diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index edb59b6..472d75d 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -18,8 +18,8 @@ TARGET = qgroundcontrol
BASEDIR = .
BUILDDIR = build
LANGUAGE = C++
-CONFIG += debug_and_release \
- console
+CONFIG += debug_and_release
+ #console
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
UI_HEADERS_DIR = src/ui/generated
diff --git a/settings/parameters_alpha.txt b/settings/parameters_alpha.txt
index 4147ccf..3da7aca 100644
--- a/settings/parameters_alpha.txt
+++ b/settings/parameters_alpha.txt
@@ -1,17 +1,6 @@
# Onboard parameters for system MAV 042
#
# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
-42 1 POSFILTER 1
-42 1 PROTOCOLTIMEOUT¶ 2e+06
-42 1 SETPOINTDELAY 1e+06
-42 1 YAWTOLERANCE 0.1745
-42 100 SYS_ID 42
-42 120 DOWN_PITCH -0.025
-42 120 DOWN_ROLL -0.01
-42 120 DOWN_X 0
-42 120 DOWN_Y 0
-42 120 DOWN_YAW 3.14159
-42 120 DOWN_Z 0
42 200 ACC_NAV_OFFS_X 0
42 200 ACC_NAV_OFFS_Y 0
42 200 ACC_NAV_OFFS_Z -1000
@@ -23,10 +12,18 @@
42 200 CAL_ACC_X 0
42 200 CAL_ACC_Y 0
42 200 CAL_ACC_Z 0
-42 200 CAL_GYRO_X 29760
-42 200 CAL_GYRO_Y 29860
-42 200 CAL_GYRO_Z 29877
-42 200 CAL_TEMP 40
+42 200 CAL_FIT_ACTIVE 0
+42 200 CAL_FIT_GYRO_X 31496.8
+42 200 CAL_FIT_GYRO_Y 29383.4
+42 200 CAL_FIT_GYRO_Z 30151.1
+42 200 CAL_GYRO_X 29826
+42 200 CAL_GYRO_Y 30325
+42 200 CAL_GYRO_Z 29583
+42 200 CAL_MAG_X 0
+42 200 CAL_MAG_Y 0
+42 200 CAL_MAG_Z 0
+42 200 CAL_PRES_DIFF 10000
+42 200 CAL_TEMP 32
42 200 CAM_EXP 1000
42 200 CAM_INTERVAL 36000
42 200 DEBUG_1 0
@@ -35,6 +32,7 @@
42 200 DEBUG_4 0
42 200 DEBUG_5 0
42 200 DEBUG_6 0
+42 200 GPS_MODE 0
42 200 MIX_OFFSET 0
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
@@ -66,9 +64,9 @@
42 200 PID_YAWSPE_AWU 1
42 200 PID_YAWSPE_LIM 50
42 200 POS_SP_ACCEPT 1
-42 200 POS_SP_X 1.70917
-42 200 POS_SP_Y 0.479173
-42 200 POS_SP_YAW 1.5708
+42 200 POS_SP_X 1.3
+42 200 POS_SP_Y 0.7
+42 200 POS_SP_YAW 0
42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 2e+06
42 200 RC_NICK_CHAN 1
diff --git a/settings/parameters_bravo_final.txt b/settings/parameters_bravo_final.txt
new file mode 100644
index 0000000..2d7de7a
--- /dev/null
+++ b/settings/parameters_bravo_final.txt
@@ -0,0 +1,111 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)
+42 1 POSFILTER 1
+42 1 PROTOCOLDELAY 40
+42 1 PROTOCOLTIMEOUT 2e+06
+42 1 SETPOINTDELAY 1e+06
+42 1 YAWTOLERANCE 0.1745
+42 100 SYS_ID 42
+42 120 DOWN_PITCH -0.03
+42 120 DOWN_ROLL 0.05
+42 120 DOWN_X 0
+42 120 DOWN_Y 0
+42 120 DOWN_YAW 3.14159
+42 120 DOWN_Z -0.088
+42 200 ACC_NAV_OFFS_X 0
+42 200 ACC_NAV_OFFS_Y 0
+42 200 ACC_NAV_OFFS_Z -1000
+42 200 ATT_KAL_IYAW 1
+42 200 ATT_KAL_KACC 0.0033
+42 200 ATT_OFFSET_X 0
+42 200 ATT_OFFSET_Y 0
+42 200 ATT_OFFSET_Z -0.08
+42 200 CAL_ACC_X 0
+42 200 CAL_ACC_Y 0
+42 200 CAL_ACC_Z 0
+42 200 CAL_FIT_ACTIVE 0
+42 200 CAL_FIT_GYRO_X 31500
+42 200 CAL_FIT_GYRO_Y 29370
+42 200 CAL_FIT_GYRO_Z 30230
+42 200 CAL_GYRO_X 29812
+42 200 CAL_GYRO_Y 29877
+42 200 CAL_GYRO_Z 29515
+42 200 CAL_MAG_X 0
+42 200 CAL_MAG_Y 0
+42 200 CAL_MAG_Z 0
+42 200 CAL_PRES_DIFF 10000
+42 200 CAM_EXP 1000
+42 200 CAM_INTERVAL 36000
+42 200 DEBUG_1 0
+42 200 DEBUG_2 0
+42 200 DEBUG_3 0
+42 200 DEBUG_4 0
+42 200 DEBUG_5 0
+42 200 DEBUG_6 0
+42 200 GPS_MODE 0
+42 200 MIX_OFFSET 0
+42 200 MIX_POSITION 0
+42 200 MIX_POS_YAW 0
+42 200 MIX_REMOTE 0
+42 200 MIX_Z_POSITION 0
+42 200 PID_ATT_AWU 0.3
+42 200 PID_ATT_D 30
+42 200 PID_ATT_I 60
+42 200 PID_ATT_LIM 100
+42 200 PID_ATT_P 90
+42 200 PID_POS_AWU 10
+42 200 PID_POS_D 1.8
+42 200 PID_POS_I 0.25
+42 200 PID_POS_LIM 0.15
+42 200 PID_POS_P 1.7
+42 200 PID_POS_Z_AWU 3
+42 200 PID_POS_Z_D 0.15
+42 200 PID_POS_Z_I 0.2
+42 200 PID_POS_Z_LIM 0.2
+42 200 PID_POS_Z_P 0.35
+42 200 PID_YAWPOS_AWU 1
+42 200 PID_YAWPOS_D 1
+42 200 PID_YAWPOS_I 0.1
+42 200 PID_YAWPOS_LIM 2
+42 200 PID_YAWPOS_P 5
+42 200 PID_YAWSPEED_D 0
+42 200 PID_YAWSPEED_I 5
+42 200 PID_YAWSPEED_P 15
+42 200 PID_YAWSPE_AWU 1
+42 200 PID_YAWSPE_LIM 20
+42 200 POS_SP_ACCEPT 1
+42 200 POS_SP_X 1.3
+42 200 POS_SP_Y 0.7
+42 200 POS_SP_YAW 1.5708
+42 200 POS_SP_Z -0.7
+42 200 POS_TIMEOUT 2e+06
+42 200 POS_YAW_TRACK 1
+42 200 RC_NICK_CHAN 1
+42 200 RC_ROLL_CHAN 2
+42 200 RC_SAFETY_CHAN 5
+42 200 RC_THRUST_CHAN 3
+42 200 RC_TRIM_CHAN 0
+42 200 RC_TUNE_CHAN1 7
+42 200 RC_TUNE_CHAN2 5
+42 200 RC_TUNE_CHAN3 6
+42 200 RC_TUNE_CHAN4 8
+42 200 RC_YAW_CHAN 4
+42 200 SEND_DEBUGCHAN 0
+42 200 SLOT_ATTITUDE 0
+42 200 SLOT_CONTROL 0
+42 200 SLOT_RAW_IMU 0
+42 200 SLOT_RC 0
+42 200 SYS_COMP_ID 200
+42 200 SYS_ID 42
+42 200 SYS_IMU_RESET 0
+42 200 SYS_SW_VER 2001
+42 200 SYS_TYPE 2
+42 200 UART_0_BAUD 115200
+42 200 UART_1_BAUD 57600
+42 200 VEL_DAMP 0.95
+42 200 VEL_OFFSET_X 0
+42 200 VEL_OFFSET_Y 0
+42 200 VEL_OFFSET_Z 0
+42 200 VIS_OUTL_TRESH 0.2
+42 200 VIS_YAWCORR 0
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index 7a936e1..fadf5e8 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -38,7 +38,7 @@
0
0
1000
- 23
+ 25
-
+
+
+
actionExit