectFit
-        anchors.fill:   parent
+        id:                 image
+        smooth:             true
+        mipmap:             true
+        antialiasing:       true
+        visible:            false
+        fillMode:           Image.PreserveAspectFit
+        anchors.fill:       parent
+        sourceSize.height:  height
     }
 
     ColorOverlay {
-        anchors.fill:   image
-        source:         image
-        color:          parent.color
+        anchors.fill:       image
+        source:             image
+        color:              parent.color
     }
 }
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index c56c477..79e2115 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -41,6 +41,8 @@
 #include "VideoManager.h"
 #include "VideoSettings.h"
 #include "PositionManager.h"
+#include "VehicleObjectAvoidance.h"
+
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirspaceVehicleManager.h"
 #endif
@@ -156,7 +158,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _geoFenceManagerInitialRequestSent(false)
     , _rallyPointManager(nullptr)
     , _rallyPointManagerInitialRequestSent(false)
-    , _parameterManager(nullptr)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airspaceVehicleManager(nullptr)
 #endif
@@ -359,7 +360,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _geoFenceManagerInitialRequestSent(false)
     , _rallyPointManager(nullptr)
     , _rallyPointManagerInitialRequestSent(false)
-    , _parameterManager(nullptr)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airspaceVehicleManager(nullptr)
 #endif
@@ -451,6 +451,8 @@ void Vehicle::_commonInit(void)
     _parameterManager = new ParameterManager(this);
     connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
 
+    _objectAvoidance = new VehicleObjectAvoidance(this, this);
+
     // GeoFenceManager needs to access ParameterManager so make sure to create after
     _geoFenceManager = new GeoFenceManager(this);
     connect(_geoFenceManager, &GeoFenceManager::error,          this, &Vehicle::_geoFenceManagerError);
@@ -812,6 +814,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
         _handleGimbalOrientation(message);
         break;
+    case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
+        _handleObstacleDistance(message);
+        break;
 
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
     {
@@ -4057,6 +4062,13 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message)
     }
 }
 
+void Vehicle::_handleObstacleDistance(const mavlink_message_t& message)
+{
+    mavlink_obstacle_distance_t o;
+    mavlink_msg_obstacle_distance_decode(&message, &o);
+    _objectAvoidance->update(&o);
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 231e82f..f4e35b6 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -37,6 +37,8 @@ class SettingsManager;
 class ADSBVehicle;
 class QGCCameraManager;
 class Joystick;
+class VehicleObjectAvoidance;
+
 #if defined(QGC_AIRMAP_ENABLED)
 class AirspaceVehicleManager;
 #endif
@@ -484,7 +486,6 @@ private:
 #endif
 };
 
-
 class Vehicle : public FactGroup
 {
     Q_OBJECT
@@ -652,7 +653,8 @@ public:
     Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
-    Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
+    Q_PROPERTY(ParameterManager*        parameterManager    READ parameterManager   CONSTANT)
+    Q_PROPERTY(VehicleObjectAvoidance*  objectAvoidance     READ objectAvoidance    CONSTANT)
 
     // FactGroup object model properties
 
@@ -989,8 +991,9 @@ public:
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
-    ParameterManager* parameterManager(void) { return _parameterManager; }
-    ParameterManager* parameterManager(void) const { return _parameterManager; }
+    ParameterManager*       parameterManager() { return _parameterManager; }
+    ParameterManager*       parameterManager() const { return _parameterManager; }
+    VehicleObjectAvoidance* objectAvoidance()  { return _objectAvoidance; }
 
     static const int cMaxRcChannels = 18;
 
@@ -1295,6 +1298,7 @@ private:
     void _handleOrbitExecutionStatus(const mavlink_message_t& message);
     void _handleMessageInterval(const mavlink_message_t& message);
     void _handleGimbalOrientation(const mavlink_message_t& message);
+    void _handleObstacleDistance(const mavlink_message_t& message);
     // ArduPilot dialect messages
 #if !defined(NO_ARDUPILOT_DIALECT)
     void _handleCameraFeedback(const mavlink_message_t& message);
@@ -1425,7 +1429,8 @@ private:
     RallyPointManager*  _rallyPointManager;
     bool                _rallyPointManagerInitialRequestSent;
 
-    ParameterManager*   _parameterManager;
+    ParameterManager*       _parameterManager   = nullptr;
+    VehicleObjectAvoidance* _objectAvoidance    = nullptr;
 
 #if defined(QGC_AIRMAP_ENABLED)
     AirspaceVehicleManager* _airspaceVehicleManager;
diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc
new file mode 100644
index 0000000..dde9998
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.cc
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "Vehicle.h"
+#include "VehicleObjectAvoidance.h"
+#include "ParameterManager.h"
+#include <cmath>
+
+static const char* kColPrevParam = "MPC_COL_PREV_D";
+
+//-----------------------------------------------------------------------------
+VehicleObjectAvoidance::VehicleObjectAvoidance(Vehicle *vehicle, QObject* parent)
+    : QObject(parent)
+    , _vehicle(vehicle)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::update(mavlink_obstacle_distance_t* message)
+{
+    //-- Collect raw data
+    if(std::isfinite(message->increment_f) && message->increment_f > 0) {
+        _increment = static_cast<qreal>(message->increment_f);
+    } else {
+        _increment = static_cast<qreal>(message->increment);
+    }
+    _minDistance = message->min_distance;
+    _maxDistance = message->max_distance;
+    _angleOffset = static_cast<qreal>(message->angle_offset);
+    if(_distances.count() == 0) {
+        for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+            _distances.append(static_cast<int>(message->distances[i]));
+        }
+    } else {
+        for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+            _distances[i] = static_cast<int>(message->distances[i]);
+        }
+    }
+    //-- Create a plottable grid with found objects
+    _objGrid.clear();
+    _objDistance.clear();
+    VehicleSetpointFactGroup* sp = dynamic_cast<VehicleSetpointFactGroup*>(_vehicle->setpointFactGroup());
+    qreal startAngle = sp->yaw()->rawValue().toDouble() + _angleOffset;
+    for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+        if(_distances[i] < _maxDistance && message->distances[i] != UINT16_MAX) {
+            qreal d = static_cast<qreal>(_distances[i]);
+            d = d / static_cast<qreal>(_maxDistance);
+            qreal a = (_increment * i) - startAngle;
+            if(a < 0) a = a + 360;
+            qreal rd = (M_PI / 180.0) * a;
+            QPointF p = QPointF(d * cos(rd), d * sin(rd));
+            _objGrid.append(p);
+            _objDistance.append(d);
+        }
+    }
+    emit objectAvoidanceChanged();
+}
+
+//-----------------------------------------------------------------------------
+bool
+VehicleObjectAvoidance::enabled()
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        return _vehicle->parameterManager()->getParameter(id, kColPrevParam)->rawValue().toInt() >= 0;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::start(int minDistance)
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(minDistance);
+        emit objectAvoidanceChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::stop()
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(-1);
+        emit objectAvoidanceChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+QPointF
+VehicleObjectAvoidance::grid(int i)
+{
+    if(i < _objGrid.count() && i >= 0) {
+        return _objGrid[i];
+    }
+    return QPointF(0,0);
+}
+
+//-----------------------------------------------------------------------------
+qreal
+VehicleObjectAvoidance::distance(int i)
+{
+    if(i < _objDistance.count() && i >= 0) {
+        return _objDistance[i];
+    }
+    return 0;
+}
diff --git a/src/Vehicle/VehicleObjectAvoidance.h b/src/Vehicle/VehicleObjectAvoidance.h
new file mode 100644
index 0000000..b892285
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QVector>
+#include <QPointF>
+
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleObjectAvoidance : public QObject
+{
+    Q_OBJECT
+public:
+    VehicleObjectAvoidance(Vehicle* vehicle, QObject* parent = nullptr);
+
+    Q_PROPERTY(bool             available   READ available      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(bool             enabled     READ enabled        NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(QList<int>       distances   READ distances      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(qreal            increment   READ increment      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              minDistance READ minDistance    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              maxDistance READ maxDistance    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(qreal            angleOffset READ angleOffset    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              gridSize    READ gridSize       NOTIFY objectAvoidanceChanged)
+
+    //-- Start collision avoidance. Argument is minimum distance the vehicle should keep to all obstacles
+    Q_INVOKABLE void    start   (int minDistance);
+    //-- Stop collision avoidance.
+    Q_INVOKABLE void    stop    ();
+    //-- Object locations (in relationship to vehicle)
+    Q_INVOKABLE QPointF grid    (int i);
+    Q_INVOKABLE qreal   distance(int i);
+
+    bool            available   () { return _distances.count() > 0; }
+    bool            enabled     ();
+    QList<int>      distances   () { return _distances; }
+    qreal           increment   () { return _increment; }
+    int             minDistance () { return _minDistance; }
+    int             maxDistance () { return _maxDistance; }
+    qreal           angleOffset () { return _angleOffset; }
+    int             gridSize    () { return _objGrid.count(); }
+
+    void            update      (mavlink_obstacle_distance_t* message);
+
+signals:
+    void            objectAvoidanceChanged  ();
+
+private:
+    QList<int>      _distances;
+    QVector<QPointF>_objGrid;
+    QVector<qreal>  _objDistance;
+    qreal           _increment      = 0;
+    int             _minDistance    = 0;
+    int             _maxDistance    = 0;
+    qreal           _angleOffset    = 0;
+    Vehicle*        _vehicle        = nullptr;
+};
+