diff --git a/gulpfile.js b/gulpfile.js
index 38b90427..e2ceb25e 100644
--- a/gulpfile.js
+++ b/gulpfile.js
@@ -87,6 +87,7 @@ sources.js = [
     './js/simple_smooth_filter.js',
     './js/walking_average_filter.js',
     './js/gui.js',
+    './js/serialPortHelper.js',
     './js/msp/MSPCodes.js',
     './js/msp/MSPHelper.js',
     './js/msp/MSPchainer.js',
@@ -141,6 +142,8 @@ sources.js = [
     './js/sitl.js',
     './js/CliAutoComplete.js',
     './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
+    './js/fwApproach.js',
+    './js/fwApproachCollection.js',
     './js/ltmDecoder.js',
     './js/groundstation.js'
 ];
@@ -409,18 +412,39 @@ gulp.task('release-osx64', function(done) {
         archive.directory(src, 'INAV Configurator.app');
         output.on('close', function() {
             if (getArguments().notarize) {
-                console.log('Notarizing DMG file: ' + zipFilename);
-                const notarizeArgs = ['macapptool', '-v', '1', 'notarize'];
+                console.log('Notarizing ZIP file: ' + zipFilename);
+                const notarizeArgs = ['xcrun', 'notarytool', 'submit'];
+                notarizeArgs.push(zipFilename);
                 const notarizationUsername = getArguments()['notarization-username'];
                 if (notarizationUsername) {
-                    notarizeArgs.push('-u', notarizationUsername)
+                    notarizeArgs.push('--apple-id', notarizationUsername)
+                } else {
+                    throw new Error('Missing notarization username');
                 }
                 const notarizationPassword = getArguments()['notarization-password'];
                 if (notarizationPassword) {
-                    notarizeArgs.push('-p', notarizationPassword)
+                    notarizeArgs.push('--password', notarizationPassword)
+                } else {
+                    throw new Error('Missing notarization password');
+                }
+                const notarizationTeamId = getArguments()['notarization-team-id'];
+                if (notarizationTeamId) {
+                    notarizeArgs.push('--team-id', notarizationTeamId)
+                } else {
+                    throw new Error('Missing notarization Team ID');
+                }
+                notarizeArgs.push('--wait');
+
+                const notarizationWebhook = getArguments()['notarization-webhook'];
+                if (notarizationWebhook) {
+                    notarizeArgs.push('--webhook', notarizationWebhook);
                 }
-                notarizeArgs.push(zipFilename)
                 execSync.apply(this, notarizeArgs);
+
+                console.log('Stapling ZIP file: ' + zipFilename);
+                const stapleArgs = ['macapptool', '-v', '1', 'staple'];
+                stapleArgs.push(zipFilename)
+                execSync.apply(this, stapleArgs);
             }
             done();
         });
@@ -586,7 +610,7 @@ function release_deb(arch) {
                     `xdg-desktop-menu install ${LINUX_INSTALL_DIR}/${metadata.name}/${metadata.name}.desktop`,
                 ],
                 prerm: [`xdg-desktop-menu uninstall ${metadata.name}.desktop`],
-                depends: ['libgconf-2-4', 'libatomic1'],
+                depends: ['libatomic1'],
                 changelog: [],
                 _target: `${LINUX_INSTALL_DIR}/${metadata.name}`,
                 _out: appsDir,
diff --git a/images/icons/cf_icon_setup_white.svg b/images/icons/cf_icon_setup_white.svg
index 7501a9f0..353d0902 100644
--- a/images/icons/cf_icon_setup_white.svg
+++ b/images/icons/cf_icon_setup_white.svg
@@ -1,16 +1,8 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 16.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
-<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 width="283.46px" height="141.73px" viewBox="0 0 283.46 141.73" enable-background="new 0 0 283.46 141.73" xml:space="preserve">
-<g>
-	<circle fill="#999999" cx="141.73" cy="100.25" r="5.271"/>
-	<path fill="#999999" d="M160.347,114.468h-37.234c0.025,7.52-4.19,12.583-9.941,16.749h57.114
-		C163.099,126.682,160.447,120.906,160.347,114.468z"/>
-	<path fill="#999999" d="M213.125,6H70.336c-2.261,0-4.104,1.843-4.104,4.104v94.594c0,2.262,1.843,4.104,4.104,4.104h142.789
-		c2.262,0,4.104-1.844,4.104-4.104V10.104C217.228,7.843,215.386,6,213.125,6z M141.73,105.521c-2.912,0-5.271-2.359-5.271-5.271
-		s2.359-5.271,5.271-5.271s5.272,2.359,5.272,5.271S144.642,105.521,141.73,105.521z M208.515,88.036
-		c0,1.99-1.633,3.624-3.623,3.624H78.581c-1.99,0-3.625-1.634-3.625-3.624V17.354c-0.012-1.991,1.622-3.625,3.625-3.625h126.311
-		c2.002,0,3.623,1.634,3.623,3.625V88.036z"/>
-</g>
-</svg>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="100%" height="100%" viewBox="0 0 142 142" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve" xmlns:serif="http://www.serif.com/" style="fill-rule:evenodd;clip-rule:evenodd;stroke-linejoin:round;stroke-miterlimit:2;">
+    <use xlink:href="#_Image1" x="3.8" y="3.613" width="135px" height="135px"/>
+    <defs>
+        <image id="_Image1" width="135px" height="135px" xlink:href="data:image/png;base64,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"/>
+    </defs>
+</svg>
diff --git a/index.html b/index.html
index 5818e4e6..dd754662 100644
--- a/index.html
+++ b/index.html
@@ -240,7 +240,7 @@
                 </ul>
                 <ul class="mode-connected">
                     <li class="tab_setup">
-                        <a href="#" data-i18n="tabSetup" class="tabicon ic_setup" title="Setup"></a>
+                        <a href="#" data-i18n="tabSetup" class="tabicon ic_setup" data-i18n_title="tabSetup"></a>
                     </li>
                     <li class="tab_calibration">
                         <a href="#" data-i18n="tabCalibration" class="tabicon ic_calibration" title="Calibration"></a>
diff --git a/js/fc.js b/js/fc.js
index 34a0b645..0d731148 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -291,11 +291,6 @@ var FC = {
             battery_flags: 0
         };
 
-        this.ARMING_CONFIG = {
-            auto_disarm_delay: 0,
-            disarm_kill_switch: 0
-        };
-
         this.FC_CONFIG = {
             loopTime: 0
         };
@@ -587,6 +582,15 @@ var FC = {
             rate: null,
             expo: null
         };
+
+
+        FW_APPROACH = new FwApproachCollection();
+
+        OSD_CUSTOM_ELEMENTS = {
+           settings: {customElementsCount: 0, customElementTextSize: 0},
+           items: [],
+        };
+
     },
     getOutputUsages: function() {
         return {
@@ -1329,7 +1333,8 @@ var FC = {
                     37: "Rangefinder [cm]",
                     38: "Active MixerProfile",
                     39: "MixerTransition Active",
-                    40: "Yaw [deg]"
+                    40: "Yaw [deg]",
+                    41: "FW Land State"
                 }
             },
             3: {
diff --git a/js/fwApproach.js b/js/fwApproach.js
new file mode 100644
index 00000000..f5dac2f1
--- /dev/null
+++ b/js/fwApproach.js
@@ -0,0 +1,107 @@
+/*global $*/
+'use strict';
+
+const ApproachDirection = Object.freeze({
+    LEFT: 0,
+    RIGHT: 1,
+})
+
+let FwApproach = function (number, approachAltAsl = 0, landAltAsl = 0, approachDirection = 0, landHeading1 = 0, landHeading2 = 0, isSeaLevelRef = 0, elevation = 0) {
+
+    var self = {};
+
+    self.getNumber = function () {
+        return number;
+    };
+
+    self.setNumber = function (data) {
+        number = data;
+    };
+
+    self.getApproachAltAsl = function () {
+        return approachAltAsl;
+    }
+
+    self.setApproachAltAsl = function (data) {
+        approachAltAsl = data;
+    }
+
+    self.getLandAltAsl = function () {
+        return landAltAsl;
+    }
+
+    self.setLandAltAsl = function (data) {
+        landAltAsl = data;
+    }
+
+    self.getApproachDirection = function () {
+        return approachDirection;
+    }
+
+    self.setApproachDirection = function (data) {
+        approachDirection = data;
+    }
+
+    self.getLandHeading1 = function () {
+        return landHeading1;
+    }
+
+    self.setLandHeading1 = function (data) {
+        landHeading1 = data;
+    }
+
+    self.getLandHeading2 = function () {
+        return landHeading2;
+    }
+
+    self.setLandHeading2 = function (data) {
+        landHeading2 = data;
+    }
+
+    self.getIsSeaLevelRef = function () {
+        return isSeaLevelRef;
+    }
+
+    self.setIsSeaLevelRef = function (data) {
+        isSeaLevelRef = data;
+    }
+
+    self.getElevation = function() {
+        return elevation;
+    }
+
+    self.setElevation = function (data) {
+        elevation = data;
+    }
+
+    self.cleanup = function () {
+        approachAltAsl = 0;
+        landAltAsl = 0;
+        approachDirection = 0;
+        landHeading1 = 0;
+        landHeading2 = 0;
+        isSeaLevelRef = 0;
+        elevation = 0
+    };
+
+    self.getElevationFromServer = async function (lon, lat, globalSettings) {
+        let elevation = "N/A";
+        if (globalSettings.mapProviderType == 'bing') {
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "ellipsoid" : "sealevel";
+
+            const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+lat+','+lon+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
+            const myJson = await response.json();
+            elevation = myJson.resourceSets[0].resources[0].elevations[0];
+        }
+        else {
+            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+lat+','+lon);
+            const myJson = await response.json();
+            if (myJson.status == "OK" && myJson.results[0].elevation != null) {
+                elevation = myJson.results[0].elevation;
+            }
+        }
+        return elevation;
+    }
+
+    return self;
+};
diff --git a/js/fwApproachCollection.js b/js/fwApproachCollection.js
new file mode 100644
index 00000000..49da60e6
--- /dev/null
+++ b/js/fwApproachCollection.js
@@ -0,0 +1,92 @@
+'use strict';
+
+let FwApproachCollection = function () {
+
+    let self = {},
+        data = [],
+        maxFwApproachCount = 17;
+
+    self.setMaxFwApproachCount = function (value) {
+        maxFwApproachCount = value;
+    };
+
+    self.getMaxFwApproachCount = function () {
+        return maxFwApproachCount;
+    }
+
+    self.put = function (element) {
+        element.setNumber(data.length);
+        data.push(element);
+    };
+
+    self.get = function () {
+        return data;
+    };
+    
+    self.clean = function (index){
+        data[index].cleanup();
+    };
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.isEmpty = () => {
+        return data.length == 0;
+    };
+
+    self.fwApproachCount = () => {
+        return data.length;
+    }
+
+    self.drop = (idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() - 1);
+            }
+        });   
+        data.splice(idx, 1);
+    }
+
+    self.insert = (fwApprach, idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() + 1);
+            }
+        });
+        data.splice(idx, 0, fwApprach);
+    }
+        
+    self.updateFwApproach = function(newFwApproach) {
+        data[newFwApproach.getNumber()] = newFwApproach;
+    };
+    
+    self.extractBuffer = function(fwApproachId) {
+        let buffer = [];
+        let fwApproach = data[fwApproachId];
+        if (fwApproachId < self.fwApproachCount()) {    
+            buffer.push(fwApproach.getNumber());    // sbufReadU8(src);    // number
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 3));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 3));
+            buffer.push(fwApproach.getApproachDirection());
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 1));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 1));
+            buffer.push(fwApproach.getIsSeaLevelRef());
+        } else {
+            buffer = Array(15).fill(0);
+            buffer[0] = safehomeId;
+        }
+        
+        return buffer;
+    } 
+
+    return self;
+};
diff --git a/js/helpers.js b/js/helpers.js
index ca7ed646..90c4fdaf 100644
--- a/js/helpers.js
+++ b/js/helpers.js
@@ -55,4 +55,50 @@ function scaleRangeInt(x, srcMin, srcMax, destMin, destMax) {
     return Math.round((a / b) + destMin);
 }
 
-module.exports = { constrain, zeroPad, generateFilename, scaleRangeInt };
+function distanceOnLine(start, end, distance)
+{
+    var vx = end[0] - start[0];
+    var vy = end[1] - start[1];
+    var mag = Math.sqrt(vx * vx + vy * vy);
+    vx /= mag;
+    vy /= mag;
+
+    var px = start[0] + vx * (mag + distance);
+    var py = start[1] + vy * (mag + distance);
+
+    return [px, py]; 
+}
+
+function wrap_360(angle)
+{
+    if (angle >= 360)
+        angle -= 360;
+    if (angle < 0)
+        angle += 360;
+    return angle;
+}
+
+function rad2Deg(rad) 
+{
+	return rad * (180 / Math.PI);
+}
+
+function deg2Rad(deg)
+{
+	return deg * (Math.PI / 180);
+}
+
+function calculate_new_cooridatnes(coord, bearing, distance)
+{
+    var lat = deg2Rad(coord.lat);
+    var lon = deg2Rad(coord.lon);
+    bearing = deg2Rad(bearing);
+    var delta = distance / 637100000; // Earth radius in cm 
+    
+    var latNew = Math.asin(Math.sin(lat) * Math.cos(delta) + Math.cos(lat) * Math.sin(delta) * Math.cos(bearing));
+    var lonNew = lon + Math.atan2(Math.sin(bearing) * Math.sin(delta) * Math.cos(lat), Math.cos(delta) - Math.sin(lat) * Math.sin(lat));
+    return {
+        lat: rad2Deg(latNew),
+        lon: rad2Deg(lonNew),
+    }
+}
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 9674acac..89d4d8e3 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -18,8 +18,6 @@ var MSPCodes = {
     MSP_CALIBRATION_DATA:       14,
     MSP_SET_CALIBRATION_DATA:   15,
 
-    MSP_POSITION_ESTIMATION_CONFIG: 16,
-    MSP_SET_POSITION_ESTIMATION_CONFIG: 17,
     MSP_WP_MISSION_LOAD: 18,
     MSP_WP_MISSION_SAVE: 19,
     MSP_WP_GETINFO: 20,
@@ -29,8 +27,6 @@ var MSPCodes = {
     MSP_SET_FW_CONFIG:          24,
 
     // MSP commands for Cleanflight original features
-    MSP_CHANNEL_FORWARDING:     32,
-    MSP_SET_CHANNEL_FORWARDING: 33,
     MSP_MODE_RANGES:            34,
     MSP_SET_MODE_RANGE:         35,
     MSP_FEATURE:                36,
@@ -50,8 +46,6 @@ var MSPCodes = {
     MSP_CF_SERIAL_CONFIG:       54,
     MSP_SET_CF_SERIAL_CONFIG:   55,
     MSP_SONAR:                  58,
-    MSP_ARMING_CONFIG:          61,
-    MSP_SET_ARMING_CONFIG:      62,
     MSP_DATAFLASH_SUMMARY:      70,
     MSP_DATAFLASH_READ:         71,
     MSP_DATAFLASH_ERASE:        72,
@@ -59,13 +53,9 @@ var MSPCodes = {
     MSP_SET_LOOP_TIME:          74,
     MSP_FAILSAFE_CONFIG:        75,
     MSP_SET_FAILSAFE_CONFIG:    76,
-    MSP_RXFAIL_CONFIG:          77,
-    MSP_SET_RXFAIL_CONFIG:      78,
     MSP_SDCARD_SUMMARY:         79,
     MSP_BLACKBOX_CONFIG:        80,
     MSP_SET_BLACKBOX_CONFIG:    81,
-    MSP_OSD_CONFIG:             84,
-    MSP_SET_OSD_CONFIG:         85,
     MSP_OSD_CHAR_READ:          86,
     MSP_OSD_CHAR_WRITE:         87,
     MSP_VTX_CONFIG:             88,
@@ -239,6 +229,9 @@ var MSPCodes = {
     MSP2_INAV_LED_STRIP_CONFIG_EX:      0x2048,
     MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
 
+    MSP2_INAV_FW_APPROACH:              0x204A,
+    MSP2_INAV_SET_FW_APPROACH:          0x204B,
+
     MSP2_INAV_RATE_DYNAMICS:            0x2060,
     MSP2_INAV_SET_RATE_DYNAMICS:        0x2061,
 
@@ -246,8 +239,12 @@ var MSPCodes = {
     MSP2_INAV_EZ_TUNE_SET:              0x2071,
 
     MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080,
-
+    
     MSP2_ADSB_VEHICLE_LIST:             0x2090,
+
+    MSP2_INAV_CUSTOM_OSD_ELEMENTS:      0x2100,
+    MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS:  0x2101,
+
 };
 
 module.exports = MSPCodes;
\ No newline at end of file
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 596fa811..1ba623a5 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -39,33 +39,6 @@ var mspHelper = (function () {
         '921600'
     ];
 
-    self.SERIAL_PORT_FUNCTIONS = {
-        'MSP': 0,
-        'GPS': 1,
-        'TELEMETRY_FRSKY': 2,
-        'TELEMETRY_HOTT': 3,
-        'TELEMETRY_LTM': 4, // LTM replaced MSP
-        'TELEMETRY_SMARTPORT': 5,
-        'RX_SERIAL': 6,
-        'BLACKBOX': 7,
-        'TELEMETRY_MAVLINK': 8,
-        'TELEMETRY_IBUS': 9,
-        'RUNCAM_DEVICE_CONTROL': 10,
-        'TBS_SMARTAUDIO': 11,
-        'IRC_TRAMP': 12,
-        'OPFLOW': 14,
-        'LOG': 15,
-        'RANGEFINDER': 16,
-        'VTX_FFPV': 17,
-        'ESC': 18,
-        'GSM_SMS': 19,
-        'FRSKY_OSD': 20,
-        'DJI_FPV': 21,
-        'SBUS_OUTPUT': 22,
-        'SMARTPORT_MASTER': 23,
-        'MSP_DISPLAYPORT': 25,
-    };
-
     // Required for MSP_DEBUGMSG because console.log() doesn't allow omitting
     // the newline at the end, so we keep the pending message here until we find a
     // '\0', then print it. Messages sent by MSP_DEBUGMSG are guaranteed to
@@ -113,7 +86,7 @@ var mspHelper = (function () {
 
                 FC.CONFIG.armingFlags = data.getUint32(offset, true);
                 offset += 4;
-                
+
                 //As there are 8 bytes for mspBoxModeFlags (number of bytes is actually variable)
                 //read mixer profile as the last byte in the the message
                 profile_byte = data.getUint8(dataHandler.message_length_expected - 1);
@@ -333,10 +306,6 @@ var mspHelper = (function () {
                     FC.PIDs[i][3] = data.getUint8(needle + 3);
                 }
                 break;
-            case MSPCodes.MSP_ARMING_CONFIG:
-                FC.ARMING_CONFIG.auto_disarm_delay = data.getUint8(0);
-                FC.ARMING_CONFIG.disarm_kill_switch = data.getUint8(1);
-                break;
             case MSPCodes.MSP_LOOP_TIME:
                 FC.FC_CONFIG.loopTime = data.getInt16(0, true);
                 break;
@@ -857,10 +826,6 @@ var mspHelper = (function () {
 
                 break;
 
-            case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
-                console.log('Channel forwarding saved');
-                break;
-
             case MSPCodes.MSP2_CF_SERIAL_CONFIG:
                 FC.SERIAL_CONFIG.ports = [];
                 var bytesPerPort = 1 + 4 + 4;
@@ -871,7 +836,7 @@ var mspHelper = (function () {
 
                     var serialPort = {
                         identifier: data.getUint8(offset),
-                        functions: mspHelper.serialPortFunctionMaskToFunctions(data.getUint32(offset + 1, true)),
+                        functions: helper.serialPortHelper.maskToFunctions(data.getUint32(offset + 1, true)),
                         msp_baudrate: BAUD_RATES[data.getUint8(offset + 5)],
                         sensors_baudrate: BAUD_RATES[data.getUint8(offset + 6)],
                         telemetry_baudrate: BAUD_RATES[data.getUint8(offset + 7)],
@@ -927,17 +892,6 @@ var mspHelper = (function () {
                 }
                 break;
 
-            case MSPCodes.MSP_CHANNEL_FORWARDING:
-                for (let i = 0; i < data.byteLength && i < FC.SERVO_CONFIG.length; i++) {
-                    var channelIndex = data.getUint8(i);
-                    if (channelIndex < 255) {
-                        FC.SERVO_CONFIG[i].indexOfChannelToForward = channelIndex;
-                    } else {
-                        FC.SERVO_CONFIG[i].indexOfChannelToForward = undefined;
-                    }
-                }
-                break;
-
             case MSPCodes.MSP_RX_CONFIG:
                 FC.RX_CONFIG.serialrx_provider = data.getUint8(offset);
                 offset++;
@@ -995,21 +949,6 @@ var mspHelper = (function () {
                 offset++;
                 break;
 
-            case MSPCodes.MSP_RXFAIL_CONFIG:
-                //noinspection JSUndeclaredVariable
-                FC.RXFAIL_CONFIG = []; // empty the array as new data is coming in
-
-                var channelCount = data.byteLength / 3;
-
-                for (let i = 0; offset < data.byteLength && i < channelCount; i++, offset++) {
-                    var rxfailChannel = {
-                        mode: data.getUint8(offset++),
-                        value: data.getUint16(offset++, true)
-                    };
-                    FC.RXFAIL_CONFIG.push(rxfailChannel);
-                }
-                break;
-
 
             case MSPCodes.MSP_LED_STRIP_CONFIG:
                 //noinspection JSUndeclaredVariable
@@ -1394,20 +1333,6 @@ var mspHelper = (function () {
                 console.log('Calibration data saved');
                 break;
 
-            case MSPCodes.MSP_POSITION_ESTIMATION_CONFIG:
-                FC.POSITION_ESTIMATOR.w_z_baro_p = data.getUint16(0, true) / 100;
-                FC.POSITION_ESTIMATOR.w_z_gps_p = data.getUint16(2, true) / 100;
-                FC.POSITION_ESTIMATOR.w_z_gps_v = data.getUint16(4, true) / 100;
-                FC.POSITION_ESTIMATOR.w_xy_gps_p = data.getUint16(6, true) / 100;
-                FC.POSITION_ESTIMATOR.w_xy_gps_v = data.getUint16(8, true) / 100;
-                FC.POSITION_ESTIMATOR.gps_min_sats = data.getUint8(10);
-                FC.POSITION_ESTIMATOR.use_gps_velned = data.getUint8(11);
-                break;
-
-            case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
-                console.log('POSITION_ESTIMATOR saved');
-                break;
-
             case MSPCodes.MSP_RTH_AND_LAND_CONFIG:
                 FC.RTH_AND_LAND_CONFIG.minRthDistance = data.getUint16(0, true);
                 FC.RTH_AND_LAND_CONFIG.rthClimbFirst = data.getUint8(2);
@@ -1452,9 +1377,6 @@ var mspHelper = (function () {
             case MSPCodes.MSP_SET_LOOP_TIME:
                 console.log('Looptime saved');
                 break;
-            case MSPCodes.MSP_SET_ARMING_CONFIG:
-                console.log('Arming config saved');
-                break;
             case MSPCodes.MSP_SET_RESET_CURR_PID:
                 console.log('Current PID profile reset');
                 break;
@@ -1470,17 +1392,9 @@ var mspHelper = (function () {
             case MSPCodes.MSP_SET_RX_CONFIG:
                 console.log('Rx config saved');
                 break;
-            case MSPCodes.MSP_SET_RXFAIL_CONFIG:
-                console.log('Rxfail config saved');
-                break;
             case MSPCodes.MSP_SET_FAILSAFE_CONFIG:
                 console.log('Failsafe config saved');
                 break;
-            case MSPCodes.MSP_OSD_CONFIG:
-                break;
-            case MSPCodes.MSP_SET_OSD_CONFIG:
-                console.log('OSD config set');
-                break;
             case MSPCodes.MSP_OSD_CHAR_READ:
                 break;
             case MSPCodes.MSP_OSD_CHAR_WRITE:
@@ -1551,6 +1465,9 @@ var mspHelper = (function () {
             case MSPCodes.MSP2_INAV_SELECT_BATTERY_PROFILE:
                 console.log('Battery profile selected');
                 break;
+            case MSPCodes.MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS:
+                console.log('OSD custom elements preferences saved');
+                break;
             case MSPCodes.MSPV2_INAV_OUTPUT_MAPPING:
                 FC.OUTPUT_MAPPING.flush();
                 for (let i = 0; i < data.byteLength; ++i)
@@ -1622,13 +1539,33 @@ var mspHelper = (function () {
                     data.getUint8(0),
                     data.getUint8(1),
                     data.getInt32(2, true),
-                    data.getInt32(6, true)
-                ));
+                    data.getInt32(6, true),
+                );
+                if (safehome.getEnabled()) {
+                    SAFEHOMES.put(safehome);
+                }
+
                 break;
             case MSPCodes.MSP2_INAV_SET_SAFEHOME:
                 console.log('Safehome points saved');
                 break;
 
+            case MSPCodes.MSP2_INAV_FW_APPROACH:
+                FW_APPROACH.put(new FwApproach(
+                    data.getUint8(0),
+                    data.getInt32(1, true),
+                    data.getInt32(5, true),
+                    data.getUint8(9, true),
+                    data.getInt16(10, true),
+                    data.getInt16(12, true),
+                    data.getUint8(14, true),
+                ));                
+                break;
+            
+                case MSPCodes.MSP2_INAV_SET_FW_APPROACH:
+                    console.log('FW Approach saved');
+                    break;
+
             case MSPCodes.MSP2_INAV_RATE_DYNAMICS:
                 FC.RATE_DYNAMICS.sensitivityCenter = data.getUint8(0);
                 FC.RATE_DYNAMICS.sensitivityEnd = data.getUint8(1);
@@ -1658,6 +1595,54 @@ var mspHelper = (function () {
                 console.log('EzTune settings saved');
                 break;
 
+            case MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENTS:
+                OSD_CUSTOM_ELEMENTS.items = [];
+
+                var index = 0;
+
+                if(data.byteLength == 0){
+                    OSD_CUSTOM_ELEMENTS.settings.customElementsCount = 0;
+                    OSD_CUSTOM_ELEMENTS.settings.customElementTextSize = 0;
+                    return;
+                }
+
+                OSD_CUSTOM_ELEMENTS.settings.customElementsCount = data.getUint8(index++);
+                OSD_CUSTOM_ELEMENTS.settings.customElementTextSize = data.getUint8(index++);
+
+                for (i = 0; i < OSD_CUSTOM_ELEMENTS.settings.customElementsCount; i++){
+                    var customElement = {
+                        customElementItems: [],
+                        customElementVisibility: {type: 0, value: 0},
+                        customElementText: [],
+                    };
+
+                    for (let ii = 0; ii < OSD_CUSTOM_ELEMENTS.settings.customElementsCount; ii++){
+                        var customElementPart = {type: 0,  value: 0,};
+                        customElementPart.type = data.getUint8(index++);
+                        customElementPart.value = data.getUint16(index, true);
+                        index += 2;
+                        customElement.customElementItems.push(customElementPart);
+                    }
+
+                    customElement.customElementVisibility.type = data.getUint8(index++);
+                    customElement.customElementVisibility.value = data.getUint16(index, true);
+                    index += 2;
+
+                    for (let ii = 0; ii < OSD_CUSTOM_ELEMENTS.settings.customElementTextSize; ii++){
+                        var char = data.getUint8(index++);
+                        if(char === 0){
+                            index += (OSD_CUSTOM_ELEMENTS.settings.customElementTextSize - 1) - ii;
+                            break;
+                        }
+                        customElement.customElementText[ii] = char;
+                    }
+
+                    customElement.customElementText = String.fromCharCode(...customElement.customElementText);
+
+                    OSD_CUSTOM_ELEMENTS.items.push(customElement)
+                }
+                break;
+
             default:
                 console.log('Unknown code detected: ' + dataHandler.code);
         } else {
@@ -1794,10 +1779,6 @@ var mspHelper = (function () {
                 buffer.push(BitHelper.lowByte(FC.CONFIG.accelerometerTrims[1]));
                 buffer.push(BitHelper.highByte(FC.CONFIG.accelerometerTrims[1]));
                 break;
-            case MSPCodes.MSP_SET_ARMING_CONFIG:
-                buffer.push(FC.ARMING_CONFIG.auto_disarm_delay);
-                buffer.push(FC.ARMING_CONFIG.disarm_kill_switch);
-                break;
             case MSPCodes.MSP_SET_LOOP_TIME:
                 buffer.push(BitHelper.lowByte(FC.FC_CONFIG.loopTime));
                 buffer.push(BitHelper.highByte(FC.FC_CONFIG.loopTime));
@@ -1939,16 +1920,6 @@ var mspHelper = (function () {
                 buffer.push(FC.FAILSAFE_CONFIG.failsafe_min_distance_procedure);
                 break;
 
-            case MSPCodes.MSP_SET_CHANNEL_FORWARDING:
-                for (let i = 0; i < FC.SERVO_CONFIG.length; i++) {
-                    var out = FC.SERVO_CONFIG[i].indexOfChannelToForward;
-                    if (out == undefined) {
-                        out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
-                    }
-                    buffer.push(out);
-                }
-                break;
-
             case MSPCodes.MSP2_SET_CF_SERIAL_CONFIG:
                 for (let i = 0; i < FC.SERIAL_CONFIG.ports.length; i++) {
                     var serialPort = FC.SERIAL_CONFIG.ports[i];
@@ -2097,26 +2068,6 @@ var mspHelper = (function () {
 
                 break;
 
-            case MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG:
-                buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
-                buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_baro_p * 100));
-
-                buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
-                buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_gps_p * 100));
-
-                buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
-                buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_z_gps_v * 100));
-
-                buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
-                buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_xy_gps_p * 100));
-
-                buffer.push(BitHelper.lowByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
-                buffer.push(BitHelper.highByte(FC.POSITION_ESTIMATOR.w_xy_gps_v * 100));
-
-                buffer.push(FC.POSITION_ESTIMATOR.gps_min_sats);
-                buffer.push(FC.POSITION_ESTIMATOR.use_gps_velned);
-                break;
-
             case MSPCodes.MSP_SET_RTH_AND_LAND_CONFIG:
                 buffer.push(BitHelper.lowByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
                 buffer.push(BitHelper.highByte(FC.RTH_AND_LAND_CONFIG.minRthDistance));
@@ -2602,6 +2553,10 @@ var mspHelper = (function () {
         }
     };
 
+    self.loadOsdCustomElements = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENTS, false, false, callback);
+    }
+
     self.sendModeRanges = function (onCompleteCallback) {
         var nextFunction = send_next_mode_range;
 
@@ -2667,66 +2622,6 @@ var mspHelper = (function () {
         });
     };
 
-    self.sendRxFailConfig = function (onCompleteCallback) {
-        var nextFunction = send_next_rxfail_config;
-
-        var rxFailIndex = 0;
-
-        if (FC.RXFAIL_CONFIG.length == 0) {
-            onCompleteCallback();
-        } else {
-            send_next_rxfail_config();
-        }
-
-        function send_next_rxfail_config() {
-
-            var rxFail = FC.RXFAIL_CONFIG[rxFailIndex];
-
-            var buffer = [];
-            buffer.push(rxFailIndex);
-            buffer.push(rxFail.mode);
-            buffer.push(BitHelper.lowByte(rxFail.value));
-            buffer.push(BitHelper.highByte(rxFail.value));
-
-            // prepare for next iteration
-            rxFailIndex++;
-            if (rxFailIndex == FC.RXFAIL_CONFIG.length) {
-                nextFunction = onCompleteCallback;
-
-            }
-            MSP.send_message(MSPCodes.MSP_SET_RXFAIL_CONFIG, buffer, false, nextFunction);
-        }
-    };
-
-    /**
-     * @return {number}
-     */
-    self.SERIAL_PORT_FUNCTIONSToMask = function (functions) {
-        var mask = 0;
-        for (var index = 0; index < functions.length; index++) {
-            var key = functions[index];
-            var bitIndex = mspHelper.SERIAL_PORT_FUNCTIONS[key];
-            if (bitIndex >= 0) {
-                mask = bit_set(mask, bitIndex);
-            }
-        }
-        return mask;
-    };
-
-    self.serialPortFunctionMaskToFunctions = function (functionMask) {
-        var functions = [];
-
-        var keys = Object.keys(mspHelper.SERIAL_PORT_FUNCTIONS);
-        for (var index = 0; index < keys.length; index++) {
-            var key = keys[index];
-            var bit = mspHelper.SERIAL_PORT_FUNCTIONS[key];
-            if (bit_check(functionMask, bit)) {
-                functions.push(key);
-            }
-        }
-        return functions;
-    };
-
     self.sendServoMixRules = function (onCompleteCallback) {
         // TODO implement
         onCompleteCallback();
@@ -2979,7 +2874,7 @@ var mspHelper = (function () {
         MSP.send_message(MSPCodes.MSP2_INAV_TIMER_OUTPUT_MODE, false, false, callback);
     }
 
-    self.sendTimerOutputModes = function(onCompleteCallback) {
+    self.sendTimerOutputModes = function(callback) {
         var nextFunction = send_next_output_mode;
         var idIndex = 0;
 
@@ -3004,7 +2899,7 @@ var mspHelper = (function () {
             // prepare for next iteration
             idIndex++;
             if (idIndex == overrideIds.length) {
-                nextFunction = onCompleteCallback;
+                nextFunction = callback;
 
             }
             MSP.send_message(MSPCodes.MSP2_INAV_SET_TIMER_OUTPUT_MODE, buffer, false, nextFunction);
@@ -3016,10 +2911,6 @@ var mspHelper = (function () {
         MSP.send_message(MSPCodes.MSPV2_BATTERY_CONFIG, false, false, callback);
     };
 
-    self.loadArmingConfig = function (callback) {
-        MSP.send_message(MSPCodes.MSP_ARMING_CONFIG, false, false, callback);
-    };
-
     self.loadRxConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_RX_CONFIG, false, false, callback);
     };
@@ -3128,10 +3019,6 @@ var mspHelper = (function () {
         MSP.send_message(MSPCodes.MSP_SET_ACC_TRIM, mspHelper.crunch(MSPCodes.MSP_SET_ACC_TRIM), false, callback);
     };
 
-    self.saveArmingConfig = function (callback) {
-        MSP.send_message(MSPCodes.MSP_SET_ARMING_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ARMING_CONFIG), false, callback);
-    };
-
     self.saveRxConfig = function (callback) {
         MSP.send_message(MSPCodes.MSP_SET_RX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_RX_CONFIG), false, callback);
     };
@@ -3148,14 +3035,6 @@ var mspHelper = (function () {
         MSP.send_message(MSPCodes.MSP_SET_NAV_POSHOLD, mspHelper.crunch(MSPCodes.MSP_SET_NAV_POSHOLD), false, callback);
     };
 
-    self.loadPositionEstimationConfig = function (callback) {
-        MSP.send_message(MSPCodes.MSP_POSITION_ESTIMATION_CONFIG, false, false, callback);
-    };
-
-    self.savePositionEstimationConfig = function (callback) {
-        MSP.send_message(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_POSITION_ESTIMATION_CONFIG), false, callback);
-    };
-
     self.loadCalibrationData = function (callback) {
         MSP.send_message(MSPCodes.MSP_CALIBRATION_DATA, false, false, callback);
     };
@@ -3251,6 +3130,37 @@ var mspHelper = (function () {
         };
     };
 
+    self.loadFwApproach = function (callback) {
+        FW_APPROACH.flush();
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, callback);
+            }
+        };
+    };
+
+    self.saveFwApproach = function (callback) {
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, callback);
+            }
+        };
+    };
+
     self._getSetting = function (name) {
         if (FC.SETTINGS[name]) {
             return Promise.resolve(FC.SETTINGS[name]);
@@ -3366,10 +3276,9 @@ var mspHelper = (function () {
         return this._getSetting(name).then(function (setting) {
             
             if (!setting) {
-                console.log("Setting invalid: " + name);
-                return null;
+                throw 'Invalid setting';
             }
-
+            
             if (setting.table && !Number.isInteger(value)) {
                 var found = false;
                 for (var ii = 0; ii < setting.table.values.length; ii++) {
@@ -3417,11 +3326,10 @@ var mspHelper = (function () {
 
     self.setSetting = function (name, value, callback) {
         this.encodeSetting(name, value).then(function (data) {
-            if (data) {
-                return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data).then(callback);
-            } else {
-                return Promise.resolve().then(callback);
-            }
+            return MSP.promise(MSPCodes.MSPV2_SET_SETTING, data).then(callback);
+        }).catch(error =>  {
+            console.log("Invalid setting: " + name);
+            return new Promise(callback);
         });
     };
 
@@ -3559,6 +3467,13 @@ var mspHelper = (function () {
         MSP.send_message(MSPCodes.MSP2_INAV_PROGRAMMING_PID_STATUS, false, false, callback);
     };
 
+    self.loadSerialPorts = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_CF_SERIAL_CONFIG, false, false, callback);
+    };
+
+    self.saveSerialPorts = function (callback) {
+        MSP.send_message(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG), false, callback);
+    };
 
     return self;
 })();
diff --git a/js/safehomeCollection.js b/js/safehomeCollection.js
index 9b398dc5..54a9cb3b 100644
--- a/js/safehomeCollection.js
+++ b/js/safehomeCollection.js
@@ -15,6 +15,7 @@ var SafehomeCollection = function () {
     }
 
     self.put = function (element) {
+        element.setNumber(data.length);
         data.push(element);
     };
 
@@ -30,85 +31,54 @@ var SafehomeCollection = function () {
         data = [];
     };
 
-    self.inflate = function () {
-        while (self.hasFreeSlots()) {
-            self.put(new Safehome(data.length, 0, 0, 0));
-        }
-    };
-
-    self.hasFreeSlots = function () {
-        return data.length < self.getMaxSafehomeCount();
+    self.isEmpty = () => {
+        return data.length == 0;
     };
 
-    self.isSafehomeConfigured = function(safehomeId) {
-
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-
-                if (safehome.getNumber() == safehomeId && safehome.isUsed()) {
-                    return true;
-                }
-            }
-        }
-        return false;
-    };
+    self.safehomeCount = () => {
+        return data.length;
+    }
 
-    self.getNumberOfConfiguredSafehome = function () {
-        let count = 0;
-        for (let i = 0; i < self.getMaxSafehomeCount(); i ++) {
-            if (self.isSafehomeConfigured(i)) {
-                count++;
+    self.drop = (idx) => {
+        data.forEach(safehome => {
+            if (safehome.getNumber() >= idx) {
+                safehome.setNumber(safehome.getNumber() - 1);
             }
-        }
-        return count;
-    };
-
-    self.getUsedSafehomeIndexes = function () {
-        let out = [];
+        });   
+        data.splice(idx, 1);
+    }
 
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-                out.push(safehome.getNumber());
+    self.insert = (safehome, idx) => {
+        data.forEach(s => {
+            if (s.getNumber() >= idx) {
+                s.setNumber(s.getNumber() + 1);
             }
-        }
-
-        let unique = [...new Set(out)];
-
-        return unique.sort(function(a, b) {
-            return a-b;
         });
+        data.splice(idx, 0, safehome);
     }
-    
-    self.getSafehome = function(safehomeId) {
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-                if (safehome.getNumber() == safehomeId ) {
-                    return safehome;
-                }
-            }
-        }
-    };
-    
+        
     self.updateSafehome = function(newSafehome) {
         data[newSafehome.getNumber()] = newSafehome;
     };
     
     self.extractBuffer = function(safehomeId) {
         let buffer = [];
-        let safehome = self.getSafehome(safehomeId);
-        buffer.push(safehome.getNumber());    // sbufReadU8(src);    // number
-        buffer.push(safehome.getEnabled());    // sbufReadU8(src);    // action
-        buffer.push(specificByte(safehome.getLat(), 0));    // sbufReadU32(src);      // lat
-        buffer.push(specificByte(safehome.getLat(), 1));
-        buffer.push(specificByte(safehome.getLat(), 2));
-        buffer.push(specificByte(safehome.getLat(), 3));
-        buffer.push(specificByte(safehome.getLon(), 0));    // sbufReadU32(src);      // lon
-        buffer.push(specificByte(safehome.getLon(), 1));
-        buffer.push(specificByte(safehome.getLon(), 2));
-        buffer.push(specificByte(safehome.getLon(), 3));
+        let safehome = data[safehomeId];
+        if (safehomeId < self.safehomeCount()) {    
+            buffer.push(safehome.getNumber());    // sbufReadU8(src);    // number
+            buffer.push(1);    
+            buffer.push(specificByte(safehome.getLat(), 0));    // sbufReadU32(src);      // lat
+            buffer.push(specificByte(safehome.getLat(), 1));
+            buffer.push(specificByte(safehome.getLat(), 2));
+            buffer.push(specificByte(safehome.getLat(), 3));
+            buffer.push(specificByte(safehome.getLon(), 0));    // sbufReadU32(src);      // lon
+            buffer.push(specificByte(safehome.getLon(), 1));
+            buffer.push(specificByte(safehome.getLon(), 2));
+            buffer.push(specificByte(safehome.getLon(), 3));
+        } else {
+            buffer = Array(10).fill(0);
+            buffer[0] = safehomeId;
+        }
         
         return buffer;
     }
diff --git a/js/serialPortHelper.js b/js/serialPortHelper.js
new file mode 100644
index 00000000..cd5315fa
--- /dev/null
+++ b/js/serialPortHelper.js
@@ -0,0 +1,351 @@
+'use strict';
+
+var helper = helper || {};
+
+helper.serialPortHelper = (function () {
+
+    let publicScope = {},
+        privateScope = {};
+
+    privateScope.namesGenerated = false;
+
+    // This is a list of all the rules for the serial ports as well as their names
+    privateScope.rules = [
+        {
+            name: 'MSP',
+            groups: ['data']
+        },
+        {
+            name: 'GPS',
+            groups: ['sensors'],
+            defaultBaud: 115200,
+            isUnique: true
+        },
+        {
+            name: 'TELEMETRY_FRSKY',
+            groups: ['telemetry']
+        },
+        {
+            name: 'TELEMETRY_HOTT',
+            groups: ['telemetry']
+        },
+        {
+            name: 'TELEMETRY_SMARTPORT',
+            groups: ['telemetry']
+        },
+        {
+            name: 'TELEMETRY_LTM',
+            groups: ['telemetry']
+        },
+        {
+            name: 'RX_SERIAL',
+            groups: ['rx'],
+            isUnique: true
+        },
+        {
+            name: 'BLACKBOX',
+            groups: ['peripherals']
+        },
+        {
+            name: 'TELEMETRY_MAVLINK',
+            groups: ['telemetry'],
+        },
+        {
+            name: 'TELEMETRY_IBUS',
+            groups: ['telemetry'],
+        },
+        {
+            name: 'RANGEFINDER',
+            groups: ['sensors'],
+            isUnique: true
+        },
+        {
+            name: 'GSM_SMS',
+            groups: ['telemetry'],
+        },
+        {
+            name: 'RUNCAM_DEVICE_CONTROL',
+            groups: ['peripherals'],
+        },
+        {
+            name: 'TBS_SMARTAUDIO',
+            groups: ['peripherals'],
+            isUnique: true
+        },
+        {
+            name: 'IRC_TRAMP',
+            groups: ['peripherals'],
+            isUnique: true
+        },
+        {
+            name: 'VTX_FFPV',
+            groups: ['peripherals'],
+            isUnique: true
+        },
+        {
+            name: 'ESC',
+            groups: ['peripherals'],
+            defaultBaud: 115200,
+            isUnique: true
+        },
+        {
+            name: 'OPFLOW',
+            groups: ['sensors'],
+            isUnique: true
+        },
+        {
+            name: 'FRSKY_OSD',
+            groups: ['peripherals'],
+            defaultBaud: 250000,
+            isUnique: true
+        },
+        {
+            name: 'DJI_FPV',
+            groups: ['peripherals'],
+            defaultBaud: 115200,
+            isUnique: true
+        },
+        {
+            name: 'MSP_DISPLAYPORT',
+            groups: ['peripherals'],
+            isUnique: true
+        },
+        {
+            name: 'SMARTPORT_MASTER',
+            groups: ['peripherals'],
+            defaultBaud: 57600
+        },
+        {
+            name: 'SBUS_OUTPUT',
+            groups: ['peripherals'],
+            defaultBaud: 115200
+        }
+    ];
+
+    // This is a mapping of the function names to their IDs required by the firmware and MSP protocol
+    privateScope.functionIDs = {
+        'MSP': 0,
+        'GPS': 1,
+        'TELEMETRY_FRSKY': 2,
+        'TELEMETRY_HOTT': 3,
+        'TELEMETRY_LTM': 4, // LTM replaced MSP
+        'TELEMETRY_SMARTPORT': 5,
+        'RX_SERIAL': 6,
+        'BLACKBOX': 7,
+        'TELEMETRY_MAVLINK': 8,
+        'TELEMETRY_IBUS': 9,
+        'RUNCAM_DEVICE_CONTROL': 10,
+        'TBS_SMARTAUDIO': 11,
+        'IRC_TRAMP': 12,
+        'OPFLOW': 14,
+        'LOG': 15,
+        'RANGEFINDER': 16,
+        'VTX_FFPV': 17,
+        'ESC': 18,
+        'GSM_SMS': 19,
+        'FRSKY_OSD': 20,
+        'DJI_FPV': 21,
+        'SBUS_OUTPUT': 22,
+        'SMARTPORT_MASTER': 23,
+        'MSP_DISPLAYPORT': 25,
+    };
+
+    privateScope.identifierToName = {
+        0: 'UART1',
+        1: 'UART2',
+        2: 'UART3',
+        3: 'UART4',
+        4: 'UART5',
+        5: 'UART6',
+        6: 'UART7',
+        7: 'UART8',
+        20: 'USB VCP',
+        30: 'SOFTSERIAL1',
+        31: 'SOFTSERIAL2'
+    };
+
+    privateScope.bauds = {
+        'SENSOR': [
+            '9600',
+            '19200',
+            '38400',
+            '57600',
+            '115200',
+            '230400'
+        ],
+        'MSP': [
+            '2400',
+            '4800',            
+            '9600',
+            '19200',
+            '38400',
+            '57600',
+            '115200'
+        ],
+        'TELEMETRY': [
+            'AUTO',
+            '1200',
+            '2400',
+            '4800',
+            '9600',
+            '19200',
+            '38400',
+            '57600',
+            '115200'
+        ],
+        'PERIPHERAL': [
+            '19200',
+            '38400',
+            '57600',
+            '115200',
+            '230400',
+            '250000'
+        ]
+    };
+
+    privateScope.generateNames = function () {
+        if (privateScope.namesGenerated) {
+            return;
+        }
+
+        for (var i = 0; i < privateScope.rules.length; i++) {
+            privateScope.rules[i].displayName = chrome.i18n.getMessage('portsFunction_' + privateScope.rules[i].name);
+        }
+
+        privateScope.namesGenerated = true;
+    };
+
+    publicScope.getRules = function () {
+        privateScope.generateNames();
+
+        return privateScope.rules;
+    };
+
+    publicScope.getRuleByName = function (name) {
+        for (var i = 0; i < privateScope.rules.length; i++) {
+            if (privateScope.rules[i].name === name) {
+                return privateScope.rules[i];
+            }
+        }
+
+        return null;
+    }
+
+    /**
+     * 
+     * @param {array} functions 
+     * @returns {number}
+     */
+    publicScope.functionsToMask = function (functions) {
+        let mask = 0;
+        for (let index = 0; index < functions.length; index++) {
+            let key = functions[index];
+            let bitIndex = privateScope.functionIDs[key];
+            if (bitIndex >= 0) {
+                mask = bit_set(mask, bitIndex);
+            }
+        }
+        return mask;
+    };
+
+    /**
+     * 
+     * @param {number} mask 
+     * @returns {array}
+     */
+    publicScope.maskToFunctions = function (mask) {
+        let functions = [];
+
+        let keys = Object.keys(privateScope.functionIDs);
+        for (let index = 0; index < keys.length; index++) {
+            let key = keys[index];
+            let bit = privateScope.functionIDs[key];
+            if (bit_check(mask, bit)) {
+                functions.push(key);
+            }
+        }
+        return functions;
+    };
+
+    publicScope.getPortName = function (identifier) {
+        return privateScope.identifierToName[identifier];
+    };
+
+    publicScope.getPortIdentifiersForFunction = function (functionName) {
+        let identifiers = [];
+
+        for (let index = 0; index < SERIAL_CONFIG.ports.length; index++) {
+            let config = SERIAL_CONFIG.ports[index];
+            if (config.functions.indexOf(functionName) != -1) {
+                identifiers.push(config.identifier);
+            }
+        }
+
+        return identifiers;
+    }
+
+    publicScope.getPortList = function () {
+
+        let list = [];
+
+        for (let index = 0; index < SERIAL_CONFIG.ports.length; index++) {
+            let config = SERIAL_CONFIG.ports[index];
+
+            //exclude USB VCP port
+            if (config.identifier == 20) {
+                continue;
+            }
+
+            let port = {
+                identifier: config.identifier,
+                displayName: privateScope.identifierToName[config.identifier]
+            };
+            list.push(port);
+        }
+        return list;
+    };
+
+    publicScope.getBauds = function (functionName) {
+        return privateScope.bauds[functionName];
+    };
+
+    publicScope.getPortByIdentifier = function (identifier) {
+        for (let index = 0; index < SERIAL_CONFIG.ports.length; index++) {
+            let config = SERIAL_CONFIG.ports[index];
+            if (config.identifier == identifier) {
+                return config;
+            }
+        }
+        return null;
+    };
+
+    publicScope.clearByFunction = function (functionName) {
+        for (let index = 0; index < SERIAL_CONFIG.ports.length; index++) {
+            let config = SERIAL_CONFIG.ports[index];
+            if (config.functions.indexOf(functionName) != -1) {
+                config.functions = [];
+            }
+        }
+    };
+
+    publicScope.set = function(port, functionName, baudrate) {
+
+        publicScope.clearByFunction(functionName);
+
+        let config = publicScope.getPortByIdentifier(port);
+        if (config) {
+
+            config.functions = [functionName];
+
+            //set baudrate
+            //TODO add next entries as we progress
+            if (functionName == 'MSP') {
+                config.msp_baudrate = baudrate;
+            } else if (functionName == 'GPS') {
+                config.sensors_baudrate = baudrate;
+            }
+        }
+    }
+
+    return publicScope;
+})();
\ No newline at end of file
diff --git a/js/settings.js b/js/settings.js
index 5ba99fc2..6a6992b4 100644
--- a/js/settings.js
+++ b/js/settings.js
@@ -83,6 +83,8 @@ var Settings = (function () {
                 if (input.prop('tagName') == 'SELECT' || s.setting.table) {
                     if (input.attr('type') == 'checkbox') {
                         input.prop('checked', s.value > 0);
+                    } else if (input.attr('type') == 'radio') {
+                        input.prop( 'checked', s.value == input.attr('value') );
                     } else {
                         input.empty();
                         let option = null;
@@ -537,6 +539,10 @@ var Settings = (function () {
         if (setting.table) {
             if (input.attr('type') == 'checkbox') {
                 value = input.prop('checked') ? 1 : 0;
+            } else if (input.attr('type') == 'radio') {
+                if (input.prop('checked')) {
+                    value = parseInt(input.val());
+                }
             } else {
                 value = parseInt(input.val());
             }
diff --git a/js/waypoint.js b/js/waypoint.js
index 47451702..baf5dd2d 100644
--- a/js/waypoint.js
+++ b/js/waypoint.js
@@ -1,7 +1,7 @@
 /*global $*/
 'use strict';
 
-var Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endMission=0, isUsed=true, isAttached=false, attachedId="") {
+let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endMission=0, isUsed=true, isAttached=false, attachedId="", multiMissionIdx = 0) {
 
     var self = {};
     let layerNumber = "undefined";
@@ -136,6 +136,14 @@ var Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
         attachedNumber = data;
     };
 
+    self.setMultiMissionIdx = function(data) {
+        multiMissionIdx = data;
+    }
+
+    self.getMultiMissionIdx = function() {
+        return multiMissionIdx;
+    }
+
     self.getElevation = async function (globalSettings) {
         let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
diff --git a/js/waypointCollection.js b/js/waypointCollection.js
index d85ba02d..d5d8d8be 100644
--- a/js/waypointCollection.js
+++ b/js/waypointCollection.js
@@ -442,7 +442,7 @@ let WaypointCollection = function () {
 
         let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
-            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "ellipsoid" : "sealevel";
 
             if (point2measure.length >1) {
                 const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/Polyline?points='+point2measure+'&heights='+elevationEarthModel+'&samples='+String(samples+1)+'&key='+globalSettings.mapApiKey);
diff --git a/locale/en/messages.json b/locale/en/messages.json
index 7deea617..dc66e4b8 100644
--- a/locale/en/messages.json
+++ b/locale/en/messages.json
@@ -101,7 +101,7 @@
         "message": "Documentation & Support"
     },
     "tabSetup": {
-        "message": "Setup"
+        "message": "Status"
     },
     "tabCalibration": {
         "message": "Calibration"
@@ -867,7 +867,7 @@
         "message": "External PWM servo driver"
     },
     "featurePWM_SERVO_DRIVERTip": {
-        "message": "Use external PCA9685 PMW driver to connect up to 16 servos to flight controller. PCA9685 has to be connected to enable this feature."
+        "message": "Use external PCA9685 PWM driver to connect up to 16 servos to flight controller. PCA9685 has to be connected to enable this feature."
     },
     "featureRSSI_ADCTip": {
         "message": "RSSI is a measurement of signal strength and is very handy so you know when your aircraft is going out of range or if it is suffering RF interference."
@@ -2075,6 +2075,12 @@
     "gpsSignalStr": {
         "message": "Signal Strength"
     },
+    "gpsPort": {
+        "message": "Serial Port"
+    },
+    "gpsBaud": {
+        "message": "Baud Rate"
+    },
     "magnetometerHead": {
         "message": "Alignment tool"
     },
@@ -3010,8 +3016,8 @@
     "posholdHoverThrottle": {
         "message": "Hover throttle"
     },
-    "posholdHoverMidThrottle": {
-        "message": "Use mid. throttle for ALTHOLD"
+    "navmcAltholdThrottle": {
+        "message": "Stick position for althold hover"
     },
     "mcWpSlowdown": {
         "message": "Slow down when approaching waypoint"
@@ -3388,6 +3394,54 @@
     "fixedWingNavigationConfiguration": {
         "message": "Fixed Wing Navigation Settings"
     },
+    "fixedWingLandingConfiguration": {
+        "message": "Fixed Wing Landing Settings"
+    },
+    "MissionPlannerOnlyOneLandWp": {
+        "message": "You can set only one LAND Waypoint per mission."
+    },
+    "fwLandApproachLength" : {
+        "message": "Final approach length"
+    },
+    "fwLandApproachLengthHelp": {
+        "message": "Length of the final approach, also includes the glide and intercept phase. This is the length from the safe home point to the final turn point."
+    },
+    "fwLandFinalApproachPitch2throttle": {
+        "message": "Modifier for pitch to throttle ratio at final approach"
+    },
+    "fwLandFinalApproachPitch2throttleHelp": {
+        "message": "This value is multiplied by the \"pitch to throttle ratio\" value during the final approach. Allows the velocity to be reduced."
+    },
+    "fwLandGlideAlt" : {
+        "message": "Initial altitude of the glide phase"
+    },
+    "fwLandGlideAltHelp" : {
+        "message": "At this altitude (measured from the altitude of the landing point) the engine is switched off and the aircraft glides from here."
+    },
+    "fwLandFlareAlt" : {
+        "message": "Initial altitude of the flare phase"
+    },
+    "fwLandFlareAltHelp" : {
+        "message": "At this altitude (measured from the altitude of the landing point) the last phase of landing is executed."
+    },
+    "fwLandGlidePitch" : {
+        "message": "Pitch value for glide phase"
+    },
+    "fwLandGlidePitchHelp" : {
+        "message": "This pitch angle is held during the glide phase."
+    },
+    "fwLandFlarePitch" : {
+        "message": "Pitch value for flare phase"
+    },
+    "fwLandFlarePitchHelp" : {
+        "message": "This pitch angle is held during the flare phase."
+    },
+    "fwLandMaxTailwind": {
+        "message": "Max. tailwind"
+    },
+    "fwLandMaxTailwindHelp": {
+        "message": "This value is used when no headwind landing is possible and wind speeds below this value are ignored (inaccuracies in INAV wind measurement)."
+    },
     "osd_unsupported_msg1": {
         "message": "Your flight controller isn't responding to OSD commands. This probably means that it does not have an integrated OSD."
     },
@@ -3472,6 +3526,12 @@
     "osd_hud_settings": {
         "message": "Heads up Display settings"
     },
+    "osd_custom_element_settings": {
+        "message": "Custom OSD elements"
+    },
+    "custom_element": {
+        "message": "Custom element"
+    },
     "osd_hud_settings_HELP": {
         "message": "This section allows tweaking the behavior of HUD elements."
     },
@@ -4342,6 +4402,12 @@
     "SafehomeSafeRadius": {
         "message": "Safe Radius (m):"
     },
+    "SafehomeFwAppraoch": {
+        "message": "FW Approach:"
+    },
+    "safehomeEdit": {
+        "message": "Edit Safehome"
+    },
     "missionTitleHide": {
         "message": "Hide"
     },
@@ -4372,6 +4438,9 @@
     "missionTitleSaveEepromMission": {
         "message": "Save Eeprom mission"
     },
+    "missionTitleDelete": {
+        "message": "Delete"
+    },
     "missionTitleRemoveAll": {
         "message": "Remove all"
     },
@@ -4383,7 +4452,7 @@
     },
     "missionTitleAdd": {
         "message": "Add"
-    },
+    }, 
     "missionTitleMoveToCenterView": {
         "message": "move to center view"
     },
@@ -4396,6 +4465,60 @@
     "missionTitlEditMission": {
         "message": "Edit Mission"
     },
+    "MissionPlannerFwLAndingAltitudeChangeReset": {
+        "message": "Altitude below min land altitude. Change ignored" 
+    },
+    "missionWpType": {
+        "message": "Type:"
+    },
+    "missionWpLat": {
+        "message": "Lat:"
+    },
+    "missionWpLon": {
+        "message": "Lon:"
+    },
+    "missionSeaLevelRef": {
+        "message": "Sea level Ref: "
+    },
+    "missionElevation": {
+        "message": "Elevation (m):"
+    },
+    "missionNA": {
+        "message": "N/A"
+    },
+    "missionGroundDist": {
+        "message": "Grd Dist (m):"
+    },
+    "missionParameter1": {
+        "message": "Parameter 1:"
+    },
+    "missionParameter2": {
+        "message": "Parameter 2:"
+    },
+    "missionUserActions": {
+        "message": "User Actions:"
+    },
+    "missionFwLandingSettings": {
+        "message": "Fixed Wing landing settings:"
+    },
+    "missionFwApproachAlt": {
+        "message": "Approach Alt: (cm):"
+    },
+    "missionFwLandAlt": {
+        "message": "Land Alt: (cm):"
+    },
+    "missionFwApproachDir": {
+        "message": "Approach direction:"
+    },
+    "missionFwLandHeading1": {
+        "message": "Heading 1: (deg):"
+    },
+    "missionFwLandHeading2": {
+        "message": "Heading 2: (deg):"
+    },
+    "missionExclusive": {
+        "message": "Excl."
+    },
     "missionRTHsettingsTitle": {
         "message": "RTH settings"
     },
@@ -4411,6 +4534,12 @@
     "missionSafehomeHead": {
         "message": "Safe Home manager"
     },
+    "missionSafehomeAvailableSafehomes" : {
+        "message": "Available Safehomes:"
+    },
+    "missionSafehomeMaxSafehomesReached": {
+        "message": "Maximum number of safehomes reached."
+    },
     "missionMultiMissionHead": {
         "message": "Multi Missions"
     },
@@ -4925,10 +5054,10 @@
         "message": "Illegal state. Restart required."
     },
     "motor_direction_inverted": {
-        "message": "Normal motor direction / Props In configuration"
+        "message": "Normal motor direction / Props-in configuration"
     },
     "motor_direction_isInverted": {
-        "message": "Reversed motor direction / Props Out configuration"
+        "message": "Reversed motor direction / Props-out configuration"
     },
     "motor_direction_inverted_hint": {
         "message": "Enable if the motor direction is reversed and the props are mounted in the opposite direction."
@@ -5654,4 +5783,4 @@
     "gsTelemetrySpeed": {
         "message": "Speed"
     }
-}
\ No newline at end of file
+}
diff --git a/package-lock.json b/package-lock.json
index ea8bbb89..fe06d2db 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1469,6 +1469,8 @@
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+      "resolved": "https://registry.npmjs.org/base64-arraybuffer/-/base64-arraybuffer-0.1.5.tgz",
+      "integrity": "sha512-437oANT9tP582zZMwSvZGy2nmSeAb8DW2me3y+Uv1Wp2Rulr8Mqlyrv3E7MLxmsiaPSMMDmiDVzgE+e8zlMx9g==",
       "engines": {
         "node": ">= 0.6.0"
       }
@@ -1492,11 +1494,14 @@
           "url": "https://feross.org/support"
         }
       ]
+      ]
     },
     "node_modules/base64id": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/base64id/-/base64id-1.0.0.tgz",
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+      "resolved": "https://registry.npmjs.org/base64id/-/base64id-1.0.0.tgz",
+      "integrity": "sha512-rz8L+d/xByiB/vLVftPkyY215fqNrmasrcJsYkVcm4TgJNz+YXKrFaFAWibSaHkiKoSgMDCb+lipOIRQNGYesw==",
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@@ -1505,6 +1510,8 @@
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+      "resolved": "https://registry.npmjs.org/bcrypt-pbkdf/-/bcrypt-pbkdf-1.0.2.tgz",
+      "integrity": "sha512-qeFIXtP4MSoi6NLqO12WfqARWWuCKi2Rn/9hJLEmtB5yTNr9DqFWkJRCf2qShWzPeAMRnOgCrq0sg/KLv5ES9w==",
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@@ -1513,6 +1520,8 @@
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+      "resolved": "https://registry.npmjs.org/better-assert/-/better-assert-1.0.2.tgz",
+      "integrity": "sha512-bYeph2DFlpK1XmGs6fvlLRUN29QISM3GBuUwSFsMY2XRx4AvC0WNCS57j4c/xGrK2RS24C1w3YoBOsw9fT46tQ==",
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@@ -1524,6 +1533,8 @@
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+      "resolved": "https://registry.npmjs.org/binary/-/binary-0.3.0.tgz",
+      "integrity": "sha512-D4H1y5KYwpJgK8wk1Cue5LLPgmwHKYSChkbspQg5JtVuR5ulGckxfR62H3AE9UDkdMC8yyXlqYihuz3Aqg2XZg==",
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@@ -1547,6 +1558,8 @@
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+      "resolved": "https://registry.npmjs.org/blob/-/blob-0.0.5.tgz",
+      "integrity": "sha512-gaqbzQPqOoamawKg0LGVd7SzLgXS+JH61oWprSLH+P+abTczqJbhTR8CmJ2u9/bUYNmHTGJx/UEmn6doAvvuig=="
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@@ -1565,6 +1578,9 @@
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       "deprecated": "This version has been deprecated in accordance with the hapi support policy (hapi.im/support). Please upgrade to the latest version to get the best features, bug fixes, and security patches. If you are unable to upgrade at this time, paid support is available for older versions (hapi.im/commercial).",
+      "resolved": "https://registry.npmjs.org/boom/-/boom-2.10.1.tgz",
+      "integrity": "sha512-KbiZEa9/vofNcVJXGwdWWn25reQ3V3dHBWbS07FTF3/TOehLnm9GEhJV4T6ZvGPkShRpmUqYwnaCrkj0mRnP6Q==",
+      "deprecated": "This version has been deprecated in accordance with the hapi support policy (hapi.im/support). Please upgrade to the latest version to get the best features, bug fixes, and security patches. If you are unable to upgrade at this time, paid support is available for older versions (hapi.im/commercial).",
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@@ -1576,6 +1592,8 @@
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+      "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
+      "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
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@@ -1621,6 +1639,8 @@
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+      "resolved": "https://registry.npmjs.org/buffer-crc32/-/buffer-crc32-0.2.13.tgz",
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@@ -1635,6 +1655,8 @@
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+      "resolved": "https://registry.npmjs.org/buffers/-/buffers-0.1.1.tgz",
+      "integrity": "sha512-9q/rDEGSb/Qsvv2qvzIzdluL5k7AaJOTrw23z9reQthrbF7is4CtlT0DXyO1oei2DCp4uojjzQ7igaSHp1kAEQ==",
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@@ -1643,6 +1665,8 @@
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+      "resolved": "https://registry.npmjs.org/builtin-modules/-/builtin-modules-2.0.0.tgz",
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@@ -1775,6 +1799,8 @@
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@@ -1792,11 +1818,15 @@
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+      "resolved": "https://registry.npmjs.org/caseless/-/caseless-0.12.0.tgz",
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+      "resolved": "https://registry.npmjs.org/catharsis/-/catharsis-0.8.11.tgz",
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+      "resolved": "https://registry.npmjs.org/center-align/-/center-align-0.1.3.tgz",
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@@ -1821,9 +1853,14 @@
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+      "resolved": "https://registry.npmjs.org/chainsaw/-/chainsaw-0.1.0.tgz",
+      "integrity": "sha512-75kWfWt6MEKNC8xYXIdRpDehRYY/tNSgwKaJq+dbbDcxORuVrrQ+SEHoWsniVn9XPYfP4gmdWIeDk/4YNp1rNQ==",
       "dependencies": {
         "traverse": ">=0.3.0 <0.4"
       },
+      "engines": {
+        "node": "*"
+      },
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@@ -1848,6 +1885,8 @@
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@@ -1956,6 +1995,8 @@
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+      "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.4.tgz",
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       "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
       "integrity": "sha512-EPD5q1uXyFxJpCrLnCc1nHnq3gOa6DZBocAIiI2TaSCA7VCJ1UJDMagCzIkXNsUYfD1daK//LTEQ8xiIbrHtcw=="
+      "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
+      "integrity": "sha512-EPD5q1uXyFxJpCrLnCc1nHnq3gOa6DZBocAIiI2TaSCA7VCJ1UJDMagCzIkXNsUYfD1daK//LTEQ8xiIbrHtcw=="
     },
     "node_modules/uuid": {
       "version": "3.4.0",
       "resolved": "https://registry.npmjs.org/uuid/-/uuid-3.4.0.tgz",
       "integrity": "sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==",
       "deprecated": "Please upgrade  to version 7 or higher.  Older versions may use Math.random() in certain circumstances, which is known to be problematic.  See https://v8.dev/blog/math-random for details.",
+      "resolved": "https://registry.npmjs.org/uuid/-/uuid-3.4.0.tgz",
+      "integrity": "sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==",
+      "deprecated": "Please upgrade  to version 7 or higher.  Older versions may use Math.random() in certain circumstances, which is known to be problematic.  See https://v8.dev/blog/math-random for details.",
       "bin": {
         "uuid": "bin/uuid"
       }
@@ -7895,6 +8271,9 @@
       "resolved": "https://registry.npmjs.org/uws/-/uws-9.14.0.tgz",
       "integrity": "sha512-HNMztPP5A1sKuVFmdZ6BPVpBQd5bUjNC8EFMFiICK+oho/OQsAJy5hnIx4btMHiOk8j04f/DbIlqnEZ9d72dqg==",
       "deprecated": "New code is available at github.com/uNetworking/uWebSockets.js",
+      "resolved": "https://registry.npmjs.org/uws/-/uws-9.14.0.tgz",
+      "integrity": "sha512-HNMztPP5A1sKuVFmdZ6BPVpBQd5bUjNC8EFMFiICK+oho/OQsAJy5hnIx4btMHiOk8j04f/DbIlqnEZ9d72dqg==",
+      "deprecated": "New code is available at github.com/uNetworking/uWebSockets.js",
       "hasInstallScript": true,
       "optional": true,
       "engines": {
@@ -7915,6 +8294,8 @@
       "version": "1.10.0",
       "resolved": "https://registry.npmjs.org/verror/-/verror-1.10.0.tgz",
       "integrity": "sha512-ZZKSmDAEFOijERBLkmYfJ+vmk3w+7hOLYDNkRCuRuMJGEmqYNCNLyBBFwWKVMhfwaEF3WOd0Zlw86U/WC/+nYw==",
+      "resolved": "https://registry.npmjs.org/verror/-/verror-1.10.0.tgz",
+      "integrity": "sha512-ZZKSmDAEFOijERBLkmYfJ+vmk3w+7hOLYDNkRCuRuMJGEmqYNCNLyBBFwWKVMhfwaEF3WOd0Zlw86U/WC/+nYw==",
       "engines": [
         "node >=0.6.0"
       ],
@@ -7989,6 +8370,8 @@
       "version": "1.1.5",
       "resolved": "https://registry.npmjs.org/wide-align/-/wide-align-1.1.5.tgz",
       "integrity": "sha512-eDMORYaPNZ4sQIuuYPDHdQvf4gyCF9rEEV/yPxGfwPkRodwEgiMUUXTx/dex+Me0wxx53S+NgUHaP7y3MGlDmg==",
+      "resolved": "https://registry.npmjs.org/wide-align/-/wide-align-1.1.5.tgz",
+      "integrity": "sha512-eDMORYaPNZ4sQIuuYPDHdQvf4gyCF9rEEV/yPxGfwPkRodwEgiMUUXTx/dex+Me0wxx53S+NgUHaP7y3MGlDmg==",
       "dependencies": {
         "string-width": "^1.0.2 || 2 || 3 || 4"
       }
@@ -8016,6 +8399,8 @@
       "version": "0.0.3",
       "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-0.0.3.tgz",
       "integrity": "sha512-1tMA907+V4QmxV7dbRvb4/8MaRALK6q9Abid3ndMYnbyo8piisCmeONVqVSXqQA3KaP4SLt5b7ud6E2sqP8TFw==",
+      "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-0.0.3.tgz",
+      "integrity": "sha512-1tMA907+V4QmxV7dbRvb4/8MaRALK6q9Abid3ndMYnbyo8piisCmeONVqVSXqQA3KaP4SLt5b7ud6E2sqP8TFw==",
       "engines": {
         "node": ">=0.4.0"
       }
@@ -8041,11 +8426,15 @@
       "version": "1.0.2",
       "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
       "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
+      "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+      "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
     },
     "node_modules/ws": {
       "version": "3.3.3",
       "resolved": "https://registry.npmjs.org/ws/-/ws-3.3.3.tgz",
       "integrity": "sha512-nnWLa/NwZSt4KQJu51MYlCcSQ5g7INpOrOMt4XV8j4dqTXdmlUmSHQ8/oLC069ckre0fRsgfvsKwbTdtKLCDkA==",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-3.3.3.tgz",
+      "integrity": "sha512-nnWLa/NwZSt4KQJu51MYlCcSQ5g7INpOrOMt4XV8j4dqTXdmlUmSHQ8/oLC069ckre0fRsgfvsKwbTdtKLCDkA==",
       "dependencies": {
         "async-limiter": "~1.0.0",
         "safe-buffer": "~5.1.0",
@@ -8056,11 +8445,15 @@
       "version": "5.1.2",
       "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
       "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
+      "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
+      "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
     },
     "node_modules/xml2js": {
       "version": "0.4.23",
       "resolved": "https://registry.npmjs.org/xml2js/-/xml2js-0.4.23.tgz",
       "integrity": "sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==",
+      "resolved": "https://registry.npmjs.org/xml2js/-/xml2js-0.4.23.tgz",
+      "integrity": "sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==",
       "dependencies": {
         "sax": ">=0.6.0",
         "xmlbuilder": "~11.0.0"
@@ -8073,6 +8466,8 @@
       "version": "11.0.1",
       "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-11.0.1.tgz",
       "integrity": "sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==",
+      "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-11.0.1.tgz",
+      "integrity": "sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==",
       "engines": {
         "node": ">=4.0"
       }
@@ -8081,6 +8476,8 @@
       "version": "15.1.1",
       "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-15.1.1.tgz",
       "integrity": "sha512-yMqGBqtXyeN1e3TGYvgNgDVZ3j84W4cwkOXQswghol6APgZWaff9lnbvN7MHYJOiXsvGPXtjTYJEiC9J2wv9Eg==",
+      "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-15.1.1.tgz",
+      "integrity": "sha512-yMqGBqtXyeN1e3TGYvgNgDVZ3j84W4cwkOXQswghol6APgZWaff9lnbvN7MHYJOiXsvGPXtjTYJEiC9J2wv9Eg==",
       "dev": true,
       "engines": {
         "node": ">=8.0"
@@ -8090,11 +8487,15 @@
       "version": "1.0.2",
       "resolved": "https://registry.npmjs.org/xmlcreate/-/xmlcreate-1.0.2.tgz",
       "integrity": "sha512-Mbe56Dvj00onbnSo9J0qj/XlY5bfN9KidsOnpd5tRCsR3ekB3hyyNU9fGrTdqNT5ZNvv4BsA2TcQlignsZyVcw=="
+      "resolved": "https://registry.npmjs.org/xmlcreate/-/xmlcreate-1.0.2.tgz",
+      "integrity": "sha512-Mbe56Dvj00onbnSo9J0qj/XlY5bfN9KidsOnpd5tRCsR3ekB3hyyNU9fGrTdqNT5ZNvv4BsA2TcQlignsZyVcw=="
     },
     "node_modules/xmlhttprequest-ssl": {
       "version": "1.5.5",
       "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz",
       "integrity": "sha512-/bFPLUgJrfGUL10AIv4Y7/CUt6so9CLtB/oFxQSHseSDNNCdC6vwwKEqwLN6wNPBg9YWXAiMu8jkf6RPRS/75Q==",
+      "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz",
+      "integrity": "sha512-/bFPLUgJrfGUL10AIv4Y7/CUt6so9CLtB/oFxQSHseSDNNCdC6vwwKEqwLN6wNPBg9YWXAiMu8jkf6RPRS/75Q==",
       "engines": {
         "node": ">=0.4.0"
       }
@@ -8228,6 +8629,8 @@
       "version": "2.10.0",
       "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
       "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==",
+      "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
+      "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==",
       "dependencies": {
         "buffer-crc32": "~0.2.3",
         "fd-slicer": "~1.1.0"
@@ -8237,6 +8640,8 @@
       "version": "0.1.2",
       "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz",
       "integrity": "sha512-8HFIh676uyGYP6wP13R/j6OJ/1HwJ46snpvzE7aHAN3Ryqh2yX6Xox2B4CUmTwwOIzlG3Bs7ocsP5dZH/R1Qbg=="
+      "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz",
+      "integrity": "sha512-8HFIh676uyGYP6wP13R/j6OJ/1HwJ46snpvzE7aHAN3Ryqh2yX6Xox2B4CUmTwwOIzlG3Bs7ocsP5dZH/R1Qbg=="
     },
     "node_modules/yocto-queue": {
       "version": "0.1.0",
diff --git a/resources/sitl/linux/inav_SITL b/resources/sitl/linux/inav_SITL
index 6256ad52..f4133241 100755
Binary files a/resources/sitl/linux/inav_SITL and b/resources/sitl/linux/inav_SITL differ
diff --git a/resources/sitl/windows/inav_SITL.exe b/resources/sitl/windows/inav_SITL.exe
index 3d080a6d..d6de927e 100755
Binary files a/resources/sitl/windows/inav_SITL.exe and b/resources/sitl/windows/inav_SITL.exe differ
diff --git a/src/css/tabs/mission_planer.css b/src/css/tabs/mission_planer.css
index 2cb12678..f2649eaa 100644
--- a/src/css/tabs/mission_planer.css
+++ b/src/css/tabs/mission_planer.css
@@ -236,10 +236,17 @@
     margin-bottom: 5px;
     margin-left: 5px;
 }
+
 .tab-mission-control .point-label {
     width: 80px;
     display: inline-block;
 }
+
+.tab-mission-control .point-label-safehome {
+    width: 120px;
+    display: inline-block;
+}
+
 .tab-mission-control .point-radio input{
     width: 25px;
     padding-left: 3px;
@@ -511,7 +518,6 @@
 
 .tab-mission-control .fill{
     border:none;
-    border-bottom:5px dotted #88CC3E;
     display:inline-block;
     width:20px;
 }
@@ -519,9 +525,6 @@
 .tab-mission-control .textLegend{
     margin:2px;
 }
-.tab-mission-control .valueLegend{
-    float:right;
-}
 
 .tab-mission-control .userActionContainer {
     display: inline-block;
diff --git a/src/css/tabs/osd.css b/src/css/tabs/osd.css
index 66a51b5b..ecd064f9 100644
--- a/src/css/tabs/osd.css
+++ b/src/css/tabs/osd.css
@@ -719,4 +719,18 @@ button {
 .tab-osd .osd_settings .switchery,
 .tab-osd .unit_wrapper {
     vertical-align: top;
+}
+
+.osdCustomElement_main_table {
+    width: 100%;
+    table-layout: fixed;
+    max-width: 400px;
+}
+
+.osdCustomElement_main_table td{
+    max-width: 80px;
+}
+
+.osdCustomElement_main_table select, .osdCustomElement_main_table input{
+    width: 100% !important;
 }
\ No newline at end of file
diff --git a/tabs/advanced_tuning.html b/tabs/advanced_tuning.html
index d4a8453f..708d1706 100644
--- a/tabs/advanced_tuning.html
+++ b/tabs/advanced_tuning.html
@@ -68,6 +68,49 @@
                     </div>
                 </div>
 
+                <div class="config-section gui_box grey">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title" data-i18n="fixedWingLandingConfiguration"></div>
+                    </div>
+                    <div class="spacer_box">
+                        <div class="number">
+                            <input id="fwLandApproachLength" type="number" data-unit="cm" data-setting="nav_fw_land_approach_length" data-setting-multiplier="1" step="1" min="100" max="100000" />
+                            <label for="fwLandApproachLength"><span data-i18n="fwLandApproachLength"></span></label>
+                            <div for="fwLandApproachLength" class="helpicon cf_tip" data-i18n_title="fwLandApproachLengthHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFinalApproachPitch2throttle" type="number" data-unit="percent" data-setting="nav_fw_land_final_approach_pitch2throttle_mod" data-setting-multiplier="1" step="1" min="100" max="400" />
+                            <label for="fwLandFinalApproachPitch2throttle"><span data-i18n="fwLandFinalApproachPitch2throttle"></span></label>
+                            <div for="fwLandFinalApproachPitch2throttle" class="helpicon cf_tip" data-i18n_title="fwLandFinalApproachPitch2throttleHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandGlideAlt" type="number" data-unit="cm" data-setting="nav_fw_land_glide_alt" data-setting-multiplier="1" step="1" min="100" max="5000" />
+                            <label for="fwLandGlideAlt"><span data-i18n="fwLandGlideAlt"></span></label>
+                            <div for="fwLandGlideAlt" class="helpicon cf_tip" data-i18n_title="fwLandGlideAltHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFlareAlt" type="number" data-unit="cm" data-setting="nav_fw_land_flare_alt" data-setting-multiplier="1" step="1" min="0" max="10000" />
+                            <label for="fwLandFlareAlt"><span data-i18n="fwLandFlareAlt"></span></label>
+                            <div for="fwLandFlareAlt" class="helpicon cf_tip" data-i18n_title="fwLandFlareAltHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandGlidePitch" type="number" data-unit="deg" data-setting="nav_fw_land_glide_pitch" data-setting-multiplier="1" step="1" min="0" max="45" />
+                            <label for="fwLandGlidePitch"><span data-i18n="fwLandGlidePitch"></span></label>
+                            <div for="fwLandGlidePitch" class="helpicon cf_tip" data-i18n_title="fwLandGlidePitchHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFlarePitch" type="number" data-unit="deg" data-setting="nav_fw_land_flare_pitch" data-setting-multiplier="1" step="1" min="0" max="45" />
+                            <label for="fwLandFlarePitch"><span data-i18n="fwLandFlarePitch"></span></label>
+                            <div for="fwLandFlarePitch" class="helpicon cf_tip" data-i18n_title="fwLandFlarePitchHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandMaxTailwind" type="number" data-unit="cms" data-setting="nav_fw_land_max_tailwind" data-setting-multiplier="1" step="1" min="0" max="3000" />
+                            <label for="fwLandMaxTailwind"><span data-i18n="fwLandMaxTailwind"></span></label>
+                            <div for="fwLandMaxTailwind" class="helpicon cf_tip" data-i18n_title="fwLandMaxTailwindHelp"></div>
+                        </div>
+                    </div>
+                </div>
+
                 <div class="config-section gui_box grey">
                     <div class="gui_box_titlebar">
                         <div class="spacer_box_title" data-i18n="powerConfiguration"></div>
@@ -257,10 +300,12 @@
                             <label for="max-bank-angle"><span data-i18n="posholdMaxBankAngle"></span></label>
                             <div for="max-bank-angle" class="helpicon cf_tip" data-i18n_title="posholdMaxBankAngleHelp"></div>
                         </div>
-                        <div class="checkbox">
-                            <input type="checkbox" class="toggle update_preview" id="use-mid-throttle" data-setting="nav_use_midthr_for_althold" data-live="true" />
-                            <label for="use-mid-throttle"><span data-i18n="posholdHoverMidThrottle"></span></label>
+
+                        <div class="select">
+                            <select id="nav-mc-althold-throttle" data-setting="nav_mc_althold_throttle"></select>
+                            <label for="nav-mc-althold-throttle"><span data-i18n="navmcAltholdThrottle"></span></label>
                         </div>
+
                         <div class="number">
                             <input id="hover-throttle" type="number" data-unit="us" data-setting="nav_mc_hover_thr" data-setting-multiplier="1" step="1" min="1000" max="2000" />
                             <label for="hover-throttle"><span data-i18n="posholdHoverThrottle"></span></label>
@@ -598,4 +643,4 @@
             <a id="advanced-tuning-save-button" class="save" href="#" data-i18n="advancedTuningSave"></a>
         </div>
     </div>
-</div>
\ No newline at end of file
+</div>
diff --git a/tabs/configuration.js b/tabs/configuration.js
index 17622752..e32621bc 100644
--- a/tabs/configuration.js
+++ b/tabs/configuration.js
@@ -14,7 +14,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
     var loadChain = [
         mspHelper.loadFeatures,
-        mspHelper.loadArmingConfig,
         mspHelper.loadSensorAlignment,
         mspHelper.loadAdvancedConfig,
         mspHelper.loadVTXConfig,
@@ -31,7 +30,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
 
     var saveChain = [
         mspHelper.saveAccTrim,
-        mspHelper.saveArmingConfig,
         mspHelper.saveAdvancedConfig,
         mspHelper.saveVTXConfig,
         mspHelper.saveCurrentMeterConfig,
@@ -260,8 +258,6 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             //UPDATE: moved to GPS tab and hidden
             //MISC.mag_declination = parseFloat($('#mag_declination').val());
 
-            ARMING_CONFIG.auto_disarm_delay = parseInt($('input[name="autodisarmdelay"]').val());
-
             MISC.battery_cells = parseInt($('#cells').val());
             MISC.voltage_source = parseInt($('#voltagesource').val());
             MISC.vbatdetectcellvoltage = parseFloat($('#celldetectvoltage').val());
diff --git a/tabs/gps.html b/tabs/gps.html
index d9c5c27e..a389737f 100644
--- a/tabs/gps.html
+++ b/tabs/gps.html
@@ -20,6 +20,14 @@
                             <label for="feature-7"><span data-i18n="featureGPS"></span></label>
                             <div for="feature-7" class="helpicon cf_tip" data-i18n_title="featureGPSTip"></div>
                         </div>
+                        <div class="select">
+                            <select id="gps_port" class="gps_port"></select>
+                            <label for="gps_port"><span data-i18n="gpsPort"></span></label>
+                        </div>
+                        <div class="select">
+                            <select id="gps_baud" class="gps_baud"></select>
+                            <label for="gps_baud"><span data-i18n="gpsBaud"></span></label>
+                        </div>
                         <div class="select">
                             <select id="gps_protocol" class="gps_protocol">
                                 <!-- list generated here -->
diff --git a/tabs/gps.js b/tabs/gps.js
index 279f4b4d..8918820c 100644
--- a/tabs/gps.js
+++ b/tabs/gps.js
@@ -36,6 +36,7 @@ TABS.gps.initialize = function (callback) {
 
     var loadChain = [
         mspHelper.loadFeatures,
+        mspHelper.loadSerialPorts,
         mspHelper.loadMiscV2
     ];
 
@@ -47,6 +48,7 @@ TABS.gps.initialize = function (callback) {
 
     var saveChain = [
         mspHelper.saveMiscV2,
+        mspHelper.saveSerialPorts,
         saveSettings,
         mspHelper.saveToEeprom
     ];
@@ -91,6 +93,42 @@ TABS.gps.initialize = function (callback) {
 
         helper.features.updateUI($('.tab-gps'), FEATURES);
 
+        //Generate serial port options
+        let $port = $('#gps_port');
+        let $baud = $('#gps_baud');
+
+        let ports = helper.serialPortHelper.getPortIdentifiersForFunction('GPS');
+
+        let currentPort = null;
+
+        if (ports.length == 1) {
+            currentPort = ports[0];
+        }
+
+        let availablePorts = helper.serialPortHelper.getPortList();
+
+        //Generate port select
+        $port.append('<option value="-1">NONE</option>');
+        for (let i = 0; i < availablePorts.length; i++) {
+            let port = availablePorts[i];
+            $port.append('<option value="' + port.identifier + '">' + port.displayName + '</option>');
+        }
+
+        //Generate baud select
+        helper.serialPortHelper.getBauds('SENSOR').forEach(function (baud) {
+            $baud.append('<option value="' + baud + '">' + baud + '</option>');
+        });
+
+        //Select defaults
+        if (currentPort !== null) {
+            $port.val(currentPort);
+            let portConfig = helper.serialPortHelper.getPortByIdentifier(currentPort);
+            $baud.val(portConfig.sensors_baudrate);
+        } else {
+            $port.val(-1);
+            $baud.val(helper.serialPortHelper.getRuleByName('GPS').defaultBaud);
+        }
+
         // generate GPS
         var gpsProtocols = FC.getGpsProtocols();
         var gpsSbas = FC.getGpsSbasProviders();
@@ -358,6 +396,22 @@ TABS.gps.initialize = function (callback) {
 
 
         $('a.save').on('click', function () {
+            if (FC.isFeatureEnabled('GPS', features)) {
+                googleAnalytics.sendEvent('Setting', 'GpsProtocol', gpsProtocols[MISC.gps_type]);
+                googleAnalytics.sendEvent('Setting', 'GpsSbas', gpsSbas[MISC.gps_ubx_sbas]);
+            }
+
+            googleAnalytics.sendEvent('Setting', 'GPSEnabled', FC.isFeatureEnabled('GPS', features) ? "true" : "false");
+
+            for (var i = 0; i < features.length; i++) {
+                var featureName = features[i].name;
+                if (FC.isFeatureEnabled(featureName, features)) {
+                    googleAnalytics.sendEvent('Setting', 'Feature', featureName);
+                }
+            }
+
+            helper.serialPortHelper.set($port.val(), 'GPS', $baud.val());
+
             helper.features.reset();
             helper.features.fromUI($('.tab-gps'));
             helper.features.execute(function () {
diff --git a/tabs/mission_control.html b/tabs/mission_control.html
index 09d1eb6b..94c0a913 100644
--- a/tabs/mission_control.html
+++ b/tabs/mission_control.html
@@ -86,6 +86,14 @@
                             <label class="point-label" for="MPdefaultSafeRangeSH" data-i18n="missionDefaultSafeRangeSH"></label>
                             <input id="MPdefaultSafeRangeSH" type="text" value="0" required>
                         </div>
+                        <div class="point">
+                            <label class="point-label" for="MPdefaultFwApproachAlt">FW Approach Alt (m): </label>
+                            <input id="MPdefaultFwApproachAlt" type="text" value="0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="MPdefaultLandAlt">FW Land Alt (m): </label>
+                            <input id="MPdefaultLandAlt" type="text" value="0" required>
+                        </div>
                     </div>
                 </div>
 
@@ -167,7 +175,7 @@
                     </div>
                     <div class="point" id="elevationEarthModelclass" style="display: none">
                         <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionEllipsoidEarthDEMModel"></label>
-                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" required>
+                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" checked required>
                     </div>
                 </div>
 
@@ -178,41 +186,98 @@
                             <div id="showHideSafehomeButton">
                                 <a class="ic_hide" href="#" i18n_title="missionTitleHide"></a>
                             </div>
-                            <a id="cancelSafehome" class="ic_cancel" href="#" i18n_title="missionTitleCancel"></a>
+                            <a id="cancelSafehome" class="ic_cancel" href="#" title="Cancel"></a>
+                            <a id="addSafehome" class="ic_add" href="#" i18n_title="missionTitleAdd"></a>
                             <a id="saveEepromSafehomeButton" class="ic_save2Eprom" href="#" i18n_title="missionTitleSaveEepromSafehome"></a>
                             <a id="loadEepromSafehomeButton" class="ic_loadFromEprom" href="#" i18n_title="missionTitleLoadEepromSafehome"></a>
                         </div>
                     </div>
                     <div class="spacer" id="SafehomeContent">
-                        <div>
-                            <table class="safehomesTable">
-                                <thead>
-                                    <tr>
-                                        <th style="width: 40px" data-i18n="SafehomeSelected"></th>
-                                        <th style="width: 40px" data-i18n="SafehomeId"></th>
-                                        <th style="width: 60px" data-i18n="SafehomeEnabled"></th>
-                                        <th style="width: 140px" data-i18n="SafehomeLat"></th>
-                                        <th style="width: 140px" data-i18n="SafehomeLon"></th>
-                                    </tr>
-                                </thead>
-                                <tbody id="safehomesTableBody">
-                                </tbody>
-                            </table>
+                            <div style="padding-bottom: 2px;">
+                                <span data-i18n="missionSafehomeAvailableSafehomes"></span>
+                                <span id="availableSafehomes"></span>
+                            </div>
+                            <div id="SafehomeContentBox" style="display: none;">
+                                <div class="gui_box grey missionPlannerSafehomeBox">
+                                    <div class="gui_box_titlebar">
+                                        <div class="spacer_box_title" data-i18n="safehomeEdit"></div>
+                                        <div class="btnMenu btnMenuIcon">
+                                            <div class="btnMenu-danger">
+                                                <a id="deleteSafehome" class="ic_removeAll" href="#" i18n_title="missionTitleDelete"></a>
+                                            </div>
+                                        </div>
+                                    </div>
+                                    <div class="spacer" id="safehomeSingelContent">
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safeHomeLatitude" data-i18n="gpsLat"></label>
+                                            <input type="number" id="safehomeLatitude"></input>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLongitude" data-i18n="gpsLon"></label>
+                                            <input type="number" id="safehomeLongitude"></input>
+                                        </div>
+                                        <div class="point">
+                                            <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeSeaLevelRef" data-i18n="missionSeaLevelRef"></label>
+                                            <input id="safehomeSeaLevelRef" type="checkbox" value="0" class="togglemedium" required>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                            <input type="number" id="safehomeApproachAlt"></input>
+                                            <span id="safehomeApproachAltM"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandAlt" data-i18n="missionFwLandAlt"></label>
+                                            <input type="number" id="safehomeLandAlt"></input>
+                                            <span id="safehomeLandAltM"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeElevation" data-i18n="missionElevation"></label>
+                                            <span id="safehomeElevation"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="geozoneApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                            <select name="zoneAction" id="geozoneApproachDirection">
+                                                <option value="0">Left</option>
+                                                <option value="1">Right</option>
+                                            </select>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                            <input type="number" id="safehomeLandHeading1"></input>
+                                            <input id="safehomeLandHeading1Excl" type="checkbox" value="0" class="togglemedium" required>
+                                            <span data-i18n="missionExclusive"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandHeading2" data-i18n="missionFwLandHeading2"></label>
+                                            <input type="number" id="safehomeLandHeading2"></input>
+                                            <input id="safehomeLandHeading2Excl" type="checkbox" value="0" class="togglemedium" required>
+                                            <span data-i18n="missionExclusive"></span>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
                             <hr>
                             <div class="spacer"  id="safehomeLegend">
                                 <span><b data-i18n="SafehomeLegend"></b></span>
                                 <div class="legendItem">
-                                    <span class="fill" style="border-bottom-color:#900C3F"></span>
+                                    <span class="fill" style="border-bottom:5px dotted #900C3F;"></span>
                                     <span class="textLegend" data-i18n="SafehomeMaxDistance"></span>
-                                    <span id="safeHomeMaxDistance" class="valueLegend"></span>
+                                    <span id="safeHomeMaxDistance"></span>
                                 </div>
                                 <div class="legendItem">
-                                    <span class="fill"></span>
+                                    <span class="fill" style="border-bottom:5px dotted #88CC3E;"></span>
                                     <span class="textLegend" data-i18n="SafehomeSafeRadius"></span>
-                                    <span id="SafeHomeSafeDistance" class="valueLegend"></span>
+                                    <span id="SafeHomeSafeDistance"></span>
+                                </div>
+                                <div class="legendItem">
+                                    <span class="fill" style="border-bottom:5px solid #f78a05;border-top:5px solid #0025a1;"></span>
+                                    <span class="textLegend" data-i18n="SafehomeFwAppraoch"></span>
+                                    <span id="SafeHomeSafeDistance"></span>
                                 </div>
                             </div>
-                        </div>
                     </div>
                 </div>
 
@@ -234,7 +299,7 @@
                     <div class="spacer" id="WPeditContent">
                         <input type="hidden" name="pointNumber" value="">
                         <div class="point">
-                            <label class="point-label" for="pointType">Type: </label>
+                            <label class="point-label" for="pointType" data-i18n="missionWpType"></label>
                             <select name="type" id="pointType">
                                 <!--<option value="1">Home</option>-->
                                 <option value="1">Waypoint</option>
@@ -248,39 +313,39 @@
                             </select>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointLat">Lat: </label>
+                            <label class="point-label" for="pointLat" data-i18n="missionWpLat"></label>
                             <input id="pointLat" type="text" value="0.0" required>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointLon">Lon: </label>
+                            <label class="point-label" for="pointLon" data-i18n="missionWpLon"></label>
                             <input id="pointLon" type="text" value="0.0" required>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointAlt">Alt (cm): </label>
+                            <label class="point-label" for="pointAlt" data-i18n="missionDefaultPointAlt"></label>
                             <input id="pointAlt" type="text" value="0" required><span id="altitudeInMeters"></span>
                         </div>
                         <div class="point" id="pointP3class" style="display: none">
-                            <label class="point-label" for="pointP3Alt">Sea level Ref: </label>
+                            <label class="point-label" for="pointP3Alt" data-i18n="missionSeaLevelRef"></label>
                             <input id="pointP3Alt" type="checkbox" value="0" class="togglemedium" checked required>
                         </div>
                         <div class="point" id="elevationAtWP" style="display: none">
-                            <label class="point-label">Elevation (m): </label>
-                            <span id="elevationValueAtWP">N/A</span>
+                            <label class="point-label" data-i18n="missionElevation"></label>
+                            <span id="elevationValueAtWP" data-i18n="missionNA"></span>
                         </div>
                         <div class="point" id="groundClearanceAtWP" style="display: none">
-                            <label class="point-label">Grd Dist (m): </label>
-                            <span id="groundClearanceValueAtWP">N/A</span>
+                            <label class="point-label" data-i18n="missionGroundDist"></label>
+                            <span id="groundClearanceValueAtWP" data-i18n="missionNA"></span>
                         </div>
                         <div class="point" id="pointP1class" style="display: none">
-                            <label class="point-label" for="pointP1">Parameter 1: </label>
+                            <label class="point-label" for="pointP1" data-i18n="missionParameter1"></label>
                             <input id="pointP1" type="text" value="0" required>
                         </div>
                         <div class="point" id="pointP2class" style="display: none">
-                            <label class="point-label" for="pointP2">Parameter 2: </label>
+                            <label class="point-label" for="pointP2" data-i18n="missionParameter1"></label>
                             <input id="pointP2" type="text" value="0" required>
                         </div>
                         <div class="point" id="pointP3UserActionClass" style="display: none">
-                            <label class="point-label" for="pointP3UserAction">User Actions: </label>
+                            <label class="point-label" for="pointP3UserAction" data-i18n="missionUserActions"></label>
                             <div class="userActionContainer">1 <input id="pointP3UserAction1" type="checkbox" value="0" class="togglemedium" checked required></div>
                             <div class="userActionContainer">2 <input id="pointP3UserAction2" type="checkbox" value="0" class="togglemedium" checked required></div>
                             <div class="userActionContainer">3 <input id="pointP3UserAction3" type="checkbox" value="0" class="togglemedium" checked required></div>
@@ -305,7 +370,74 @@
                                 </tbody>
                             </table>
                         </div>
-
+                        <div id="wpFwLanding" style="display: none;">
+                            <div class="point">
+                                <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                <input type="number" id="wpApproachAlt"></input>
+                                <span id="wpApproachAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandAlt" data-i18n="missionFwLandAlt"></label>
+                                <input type="number" id="wpLandAlt"></input>
+                                <span id="wpLandAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                <select name="wpApproachDirection" id="wpApproachDirection">
+                                    <option value="0">Left</option>
+                                    <option value="1">Right</option>
+                                </select>
+                            </div> 
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading1"></input>
+                                <input id="wpLandHeading1Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading2" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading2"></input>
+                                <input id="wpLandHeading2Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                        </div>
+                        <div id="wpFwLanding" style="display: none;">
+                            <div class="point">
+                                <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                <input type="number" id="wpApproachAlt"></input>
+                                <span id="wpApproachAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandAlt" data-i18n="missionFwLandAlt"></label>
+                                <input type="number" id="wpLandAlt"></input>
+                                <span id="wpLandAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                <select name="wpApproachDirection" id="wpApproachDirection">
+                                    <option value="0">Left</option>
+                                    <option value="1">Right</option>
+                                </select>
+                            </div> 
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading1"></input>
+                                <input id="wpLandHeading1Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading2" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading2"></input>
+                                <input id="wpLandHeading2Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                        </div>
                         <!-- <div class="point-radio" id="pointOptionclass" style="display: none">
 							<div class="radio-line">
 								<input type="radio" id="Options_None" name="Options" value="None" checked>
@@ -332,7 +464,6 @@
 								<input id="Options_HeadingHead" type="text" value="-1" required><br>
 							</div>
                         </div> -->
-
                     </div>
                 </div>
             </div>
diff --git a/tabs/mission_control.js b/tabs/mission_control.js
index efe30aac..d1b5be71 100644
--- a/tabs/mission_control.js
+++ b/tabs/mission_control.js
@@ -10,6 +10,8 @@
 // MultiWii NAV Protocol
 var MWNP = MWNP || {};
 
+var MAX_NEG_FW_LAND_ALT = -2000; // cm
+
 // WayPoint type
 MWNP.WPTYPE = {
     WAYPOINT:           1,
@@ -79,10 +81,7 @@ TABS.mission_control.initialize = function (callback) {
     var textGeom;
     let isOffline = false;
     let rthUpdateInterval = 0;
-    let $safehomesTable;
-    let $safehomesTableBody;
-    let $waypointOptionsTable;
-    let $waypointOptionsTableBody;
+    let settings = {speed: 0, alt: 5000, safeRadiusSH: 50, fwApproachAlt: 60, fwLandAlt: 5, maxDistSH: 0, fwApproachLength: 0, fwLoiterRadius: 0, bingDemModel: false};
 
     if (GUI.active_tab != 'mission_control') {
         GUI.active_tab = 'mission_control';
@@ -93,7 +92,23 @@ TABS.mission_control.initialize = function (callback) {
         loadChainer.setChain([
             mspHelper.getMissionInfo,
             //mspHelper.loadWaypoints,
-            //mspHelper.loadSafehomes
+            mspHelper.loadSafehomes,
+            mspHelper.loadFwApproach,
+            function (callback) {
+                mspHelper.getSetting("nav_fw_land_approach_length").then((data) =>  {
+                    settings.fwApproachLength = parseInt(data.value);
+                }).then(callback);
+            },
+            function (callback) {
+                mspHelper.getSetting("safehome_max_distance").then((data) => {
+                    settings.maxDistSH = parseInt(data.value) / 100;
+                }).then(callback);
+            },
+            function (callback) {
+                mspHelper.getSetting(("nav_fw_loiter_radius")).then((data) => {
+                    settings.fwLoiterRadius = parseInt(data.value);
+                }).then(callback);
+            }
         ]);
         loadChainer.setExitPoint(loadHtml);
         loadChainer.execute();
@@ -101,6 +116,15 @@ TABS.mission_control.initialize = function (callback) {
 
         // FC not connected, load page anyway
         loadHtml();
+        if (!FW_APPROACH) {
+            FW_APPROACH = new FwApproachCollection();
+        }
+        if (!SAFEHOMES) {
+            SAFEHOMES = new SafehomeCollection();
+        }
+        for (let i = 0; i < FW_APPROACH.getMaxFwApproachCount(); i++){
+            FW_APPROACH.put(new FwApproach(i));
+        }
     }
 
     function loadHtml() {
@@ -120,8 +144,7 @@ TABS.mission_control.initialize = function (callback) {
             isOffline = true;
         }
 
-        $safehomesTable = $('.safehomesTable');
-        $safehomesTableBody = $('#safehomesTableBody');
+        $safehomeContentBox = $('#SafehomeContentBox');
         $waypointOptionsTable = $('.waypointOptionsTable');
         $waypointOptionsTableBody = $('#waypointOptionsTableBody');
 
@@ -129,6 +152,18 @@ TABS.mission_control.initialize = function (callback) {
             loadSettings();
             // let the dom load finish, avoiding the resizing of the map
             setTimeout(initMap, 200);
+            if (!isOffline) {
+                setTimeout(() => {
+                    if (SAFEHOMES.safehomeCount() >= 1) {
+                        updateSelectedShAndFwAp(0);
+                    } else {
+                        selectedSafehome = null;
+                        selectedFwApproachSh = null;
+                    }
+                    renderSafehomesOnMap();
+                    updateSafehomeInfo();
+                }, 500);
+            }
         } else {
             $('#missionMap, #missionControls').hide();
             $('#notLoadMap').show();
@@ -352,7 +387,11 @@ TABS.mission_control.initialize = function (callback) {
     //////////////////////////////////////////////////////////////////////////////////////////////
     var markers = [];           // Layer for Waypoints
     var lines = [];             // Layer for lines between waypoints
-    var safehomeMarkers = [];    // layer for Safehome points
+    var safehomeMarkers = [];   // layer for Safehome points
+    var safehomeMarkers = [];   // layer for Safehome points
+    var approachLayers = []     // Layers for FW approach
+    var safehomeMarkers = [];   // layer for Safehome points
+    var approachLayers = []     // Layers for FW approach
 
     var map;
 
@@ -363,19 +402,16 @@ TABS.mission_control.initialize = function (callback) {
     var selectedFeature = null;
     var tempMarker = null;
     var disableMarkerEdit = false;
+    var selectedFwApproachWp = null;
+    var selectedFwApproachSh = null;
+    var lockShExclHeading = false;
+
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init parameters for default Settings
     //////////////////////////////////////////////////////////////////////////////////////////////
-    var settings = {speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : 0, bingDemModel : false};
 
-    if (CONFIGURATOR.connectionValid) {
-        mspHelper.getSetting("safehome_max_distance").then(function (s) {
-            if (s) {
-                settings.maxDistSH = Number(s.value)/100;
-            }
-        });
-    }
+
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init Waypoints parameters
@@ -429,12 +465,19 @@ TABS.mission_control.initialize = function (callback) {
     //
     /////////////////////////////////////////////
     function loadSettings() {
-        var missionPlannerSettings = store.get('missionPlannerSettings', false);
-        if (missionPlannerSettings) {
-            settings = missionPlannerSettings;
-        }
-        refreshSettings();
-        
+        chrome.storage.local.get('missionPlannerSettings', function (result) {
+            if (result.missionPlannerSettings) {
+                if (!result.missionPlannerSettings.fwApproachLength && settings.fwApproachLength) {
+                    result.missionPlannerSettings.fwApproachLength = settings.fwApproachLength;
+                    result.missionPlannerSettings.maxDistSH = settings.maxDistSH;
+                    result.missionPlannerSettings.fwLoiterRadius = settings.fwLoiterRadius;
+                }
+                saveSettings();
+                settings = result.missionPlannerSettings;
+            }
+
+            refreshSettings();
+        });
     }
 
     function saveSettings() {
@@ -445,6 +488,8 @@ TABS.mission_control.initialize = function (callback) {
         $('#MPdefaultPointAlt').val(String(settings.alt));
         $('#MPdefaultPointSpeed').val(String(settings.speed));
         $('#MPdefaultSafeRangeSH').val(String(settings.safeRadiusSH));
+        $('#MPdefaultFwApproachAlt').val(String(settings.fwApproachAlt));
+        $('#MPdefaultLandAlt').val(String(settings.fwLandAlt));
     }
 
     function closeSettingsPanel() {
@@ -461,59 +506,29 @@ TABS.mission_control.initialize = function (callback) {
         cleanSafehomeLayers();
     }
 
-    function renderSafehomesTable() {
-        /*
-         * Process safehome table UI
-         */
-        let safehomes = SAFEHOMES.get();
-        $safehomesTableBody.find("*").remove();
-        for (let safehomeIndex in safehomes) {
-            if (safehomes.hasOwnProperty(safehomeIndex)) {
-                const safehome = safehomes[safehomeIndex];
-
-                $safehomesTableBody.append('\
-                    <tr>\
-                    <td><div id="viewSafomePoint" class="btnTable btnTableIcon"> \
-                            <a class="ic_center" data-role="safehome-center" href="#"  title="move to center view"></a> \
-                        </div>\
-                    </td> \
-                    <td><span class="safehome-number"/></td>\
-                    <td class="safehome-enabled"><input type="checkbox" class="togglesmall safehome-enabled-value"/></td> \
-                    <td><input type="number" class="safehome-lat" /></td>\
-                    <td><input type="number" class="safehome-lon" /></td>\
-                    </tr>\
-                ');
-
-                const $row = $safehomesTableBody.find('tr:last');
-
-                $row.find(".safehome-number").text(safehome.getNumber()+1);
-
-                $row.find(".safehome-enabled-value").prop('checked',safehome.isUsed()).on('change', function () {
-                    safehome.setEnabled((($(this).prop('checked')) ? 1 : 0));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+    function checkApproachAltitude(altitude, isSeaLevelRef, sealevel) {
 
-                $row.find(".safehome-lon").val(safehome.getLonMap()).on('change', function () {
-                    safehome.setLon(Math.round(Number($(this).val()) * 10000000));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+        if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < 0) {
+            alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+            return false;
+        }
 
-                $row.find(".safehome-lat").val(safehome.getLatMap()).on('change', function () {
-                    safehome.setLat(Math.round(Number($(this).val()) * 10000000));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+        return true;
+    }
 
-                $row.find("[data-role='safehome-center']").attr("data-index", safehomeIndex);
-            }
+    function checkLandingAltitude(altitude, isSeaLevelRef, sealevel) {
+
+        if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < MAX_NEG_FW_LAND_ALT) {
+            alert(chrome.i18n.getMessage('MissionPlannerFwLAndingAltitudeChangeReset'));
+            return false;
         }
-        GUI.switchery();
-       i18n.localize();;
+
+        return true;
+    }
+
+    function updateSafehomeInfo(){
+        let freeSamehomes = SAFEHOMES.getMaxSafehomeCount() - SAFEHOMES.safehomeCount()
+        $('#availableSafehomes').text(freeSamehomes + '/' + SAFEHOMES.getMaxSafehomeCount());
     }
 
 
@@ -521,8 +536,12 @@ TABS.mission_control.initialize = function (callback) {
         /*
          * Process safehome on Map
          */
-        SAFEHOMES.get().forEach(function (safehome) {
-            map.addLayer(addSafeHomeMarker(safehome));
+        SAFEHOMES.get().forEach(safehome => {
+            addFwApproach(safehome.getLonMap(), safehome.getLatMap(), FW_APPROACH.get()[safehome.getNumber()], safehomeMarkers);
+        });
+        SAFEHOMES.get().forEach(safehome => {
+            addSafehomeCircles(safehome);
+            addSafeHomeMarker(safehome);
         });
     }
 
@@ -559,7 +578,107 @@ TABS.mission_control.initialize = function (callback) {
         });
     }
 
-    function addSafeHomeMarker(safehome) {
+    function paintApproachLine(pos1, pos2, color, layers)
+    {
+        var line = new ol.geom.LineString([ol.proj.fromLonLat([pos1.lon, pos1.lat]), ol.proj.fromLonLat([pos2.lon, pos2.lat])]);
+
+        var feature = new ol.Feature({
+            geometry: line
+        });
+
+        var styles = [  new ol.style.Style({
+                stroke: new ol.style.Stroke({
+                    color: color,
+                    width: 3,
+                }),
+            })
+        ];
+
+        var geometry = feature.getGeometry();
+        geometry.forEachSegment(function (start, end) {
+            var dx = end[0] - start[0];
+            var dy = end[1] - start[1];
+            var rotation = Math.atan2(dy, dx);
+
+            styles.push(new ol.style.Style({
+              geometry: new ol.geom.Point(distanceOnLine(start, end, -8)),
+              image: new ol.style.RegularShape({
+                fill: new ol.style.Fill({color}),
+                points: 3,
+                radius: 8,
+                rotation: -rotation,
+                angle: Math.PI / 2 // rotate -90°
+              })
+            }));
+        });
+
+        feature.setStyle(styles);
+
+        var vectorSource = new ol.source.Vector({
+                features: [feature]
+        });
+
+
+        var vectorLayer = new ol.layer.Vector({
+            source: vectorSource
+        });
+
+
+
+        vectorLayer.kind = "approachline";
+        vectorLayer.selection = false;
+
+
+        approachLayers.push(vectorLayer);
+
+        approachLayers.push(vectorLayer);
+        map.addLayer(vectorLayer);
+        layers.push(vectorLayer);
+
+        return vectorLayer;
+    }
+
+    function paintApproach(landCoord, approachLength, bearing, approachDirection, layers) {
+
+        var pos1 = calculate_new_cooridatnes(landCoord, bearing, approachLength);
+        let direction;
+        if (approachDirection == ApproachDirection.LEFT) {
+            direction = wrap_360(bearing + 90);
+        } else {
+            direction = wrap_360(bearing - 90);
+        }
+
+        var pos2 = calculate_new_cooridatnes(pos1, direction, Math.max(settings.fwLoiterRadius * 4, settings.fwApproachLength / 2));
+
+        paintApproachLine(landCoord, pos2, '#0025a1', layers);
+        paintApproachLine(pos2, pos1, '#0025a1', layers);
+        paintApproachLine(pos1, landCoord, '#f78a05', layers);
+    }
+
+    function addFwApproach(lon, lat, fwApproach, layers)
+    {
+        if (fwApproach.getLandHeading1() != 0) {
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading1()) + 180);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection(), layers);
+        }
+
+        if (fwApproach.getLandHeading1() > 0) {
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading1(), direction, layers);
+        }
+
+        if (fwApproach.getLandHeading2() != 0) {
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading2()) + 180);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection(), layers);
+        }
+
+        if (fwApproach.getLandHeading2() > 0) {
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading2(), direction, layers);
+        }
+    }
+
+    function addSafehomeCircles(safehome) {
         /*
          * add safehome on Map
          */
@@ -614,8 +733,32 @@ TABS.mission_control.initialize = function (callback) {
         vectorLayer.selection = false;
 
         safehomeMarkers.push(vectorLayer);
+        map.addLayer(vectorLayer);
+    }
 
-        return vectorLayer;
+    function addSafeHomeMarker(safehome) {
+
+        let coord = ol.proj.fromLonLat([safehome.getLonMap(), safehome.getLatMap()]);
+        var iconFeature = new ol.Feature({
+            geometry: new ol.geom.Point(coord),
+            name: 'safehome'
+        });
+
+        var vectorLayer = new ol.layer.Vector({
+            source: new ol.source.Vector({
+                        features: [iconFeature]
+                    }),
+            style : function(iconFeature) {
+                return [getSafehomeIcon(safehome)];
+            }
+        });
+
+        vectorLayer.kind = "safehome";
+        vectorLayer.number = safehome.getNumber();
+        vectorLayer.selection = true;
+
+        safehomeMarkers.push(vectorLayer);
+        map.addLayer(vectorLayer);
     }
 
     function getProjectedRadius(radius) {
@@ -1133,6 +1276,9 @@ TABS.mission_control.initialize = function (callback) {
                     multiMissionWPNum = element.getNumber() + 1;
                 }
             }
+            if (element.getAction() == MWNP.WPTYPE.LAND) {
+                addFwApproach(element.getLonMap(), element.getLatMap(), FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + element.getMultiMissionIdx()], lines);
+            }
         });
         //reset text position
         if (textGeom) {
@@ -1246,20 +1392,65 @@ TABS.mission_control.initialize = function (callback) {
 
     function redrawLayers() {
         if (!mission.isEmpty()) {
+            repaintLine4Waypoints(mission);
             mission.get().forEach(function (element) {
                 if (!element.isAttached()) {
                     map.addLayer(addWaypointMarker(element));
                 }
             });
-            repaintLine4Waypoints(mission);
+
         }
     }
 
     function redrawLayer() {
+        repaintLine4Waypoints(mission);
         if (selectedFeature && selectedMarker) {
             selectedFeature.setStyle(getWaypointIcon(selectedMarker, true));
         }
-        repaintLine4Waypoints(mission);
+    }
+
+    function renderSafeHomeOptions()  {
+        if (selectedSafehome && selectedFwApproachSh) {
+
+            lockShExclHeading = true;
+            if (!$('#missionPlannerSafehome').is(':visible')) {
+                $('#missionPlannerSafehome').fadeIn(300);
+            }
+
+            $('#SafehomeContentBox').show();
+
+            if (selectedFwApproachSh.getLandHeading1() == 0 && selectedFwApproachSh.getLandHeading1() == 0 && selectedFwApproachSh.getApproachAltAsl() == 0 && selectedFwApproachSh.getLandAltAsl() == 0) {
+                selectedFwApproachSh.setApproachAltAsl(settings.fwApproachAlt * 100);
+                selectedFwApproachSh.setLandAltAsl(settings.fwLandAlt * 100);
+            }
+
+            if (selectedFwApproachSh.getElevation() == 0) {
+                (async () => {
+                    const elevation = await selectedFwApproachSh.getElevationFromServer(selectedSafehome.getLonMap(), selectedSafehome.getLatMap(), globalSettings) * 100;
+                    selectedFwApproachSh.setElevation(elevation);
+                    $('#safehomeElevation').text(selectedFwApproachSh.getElevation() / 100 + " m");
+                })();
+            }
+
+            const $safehomeBox = $safehomeContentBox.find('.missionPlannerSafehomeBox:last-child');
+            $safehomeBox.find('.spacer_box_title').text(chrome.i18n.getMessage('safehomeEdit') + ' '  + (selectedSafehome.getNumber() + 1));
+
+            $('#safehomeLatitude').val(selectedSafehome.getLatMap());
+            $('#safehomeLongitude').val(selectedSafehome.getLonMap());
+            changeSwitchery($('#safehomeSeaLevelRef'), selectedFwApproachSh.getIsSeaLevelRef());
+            $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+            $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+            $('#geozoneApproachDirection').val(selectedFwApproachSh.getApproachDirection());
+            $('#safehomeLandHeading1').val(Math.abs(selectedFwApproachSh.getLandHeading1()));
+            changeSwitchery($('#safehomeLandHeading1Excl'), selectedFwApproachSh.getLandHeading1() < 0);
+            $('#safehomeLandHeading2').val(Math.abs(selectedFwApproachSh.getLandHeading2()));
+            changeSwitchery($('#safehomeLandHeading2Excl'), selectedFwApproachSh.getLandHeading2() < 0);
+            $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+            $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+            lockShExclHeading = false;
+        } else {
+            $('#SafehomeContentBox').hide();
+        }
     }
 
     function renderWaypointOptionsTable(waypoint) {
@@ -1479,10 +1670,7 @@ TABS.mission_control.initialize = function (callback) {
 
             var handleShowSafehome = function () {
                 $('#missionPlannerSafehome').fadeIn(300);
-                //SAFEHOMES.flush();
-                //mspHelper.loadSafehomes();
                 cleanSafehomeLayers();
-                renderSafehomesTable();
                 renderSafehomesOnMap();
                 $('#safeHomeMaxDistance').text(settings.maxDistSH);
                 $('#SafeHomeSafeDistance').text(settings.safeRadiusSH);
@@ -1603,6 +1791,10 @@ TABS.mission_control.initialize = function (callback) {
          * @param {ol.MapBrowserEvent} evt Map browser event.
          */
         app.Drag.prototype.handleDragEvent = function (evt) {
+            if (tempMarker.kind == "safehomecircle") {
+                return;
+            }
+
             var map = evt.map;
 
             var feature = map.forEachFeatureAtPixel(evt.pixel,
@@ -1634,12 +1826,16 @@ TABS.mission_control.initialize = function (callback) {
                 repaintLine4Waypoints(mission);
             }
             else if (tempMarker.kind == "safehome") {
-                let tempSH = SAFEHOMES.getSafehome(tempMarker.number);
-                tempSH.setLon(Math.round(coord[0] * 10000000));
-                tempSH.setLat(Math.round(coord[1] * 10000000));
-                SAFEHOMES.updateSafehome(tempSH);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lon').val(Math.round(coord[0] * 10000000) / 10000000);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lat').val(Math.round(coord[1] * 10000000) / 10000000);
+                let tmpSafehome = SAFEHOMES.get()[tempMarker.number];
+                tmpSafehome.setLon(Math.round(coord[0] * 1e7));
+                tmpSafehome.setLat(Math.round(coord[1] * 1e7));
+
+                $('#safeHomeLongitude').val(Math.round(coord[0] * 1e7));
+                $('#safeHomeLatitude').val(Math.round(coord[1] * 1e7));
+                updateSelectedShAndFwAp(tempMarker.number);
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
             }
             else if (tempMarker.kind == "home") {
                 HOME.setLon(Math.round(coord[0] * 10000000));
@@ -1684,6 +1880,22 @@ TABS.mission_control.initialize = function (callback) {
                         $('#elevationValueAtWP').text(elevationAtWP);
                         const returnAltitude = checkAltElevSanity(false, mission.getWaypoint(tempMarker.number).getAlt(), elevationAtWP, mission.getWaypoint(tempMarker.number).getP3());
                         mission.getWaypoint(tempMarker.number).setAlt(returnAltitude);
+
+                        if (mission.getWaypoint(tempMarker.number).getAction() == MWNP.WPTYPE.LAND) {
+                            let approach = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + mission.getWaypoint(tempMarker.number).getMultiMissionIdx()];
+                            if (approach.getIsSeaLevelRef()) {
+                                if (approach.getElevation() != 0) {
+                                    approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                                    approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                                }
+                                approach.setElevation(elevationAtWP * 100);
+                                $('#wpApproachAlt').val(approach.getApproachAltAsl());
+                                $('#wpLandAlt').val(approach.getLandAltAsl);
+                                $('#wpLandAltM').text(approach.getLandAltAsl() / 100 + " m");
+                                $('#wpApproachAltM').text(approach.getApproachAltAsl() / 100 + " m");
+                            }
+                        }
+
                         plotElevation();
                     })()
                 }
@@ -1696,6 +1908,22 @@ TABS.mission_control.initialize = function (callback) {
                     plotElevation();
                 })()
             }
+            else if (tempMarker.kind == "safehome") {
+                (async () => {
+                    let approach = FW_APPROACH.get()[tempMarker.number];
+                    let safehome = SAFEHOMES.get()[tempMarker.number];
+                    const elevation = await approach.getElevationFromServer(safehome.getLonMap(), safehome.getLatMap(), globalSettings) * 100;
+                    $('#safehomeElevation').text(elevation / 100 + " m");
+                    if (approach.getIsSeaLevelRef()) {
+                        if (approach.getElevation() != 0) {
+                            approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevation);
+                            approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevation);
+                        }
+                        approach.setElevation(elevation);
+                    }
+                    renderSafeHomeOptions();
+                })()
+            }
             this.coordinate_ = null;
             this.feature_ = null;
             return false;
@@ -1816,6 +2044,14 @@ TABS.mission_control.initialize = function (callback) {
             if (selectedFeature && tempMarker.kind == "waypoint") {
                 $("#editMission").hide();
                 selectedMarker = mission.getWaypoint(tempMarker.number);
+
+                selectedFwApproachWp = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + selectedMarker.getMultiMissionIdx()];
+
+                if (selectedFwApproachWp.getLandHeading1() == 0 && selectedFwApproachWp.getLandHeading1() == 0 && selectedFwApproachWp.getApproachAltAsl() == 0 && selectedFwApproachWp.getLandAltAsl() == 0) {
+                    selectedFwApproachWp.setApproachAltAsl(settings.fwApproachAlt * 100);
+                    selectedFwApproachWp.setLandAltAsl(settings.fwLandAlt * 100);
+                }
+
                 var geometry = selectedFeature.getGeometry();
                 var coord = ol.proj.toLonLat(geometry.getCoordinates());
 
@@ -1831,12 +2067,34 @@ TABS.mission_control.initialize = function (callback) {
 
                 var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
 
+                if (selectedMarker.getAction() == MWNP.WPTYPE.LAND) {
+                    $('#wpFwLanding').fadeIn(300);
+                } else  {
+                    $('#wpFwLanding').fadeOut(300);
+                }
+
                 if (tempSelectedMarkerIndex == null || tempSelectedMarkerIndex != selectedMarker.getLayerNumber()) {
                     (async () => {
                         const elevationAtWP = await selectedMarker.getElevation(globalSettings);
                         $('#elevationValueAtWP').text(elevationAtWP);
                         const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, P3Value);
                         selectedMarker.setAlt(returnAltitude);
+
+                        /*
+                        if (TABS.mission_control.isBitSet(P3Value, MWNP.P3.ALT_TYPE)) {
+                            if (!selectedFwApproachWp.getIsSeaLevelRef()) {
+                                selectedFwApproachWp.setApproachDirection(selectedFwApproachWp.getApproachDirection() + elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() + elevationAtWP * 100);
+                            }
+
+                        }
+                        */
+                        selectedFwApproachWp.setIsSeaLevelRef(TABS.mission_control.isBitSet(P3Value, MWNP.P3.ALT_TYPE) ? 1 : 0);
+                        $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                        $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl);
+                        $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                        $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+
                         plotElevation();
                     })()
                 }
@@ -1852,7 +2110,23 @@ TABS.mission_control.initialize = function (callback) {
                 $('#pointP1').val(selectedMarker.getP1());
                 $('#pointP2').val(selectedMarker.getP2());
 
-                
+
+
+
+                $('#wpApproachDirection').val(selectedFwApproachWp.getApproachDirection());
+                $('#wpLandHeading1').val(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                $('#wpLandHeading2').val(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
+
+
+
+                $('#wpApproachDirection').val(selectedFwApproachWp.getApproachDirection());
+                $('#wpLandHeading1').val(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                $('#wpLandHeading2').val(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
+
                 // Selection box update depending on choice of type of waypoint
                 for (var j in dictOfLabelParameterPoint[selectedMarker.getAction()]) {
                     if (dictOfLabelParameterPoint[selectedMarker.getAction()][j] != '') {
@@ -1869,7 +2143,9 @@ TABS.mission_control.initialize = function (callback) {
             }
             else if (selectedFeature && tempMarker.kind == "line" && tempMarker.selection && !disableMarkerEdit) {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
-                let tempWp = new Waypoint(tempMarker.number, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), Number(settings.alt), Number(settings.speed));
+                let tempWp = new Waypoint(tempMarker.number, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
+                tempWp.setMultiMissionIdx(mission.getWaypoint(0).getMultiMissionIdx());
+
                 if (homeMarkers.length && HOME.getAlt() != "N/A") {
                     (async () => {
                         const elevationAtWP = await tempWp.getElevation(globalSettings);
@@ -1888,12 +2164,8 @@ TABS.mission_control.initialize = function (callback) {
                 }
             }
             else if (selectedFeature && tempMarker.kind == "safehome" && tempMarker.selection) {
-                selectedMarker = SAFEHOMES.getSafehome(tempMarker.number);
-                var geometry = selectedFeature.getGeometry();
-                var coord = ol.proj.toLonLat(geometry.getCoordinates());
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-enabled-value').val(selectedMarker.isUsed());
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lon').val(Math.round(coord[0] * 10000000) / 10000000);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lat').val(Math.round(coord[1] * 10000000) / 10000000);
+                updateSelectedShAndFwAp(tempMarker.number);
+                //renderSafeHomeOptions();
             }
             else if (selectedFeature && tempMarker.kind == "home" && tempMarker.selection) {
                 selectedMarker = HOME;
@@ -1904,7 +2176,15 @@ TABS.mission_control.initialize = function (callback) {
             }
             else if (!disableMarkerEdit) {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
-                let tempWp = new Waypoint(mission.get().length, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), Number(settings.alt), Number(settings.speed));
+                let tempWp = new Waypoint(mission.get().length, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
+
+                if (mission.get().length == 0) {
+                    tempWp.setMultiMissionIdx(multimissionCount == 0 ? 0 : multimissionCount - 1);
+                    FW_APPROACH.clean(SAFEHOMES.getMaxSafehomeCount() + tempWp.getMultiMissionIdx());
+                } else {
+                    tempWp.setMultiMissionIdx(mission.getWaypoint(mission.get().length - 1).getMultiMissionIdx());
+                }
+
                 if (homeMarkers.length && HOME.getAlt() != "N/A") {
                     (async () => {
                         const elevationAtWP = await tempWp.getElevation(globalSettings);
@@ -1931,10 +2211,14 @@ TABS.mission_control.initialize = function (callback) {
         //////////////////////////////////////////////////////////////////////////
         $(map.getViewport()).on('mousemove', function (e) {
             var pixel = map.getEventPixel(e.originalEvent);
+            var name = "";
             var hit = map.forEachFeatureAtPixel(pixel, function (feature, layer) {
+                if (feature) {
+                    name = feature.getProperties().name;
+                }
                 return true;
             });
-            if (hit) {
+            if (hit && name != "safehomeDist" && name != "safehomeSafe") {
                 map.getTarget().style.cursor = 'pointer';
             } else {
                 map.getTarget().style.cursor = '';
@@ -2042,8 +2326,26 @@ TABS.mission_control.initialize = function (callback) {
         /////////////////////////////////////////////
         // Callback for Waypoint edition
         /////////////////////////////////////////////
-        $('#pointType').on('change', function () {
+        $('#pointType').on('change', (event) => {
             if (selectedMarker) {
+                if (Number($('#pointType').val()) == MWNP.WPTYPE.LAND) {
+                    let found = false;
+                    mission.get().forEach(wp => {
+                        if (wp.getAction() == MWNP.WPTYPE.LAND) {
+                            alert(chrome.i18n.getMessage('MissionPlannerOnlyOneLandWp'));
+                            found = true;
+                            $(event.currentTarget).val(selectedMarker.getAction());
+                        }
+                    });
+
+                    if (!found) {
+                        $('#wpFwLanding').fadeIn(300);
+                    }
+
+                } else  {
+                    $('#wpFwLanding').fadeOut(300);
+                }
+
                 selectedMarker.setAction(Number($('#pointType').val()));
                 if ([MWNP.WPTYPE.SET_POI,MWNP.WPTYPE.POSHOLD_TIME,MWNP.WPTYPE.LAND].includes(selectedMarker.getAction())) {
                     selectedMarker.setP1(0.0);
@@ -2147,6 +2449,27 @@ TABS.mission_control.initialize = function (callback) {
                             }
                             selectedMarker.setAlt(groundClearance + 100 * (elevationAtWP - elevationAtHome));
                         }
+
+                        if (selectedMarker.getAction() == MWNP.WPTYPE.LAND && selectedFwApproachWp && selectedFwApproachWp.getIsSeaLevelRef() != $('#pointP3Alt').prop("checked")) {
+
+                            let oldElevation = 0;
+                            if (selectedFwApproachWp.getIsSeaLevelRef()) {
+                                oldElevation = selectedFwApproachWp.getElevation();
+                            }
+
+                            if ($('#pointP3Alt').prop("checked")) {
+                                selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - oldElevation + elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - oldElevation + elevationAtWP * 100);
+                            } else {
+                                selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - elevationAtWP * 100);
+                            }
+                            selectedFwApproachWp.setElevation(elevationAtWP * 100);
+                            selectedFwApproachWp.setIsSeaLevelRef($('#pointP3Alt').prop("checked") ? 1 : 0);
+                            $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                            $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl());
+                        }
+
                     }
 
                     const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
@@ -2155,11 +2478,32 @@ TABS.mission_control.initialize = function (callback) {
                     let altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
                     $('#altitudeInMeters').text(` ${altitudeMeters}m`);
 
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+
+                    if (selectedFwApproachWp && selectedFwApproachWp.getIsSeaLevelRef() != $('#pointP3Alt').prop("checked")) {
+                        selectedFwApproachWp.setIsSeaLevelRef($('#pointP3Alt').prop("checked"));
+                        selectedFwApproachWp.setElevation(elevationAtWP * 100);
+                        if ($('#pointP3Alt').prop("checked")) {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() + elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() + elevationAtWP * 100);
+                        } else {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - elevationAtWP * 100);
+                        }
+
+                        $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                        $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl());
+                    }
+
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+
                     mission.updateWaypoint(selectedMarker);
                     mission.update(singleMissionActive());
                     redrawLayer();
                     plotElevation();
-                })()
+                })();
             }
         });
 
@@ -2223,6 +2567,109 @@ TABS.mission_control.initialize = function (callback) {
             }
         });
 
+        $('#wpApproachAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkApproachAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setApproachAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                }
+            }
+        });
+
+        $('#wpLandAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setLandAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                }
+            }
+        });
+
+        $('#wpApproachDirection').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                selectedFwApproachWp.setApproachDirection($(event.currentTarget).val());
+                refreshLayers();
+                }
+        });
+
+        $('#wpLandHeading1').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#wpLandHeading1').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#wpLandHeading1').val(0);
+                }
+
+                if ($('#wpLandHeading1Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachWp.setLandHeading1(val);
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading1Excl').on('change', (event) => {
+
+            if (selectedMarker && selectedFwApproachWp) {
+                if (disableMarkerEdit) {
+                    changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                    return;
+                }
+
+                if ($('#wpLandHeading1Excl').prop('checked')) {
+                    selectedFwApproachWp.setLandHeading1(-Math.abs(selectedFwApproachWp.getLandHeading1()));
+                } else {
+                    selectedFwApproachWp.setLandHeading1(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                }
+
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading2').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#wpLandHeading2').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#wpLandHeading2').val(0);
+                }
+
+                if ($('#wpLandHeading2Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachWp.setLandHeading2(val);
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading2Excl').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                if (disableMarkerEdit) {
+                    changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
+                    return;
+                }
+                if ($('#wpLandHeading2Excl').prop('checked')) {
+                    selectedFwApproachWp.setLandHeading2(-Math.abs(selectedFwApproachWp.getLandHeading2()));
+                } else {
+                    selectedFwApproachWp.setLandHeading2(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                }
+                refreshLayers();
+            }
+        });
+
+
         /////////////////////////////////////////////
         // Callback for Waypoint Options Table
         /////////////////////////////////////////////
@@ -2253,17 +2700,25 @@ TABS.mission_control.initialize = function (callback) {
         });
 
         /////////////////////////////////////////////
-        // Callback for SAFEHOMES Table
+        // Callback for SAFEHOMES
         /////////////////////////////////////////////
-        $safehomesTableBody.on('click', "[data-role='safehome-center']", function (event) {
+
+
+        $('#addSafehome').on('click', () => {
+            if (SAFEHOMES.safehomeCount() + 1 > SAFEHOMES.getMaxSafehomeCount()){
+                alert(chrome.i18n.getMessage('missionSafehomeMaxSafehomesReached'));
+                return;
+            }
+
             let mapCenter = map.getView().getCenter();
-            let tmpSH = SAFEHOMES.getSafehome($(event.currentTarget).attr("data-index"));
-            tmpSH.setLon(Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7));
-            tmpSH.setLat(Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7));
-            SAFEHOMES.updateSafehome(tmpSH);
-            renderSafehomesTable();
+            let midLon = Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7);
+            let midLat = Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7);
+            SAFEHOMES.put(new Safehome(SAFEHOMES.safehomeCount(), 1, midLat, midLon));
+            updateSelectedShAndFwAp(SAFEHOMES.safehomeCount() - 1);
+            renderSafeHomeOptions();
             cleanSafehomeLayers();
             renderSafehomesOnMap();
+            updateSafehomeInfo();
         });
 
         $('#cancelSafehome').on('click', function () {
@@ -2272,27 +2727,214 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#loadEepromSafehomeButton').on('click', function () {
             $(this).addClass('disabled');
-            GUI.log(i18n.getMessage('startGettingSafehomePoints'));
-            mspHelper.loadSafehomes();
-            setTimeout(function(){
-                renderSafehomesTable();
+            GUI.log('Start of getting Safehome points');
+            var loadChainer = new MSPChainerClass();
+            loadChainer.setChain([
+                mspHelper.loadSafehomes,
+                mspHelper.loadFwApproach,
+                function() {
+                    if (SAFEHOMES.safehomeCount() >= 1) {
+                        updateSelectedShAndFwAp(0);
+                    } else {
+                        selectedSafehome = null;
+                        selectedFwApproachSh = null;
+                    }
+                    renderSafeHomeOptions();
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    updateSafehomeInfo();
+                    GUI.log(chrome.i18n.getMessage('endGettingSafehomePoints'));
+                    $('#loadEepromSafehomeButton').removeClass('disabled');
+                }
+            ]);
+            loadChainer.execute();
+        });
+
+        $('#saveEepromSafehomeButton').on('click', function() {
+            $(this).addClass('disabled');
+            GUI.log(chrome.i18n.getMessage('startSendingSafehomePoints'));
+
+            var saveChainer = new MSPChainerClass();
+            saveChainer.setChain([
+                mspHelper.saveSafehomes,
+                mspHelper.saveFwApproach,
+                function() {
+                    mspHelper.saveToEeprom();
+                    GUI.log(chrome.i18n.getMessage('endSendingSafehomePoints'));
+                    $('#saveEepromSafehomeButton').removeClass('disabled');
+                }
+            ]);
+            saveChainer.execute();
+        });
+
+        $('#deleteSafehome').on('click', () => {
+            if (selectedSafehome && selectedFwApproachSh) {
+                var shNum = selectedSafehome.getNumber();
+                SAFEHOMES.drop(shNum);
+                FW_APPROACH.clean(shNum);
+
+                if (SAFEHOMES.safehomeCount() > 0) {
+                    updateSelectedShAndFwAp(SAFEHOMES.safehomeCount() - 1);
+                } else {
+                    selectedSafehome = null;
+                    selectedFwApproachSh = null;
+                }
+                renderSafeHomeOptions();
                 cleanSafehomeLayers();
                 renderSafehomesOnMap();
-                GUI.log(i18n.getMessage('endGettingSafehomePoints'));
-                $('#loadEepromSafehomeButton').removeClass('disabled');
-            }, 500);
+                updateSafehomeInfo();
+            }
+        });
 
+        $('#safehomeLatitude').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setLat(Math.round(Number($(event.currentTarget).val()) * 1e7));
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
         });
 
-        $('#saveEepromSafehomeButton').on('click', function() {
-            $(this).addClass('disabled');
-            GUI.log(i18n.getMessage('startSendingSafehomePoints'));
-            mspHelper.saveSafehomes();
-            setTimeout(function(){
-                mspHelper.saveToEeprom();
-                GUI.log(i18n.getMessage('endSendingSafehomePoints'));
-                $('#saveEepromSafehomeButton').removeClass('disabled');
-            }, 500);
+
+        $('#safehomeLongitude').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setLon(Math.round(Number($(event.currentTarget).val()) * 1e7));
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeSeaLevelRef').on('change', event => {
+
+            let isChecked = $(event.currentTarget).prop('checked') ? 1 : 0;
+            if (selectedSafehome && selectedFwApproachSh && isChecked != selectedFwApproachSh.getIsSeaLevelRef()) {
+                selectedFwApproachSh.setIsSeaLevelRef(isChecked);
+
+                (async () => {
+                    const elevation = await selectedFwApproachSh.getElevationFromServer(selectedSafehome.getLonMap(), selectedSafehome.getLatMap(), globalSettings) * 100;
+                    selectedFwApproachSh.setElevation(elevation);
+
+                    if (isChecked) {
+                        selectedFwApproachSh.setApproachAltAsl(selectedFwApproachSh.getApproachAltAsl() + elevation);
+                        selectedFwApproachSh.setLandAltAsl(selectedFwApproachSh.getLandAltAsl() + elevation);
+                    } else {
+                        selectedFwApproachSh.setApproachAltAsl(selectedFwApproachSh.getApproachAltAsl() - elevation);
+                        selectedFwApproachSh.setLandAltAsl(selectedFwApproachSh.getLandAltAsl() - elevation);
+
+                    }
+
+                    $('#safehomeElevation').text(elevation / 100);
+                    $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+                    $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+                    $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+                    $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+
+                    renderSafeHomeOptions();
+                })();
+            }
+        });
+
+        $('#safehomeApproachAlt').on('change', event => {
+
+            if (selectedFwApproachSh) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkApproachAltitude(altitude, $('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+                    selectedFwApproachSh.setApproachAltAsl(Number($(event.currentTarget).val()));
+                    $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    renderHomeTable();
+                }
+                $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+            }
+
+        });
+
+        $('#safehomeLandAlt').on('change', event => {
+
+            if (selectedFwApproachSh) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+                    selectedFwApproachSh.setLandAltAsl(altitude);
+                    $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    renderHomeTable();
+                } else {
+                    $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+                }
+            }
+        });
+
+        $('#geozoneApproachDirection').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setApproachDirection($(event.currentTarget).val());
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeLandHeading1Excl').on('change', event => {
+            if (selectedFwApproachSh && !lockShExclHeading) {
+                selectedFwApproachSh.setLandHeading1(selectedFwApproachSh.getLandHeading1() * -1);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeLandHeading1').on('change', event => {
+            if (selectedFwApproachSh) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#safehomeLandHeading1').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#safehomeLandHeading1').val(0);
+                }
+
+                if ($('#safehomeLandHeading1Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachSh.setLandHeading1(val);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+
+        $('#safehomeLandHeading2Excl').on('change', event => {
+            if (selectedFwApproachSh && !lockShExclHeading) {
+                selectedFwApproachSh.setLandHeading2(selectedFwApproachSh.getLandHeading2() * -1);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+
+        $('#safehomeLandHeading2').on('change', event => {
+            if (selectedFwApproachSh) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#safehomeLandHeading2').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#safehomeLandHeading2').val(0);
+                }
+
+                if ($('#safehomeLandHeading2Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachSh.setLandHeading2(val);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
         });
 
         /////////////////////////////////////////////
@@ -2386,7 +3028,9 @@ TABS.mission_control.initialize = function (callback) {
                     removeAllWaypoints();
                     updateMultimissionState();
                 }
-
+                for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++) {
+                    FW_APPROACH.clean(i);
+                }
                 plotElevation();
             }
         });
@@ -2399,6 +3043,11 @@ TABS.mission_control.initialize = function (callback) {
                 else if (mission.getAttachedFromWaypoint(selectedMarker) && mission.getAttachedFromWaypoint(selectedMarker).length != 0) {
                     if (confirm(i18n.getMessage('confirm_delete_point_with_options'))) {
                         mission.getAttachedFromWaypoint(selectedMarker).forEach(function (element) {
+
+                            if (element.getAction() == MWNP.WPTYPE.LAND) {
+                                FW_APPROACH.clean(element.getNumber());
+                            }
+
                             mission.dropWaypoint(element);
                             mission.update(singleMissionActive());
                         });
@@ -2412,6 +3061,9 @@ TABS.mission_control.initialize = function (callback) {
                 }
                 else {
                     mission.dropWaypoint(selectedMarker);
+                    if (selectedMarker.getAction() == MWNP.WPTYPE.LAND) {
+                        FW_APPROACH.clean(selectedFwApproachWp.getNumber());
+                    }
                     selectedMarker = null;
                     mission.update(singleMissionActive());
                     clearEditForm();
@@ -2499,9 +3151,12 @@ TABS.mission_control.initialize = function (callback) {
         $('#saveSettings').on('click', function () {
             let oldSafeRadiusSH = settings.safeRadiusSH;
 
-            settings.speed = Number($('#MPdefaultPointSpeed').val());
+            // update only default settings
             settings.alt = Number($('#MPdefaultPointAlt').val());
+            settings.speed = Number($('#MPdefaultPointSpeed').val());
             settings.safeRadiusSH = Number($('#MPdefaultSafeRangeSH').val());
+            settings.fwApproachAlt = Number($('#MPdefaultFwApproachAlt').val());
+            settings.fwLandAlt = Number($('#MPdefaultLandAlt').val());
 
             saveSettings();
 
@@ -2529,7 +3184,11 @@ TABS.mission_control.initialize = function (callback) {
     /////////////////////////////////////////////
     function loadMissionFile(filename) {
         const fs = require('fs');
-        if (!window.xml2js) return GUI.log(i18n.getMessage('errorReadingFileXml2jsNotFound'));
+        if (!window.xml2js) return GUI.log(chrome.i18n.getMessage('errorReadingFileXml2jsNotFound'));
+
+        for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++) {
+            FW_APPROACH.clean(i);
+        }
 
         fs.readFile(filename, (err, data) => {
             if (err) {
@@ -2551,6 +3210,7 @@ TABS.mission_control.initialize = function (callback) {
                 for (var noderoot in result) {
                     if (!nodemission && noderoot.match(/mission/i)) {
                         nodemission = result[noderoot];
+                        var missionIdx = -1;
                         if (nodemission.$$ && nodemission.$$.length) {
                             for (var i = 0; i < nodemission.$$.length; i++) {
                                 node = nodemission.$$[i];
@@ -2562,7 +3222,9 @@ TABS.mission_control.initialize = function (callback) {
                                     }
                                 } else if (node['#name'].match(/meta/i) || node['#name'].match(/mwp/i) && node.$) {
                                     for (var attr in node.$) {
-                                        if (attr.match(/zoom/i)) {
+                                        if (attr.match(/mission/i)) {
+                                            missionIdx = parseInt(node.$[attr]) -1;
+                                        } else if (attr.match(/zoom/i)) {
                                             mission.setCenterZoom(parseInt(node.$[attr]));
                                         } else if (attr.match(/cx/i)) {
                                             mission.setCenterLon(parseFloat(node.$[attr]) * 10000000);
@@ -2619,7 +3281,33 @@ TABS.mission_control.initialize = function (callback) {
                                             }
                                         }
                                     }
+                                    if (missionIdx >= 0) {
+                                        point.setMultiMissionIdx(missionIdx);
+                                    }
                                     mission.put(point);
+                                } else if (node['#name'].match(/fwapproach/i) && node.$) {
+                                    var fwApproach = new FwApproach(0);
+                                    var idx = -1;
+                                    for (var attr in node.$) {
+                                        if (attr.match(/index/i)) {
+                                            idx = parseInt(node.$[attr]);
+                                        } else if (attr.match(/no/i)) {
+                                            fwApproach.setNumber(parseInt(node.$[attr]));
+                                        } else if (attr.match(/approach-alt/i)) {
+                                            fwApproach.setApproachAltAsl(parseInt(node.$[attr]));
+                                        } else if (attr.match(/land-alt/i)) {
+                                            fwApproach.setLandAltAsl(parseInt(node.$[attr]));
+                                        } else if (attr.match(/approach-direction/i)) {
+                                            fwApproach.setApproachDirection(node.$[attr] == 'left' ? 0 : 1);
+                                        } else if (attr.match(/landheading1/i)) {
+                                            fwApproach.setLandHeading1(parseInt(node.$[attr]));
+                                        } else if (attr.match(/landheading2/i)) {
+                                            fwApproach.setLandHeading2(parseInt(node.$[attr]));
+                                        } else if (attr.match(/sealevel-ref/i)) {
+                                            fwApproach.setIsSeaLevelRef(parseBooleans(node.$[attr]) ? 1 : 0);
+                                        }
+                                    }
+                                    FW_APPROACH.insert(fwApproach, SAFEHOMES.getMaxSafehomeCount() + idx);
                                 }
                             }
                         }
@@ -2692,7 +3380,8 @@ TABS.mission_control.initialize = function (callback) {
                           'home-x' : HOME.getLonMap(),
                           'home-y' : HOME.getLatMap(),
                           'zoom': zoom } },
-            'missionitem': []
+            'missionitem': [],
+            'fwapproach': []
         };
 
         let missionStartWPNumber = 0;
@@ -2722,6 +3411,24 @@ TABS.mission_control.initialize = function (callback) {
                 missionNumber ++;
             }
         });
+        let approachIdx = 0;
+        for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++){
+            let approach = FW_APPROACH.get()[i];
+            if (approach.getLandHeading1() != 0 || approach.getLandHeading2() != 0) {
+                var item = { $: {
+                    'index': approachIdx,
+                    'no': approach.getNumber(),
+                    'approach-alt': approach.getApproachAltAsl(),
+                    'land-alt': approach.getLandAltAsl(),
+                    'approach-direction': approach.getApproachDirection() == 0 ? 'left' : 'right',
+                    'landheading1': approach.getLandHeading1(),
+                    'landheading2': approach.getLandHeading2(),
+                    'sealevel-ref': approach.getIsSeaLevelRef() ? 'true' : 'false'
+                }};
+                data.fwapproach.push(item);
+            }
+            approachIdx++;
+        }
 
         var builder = new window.xml2js.Builder({ 'rootName': 'mission', 'renderOpts': { 'pretty': true, 'indent': '\t', 'newline': '\n' } });
         var xml = builder.buildObject(data);
@@ -2742,75 +3449,86 @@ TABS.mission_control.initialize = function (callback) {
     // mission = configurator store, WP number indexed from 0, MISSION_PLANNER = FC NVM store, WP number indexed from 1
     /////////////////////////////////////////////
     function getWaypointsFromFC(loadEeprom) {
+
+        var loadChainer = new MSPChainerClass();
+        var chain = [mspHelper.loadFwApproach];
         if (loadEeprom) {
-            MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypointData);
-        } else {
-            getWaypointData();
+            chain.push(function(callback) {
+                MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], callback);
+            });
         }
+        chain.push(mspHelper.loadWaypoints);
+        chain.push(function() {
+            GUI.log(chrome.i18n.getMessage('endGetPoint'));
+            if (loadEeprom) {
+                GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
+                $('#loadEepromMissionButton').removeClass('disabled');
+            } else {
+                $('#loadMissionButton').removeClass('disabled');
+            }
+            if (!MISSION_PLANNER.getCountBusyPoints()) {
+                alert(chrome.i18n.getMessage('no_waypoints_to_load'));
+                return;
+            }
+            mission.reinit();
+            mission.copy(MISSION_PLANNER);
+            mission.update(false, true);
 
-        function getWaypointData() {
-            mspHelper.loadWaypoints(function() {
-                GUI.log(i18n.getMessage('endGetPoint'));
-                if (loadEeprom) {
-                    GUI.log(i18n.getMessage('eeprom_load_ok'));
-                    $('#loadEepromMissionButton').removeClass('disabled');
-                } else {
-                    $('#loadMissionButton').removeClass('disabled');
-                }
-                if (!MISSION_PLANNER.getCountBusyPoints()) {
-                    alert(i18n.getMessage('no_waypoints_to_load'));
-                    return;
-                }
-                mission.reinit();
-                mission.copy(MISSION_PLANNER);
-                mission.update(false, true);
-
-                /* check multimissions */
-                multimissionCount = 0;
-                mission.get().forEach(function (element) {
-                    if (element.getEndMission() == 0xA5) {
-                        multimissionCount ++;
-                    }
-                });
-                multimissionCount = multimissionCount > 1 ? multimissionCount : 0;
-                multimission.reinit();
-                if (multimissionCount > 1) {
-                    multimission.copy(mission);
-                    $('#missionPlannerMultiMission').fadeIn(300);
+            /* check multimissions */
+            multimissionCount = 0;
+            mission.get().forEach(function (element) {
+                if (element.getEndMission() == 0xA5) {
+                    element.setMultiMissionIdx(multimissionCount);
+                    multimissionCount++;
                 }
-                renderMultimissionTable();
-
-                setView(16);
-                redrawLayers();
-                updateTotalInfo();
             });
-        };
+            multimissionCount = multimissionCount > 1 ? multimissionCount : 0;
+            multimission.reinit();
+            if (multimissionCount > 1) {
+                multimission.copy(mission);
+                $('#missionPlannerMultiMission').fadeIn(300);
+            }
+            renderMultimissionTable();
+            setView(16);
+            redrawLayers();
+            updateTotalInfo();
+        });
+
+        loadChainer.setChain(chain);
+        loadChainer.execute();
     }
 
     function sendWaypointsToFC(saveEeprom) {
         MISSION_PLANNER.reinit();
         MISSION_PLANNER.copy(mission);
         MISSION_PLANNER.update(false, true, true);
-        mspHelper.saveWaypoints(function() {
-            GUI.log(i18n.getMessage('endSendPoint'));
-            if (saveEeprom) {
-                $('#saveEepromMissionButton').removeClass('disabled');
-                GUI.log(i18n.getMessage('eeprom_saved_ok'));
-                MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false, setMissionIndex);
-            } else {
-                $('#saveMissionButton').removeClass('disabled');
+        let saveChainer = new MSPChainerClass();
+        saveChainer.setChain([
+            mspHelper.saveWaypoints,
+            mspHelper.saveFwApproach,
+            function () {
+                GUI.log(chrome.i18n.getMessage('endSendPoint'));
+                if (saveEeprom) {
+                    $('#saveEepromMissionButton').removeClass('disabled');
+                    GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+                    MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false, setMissionIndex);
+                } else {
+                    $('#saveMissionButton').removeClass('disabled');
+                }
+                mission.setMaxWaypoints(MISSION_PLANNER.getMaxWaypoints());
+                mission.setValidMission(MISSION_PLANNER.getValidMission());
+                mission.setCountBusyPoints(MISSION_PLANNER.getCountBusyPoints());
+                multimission.setMaxWaypoints(mission.getMaxWaypoints());
+                updateTotalInfo();
+                mission.reinit();
+                mission.copy(MISSION_PLANNER);
+                mission.update(false, true);
+                refreshLayers();
+                $('#MPeditPoint').fadeOut(300);
             }
-            mission.setMaxWaypoints(MISSION_PLANNER.getMaxWaypoints());
-            mission.setValidMission(MISSION_PLANNER.getValidMission());
-            mission.setCountBusyPoints(MISSION_PLANNER.getCountBusyPoints());
-            multimission.setMaxWaypoints(mission.getMaxWaypoints());
-            updateTotalInfo();
-            mission.reinit();
-            mission.copy(MISSION_PLANNER);
-            mission.update(false, true);
-            refreshLayers();
-            $('#MPeditPoint').fadeOut(300);
-        });
+        ]);
+        saveChainer.execute();
+
         function setMissionIndex() {
             let activeIndex = singleMissionActive() ? 1 : $('#activeNissionIndex').text();
             mspHelper.setSetting("nav_wp_multi_mission_index", activeIndex, function () {
@@ -2843,6 +3561,11 @@ TABS.mission_control.initialize = function (callback) {
         }
     }
 
+    function updateSelectedShAndFwAp(index) {
+        selectedSafehome = SAFEHOMES.get()[index];
+        selectedFwApproachSh = FW_APPROACH.get()[index];
+    }
+
     /* resetAltitude = true : For selected WPs only. Changes WP Altitude value back to previous value if setting below ground level.
      ^ resetAltitude = false : changes WP Altitude to value required to give ground clearance = default Altitude setting
      ^ AbsAltCheck : check value for whether or not to use absolute altitude. This can be the P3 bitset or excplicitly set to true or false */
@@ -2978,6 +3701,13 @@ TABS.mission_control.initialize = function (callback) {
             }
         }
     }
+
+    function parseBooleans (str) {
+        if (/^(?:true|false)$/i.test(str)) {
+          str = str.toLowerCase() === 'true';
+        }
+        return str;
+      };
 };
 
 TABS.mission_control.isBitSet = function(bits, testBit) {
diff --git a/tabs/mixer.html b/tabs/mixer.html
index edcb1aeb..47539ccf 100644
--- a/tabs/mixer.html
+++ b/tabs/mixer.html
@@ -15,11 +15,26 @@
                                 <span data-i18n="platformType"></span>
                             </label>
                         </div>
-                        <div class="checkbox">
-                            <input id="motor_direction_inverted" type="checkbox" class="toggle" data-setting="motor_direction_inverted" />
-                            <label for="motor_direction_inverted"><span data-i18n="motor_direction_inverted"></span></label>
+                        <div class="radio">
+                            <fieldset>
+                            <legend>Motor direction</legend>
+                            <label for="motor_direction_normal">
+                                <input id="motor_direction_normal" name="motor_direction_inverted" type="radio"
+                                        value="0" data-setting="motor_direction_inverted" class="left" />
+                                <span data-i18n="motor_direction_inverted"></span>
+                            </label><br class="clear-both"/>
+
+                            <label class="checkbox-inline">
+                                <input id="motor_direction_inverted" name="motor_direction_inverted" type="radio"
+                                        value="1" data-setting="motor_direction_inverted" class="left"/>
+                                <span data-i18n="motor_direction_isInverted"></span>
+                            </span></label>
+
                             <div class="helpicon cf_tip" data-i18n_title="motor_direction_inverted_hint"></div>
+                          </fieldset>
                         </div>
+
+
                         <div class="checkbox">
                             <input id="mixer_pid_profile_linking" type="checkbox" class="toggle" data-setting="mixer_pid_profile_linking" />
                             <label for="mixer_pid_profile_linking"><span data-i18n="mixer_pid_profile_linking"></span></label>
diff --git a/tabs/mixer.js b/tabs/mixer.js
index c230fd76..aadebc27 100644
--- a/tabs/mixer.js
+++ b/tabs/mixer.js
@@ -645,21 +645,13 @@ TABS.mixer.initialize = function (callback, scrollPosition) {
         });
 
         const updateMotorDirection = function () {
-            let motorDirectionCheckbox = $("#motor_direction_inverted");
-            const isReversed = motorDirectionCheckbox.is(":checked") && (FC.MIXER_CONFIG.platformType == PLATFORM.MULTIROTOR || FC.MIXER_CONFIG.platformType == PLATFORM.TRICOPTER);
+            let motorDirectionCheckbox = $('input[name=motor_direction_inverted]:checked');
+            const isReversed = motorDirectionCheckbox.val() == 1 && (MIXER_CONFIG.platformType == PLATFORM_MULTIROTOR || MIXER_CONFIG.platformType == PLATFORM_TRICOPTER);
 
             const path = './resources/motor_order/'
                 + currentMixerPreset.image + (isReversed ? "_reverse" : "") + '.svg';
             $('.mixerPreview img').attr('src', path);
 
-            if (FC.MIXER_CONFIG.platformType == PLATFORM.MULTIROTOR || FC.MIXER_CONFIG.platformType == PLATFORM.TRICOPTER) {
-                if (isReversed) {
-                    motorDirectionCheckbox.parent().find("label span").html(i18n.getMessage("motor_direction_isInverted"));
-                } else {
-                    motorDirectionCheckbox.parent().find("label span").html(i18n.getMessage("motor_direction_inverted"));
-                }
-            }
-
             renderServoOutputImage();
         };
 
diff --git a/tabs/osd.html b/tabs/osd.html
index f9489d71..57970cda 100644
--- a/tabs/osd.html
+++ b/tabs/osd.html
@@ -326,7 +326,17 @@
                         </label>
                     </div>
                 </div>
-                <div class="gui_box grey pan-servo-container"> 
+
+
+                <div class="gui_box grey custom-element-container">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title" data-i18n="osd_custom_element_settings"></div>
+                    </div>
+                    <div class="spacer_box settings" id="osdCustomElements"></div>
+                </div>
+
+
+                <div class="gui_box grey pan-servo-container">
                     <div class="gui_box_titlebar">
                         <div for="osd_pan_servo_settings" class="helpicon cf_tip" data-i18n_title="osd_pan_servo_settings_HELP"></div>
                         <div class="spacer_box_title" data-i18n="osd_pan_servo_settings"></div>
@@ -435,6 +445,12 @@
                     <a class="flash_font active" data-i18n="osd_font_upload"></a>
                 </div>
             </div>
+            <div id="fonttypeselectorcontent" style="display:none; width:712px;">
+                <div class="font-picker" style="margin-bottom: 10px;">
+                    <h1 class="tab_title">Font:</h1>
+                    <div class="content_wrapper font-preview"></div>
+                </div>
+            </div>
             <div class="clear-both"></div>
         </div>
     </div>
diff --git a/tabs/osd.js b/tabs/osd.js
index b74a4801..ae53b517 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -355,7 +355,7 @@ FONT.preview = function ($el) {
     $el.empty();
     for (var i = 1; i <= SYM.LAST_CHAR; i++) {
         var url = FONT.data.character_image_urls[i];
-        $el.append('<img src="' + url + '" title="0x' + i.toString(16) + '"></img> ');
+        $el.append('<img src="' + url + '" title="0x' + i.toString(16) + ' (' + i.toString(10) + ') "></img> ');
     }
 };
 
@@ -1879,7 +1879,28 @@ OSD.constants = {
                     id: 116,
                     positionable: true,
                     preview: 'G3:30126'
-                }
+                },
+                {
+                    name: 'CUSTOM ELEMENT 1',
+                    id: 147,
+                    min_version: '7.1.0',
+                    positionable: true,
+                    preview: "CE_1",
+                },
+                {
+                    name: 'CUSTOM ELEMENT 2',
+                    id: 148,
+                    min_version: '7.1.0',
+                    positionable: true,
+                    preview: "CE_2",
+                },
+                {
+                    name: 'CUSTOM ELEMENT 3',
+                    id: 149,
+                    min_version: '7.1.0',
+                    positionable: true,
+                    preview: "CE_3",
+                },
             ]
         },
         {
@@ -2172,6 +2193,11 @@ OSD.reload = function(callback) {
             });
         });
     });
+
+    if(semver.gte(CONFIG.flightControllerVersion, '7.1.0'))
+    {
+        MSP.send_message(MSPCodes.MSP2_INAV_CUSTOM_OSD_ELEMENTS);
+    }
 };
 
 OSD.updateSelectedLayout = function(new_layout) {
@@ -3356,9 +3382,265 @@ TABS.osd.initialize = function (callback) {
             usePitot = (SENSOR_CONFIG.pitot != 0);
             GUI.content_ready(callback);
         });
+
+        if(semver.gte(CONFIG.flightControllerVersion, '7.1.0')) {
+            mspHelper.loadOsdCustomElements(createCustomElements);
+        }
     }));
 };
 
+function createCustomElements(){
+    if(OSD_CUSTOM_ELEMENTS.settings.customElementsCount == 0){
+        $('.custom-element-container').remove();
+        return;
+    }
+
+    var customElementsContainer = $('#osdCustomElements');
+
+    for(var i = 0; i < OSD_CUSTOM_ELEMENTS.settings.customElementsCount; i++){
+        var label = $('<label>');
+
+        var customElementTable = $('<table>').addClass('osdCustomElement_main_table');
+        var customElementRowType = $('<tr>').data('row', i);
+        var customElementRowValue = $('<tr>').data('row', i);
+        var customElementLabel = $('<tr>');
+
+        for(var ii = 0; ii < 3; ii++){
+
+            var select = $('<select>').addClass('osdCustomElement-' + i + '-part-' + ii + '-type').data('valueCellClass', 'osdCustomElement-' + i + '-part-' + ii + '-value').html(`
+                        <option value="0">none</option>
+                        <option data-value="text" value="1">Text</option>
+                        <option data-value="ico" value="2">Icon Static</option>
+                        <option data-value="ico_gv" value="3">Icon Global Variable</option>
+                        <option data-value="gv" value="4">Global Variable 00000</option>
+                        <option data-value="gv" value="5">Global Variable 000.00</option>
+                        <option data-value="gv" value="6">Global Variable 000</option>
+                        <option data-value="gv" value="7">Global Variable 0.0</option>
+                        `);
+
+            customElementRowType.append($('<td>').append(select));
+            customElementRowValue.append($('<td>').addClass('osdCustomElement-' + i + '-part-' + ii + '-value').append(
+                $('<input>').addClass('value').addClass('text').attr('type', 'text').attr('maxlength', OSD_CUSTOM_ELEMENTS.settings.customElementTextSize).hide()
+            ).append(
+                $('<input>').addClass('value').addClass('ico').attr('min', 1).attr('max', 255).hide()
+            ).append(
+                $('<select>').addClass('value').addClass('ico_gv').html(getGVoptions()).hide()
+            ).append(
+                $('<select>').addClass('value').addClass('gv').html(getGVoptions()).hide()
+            ));
+
+            select.change(function(){
+                var dataValue = $(this).find(':selected').data('value');
+                var valueBlock = $('.' + $(this).data('valueCellClass'))
+                valueBlock.find('.value').hide();
+                valueBlock.find('.' + dataValue).show();
+            });
+        }
+
+        var selectVisibility = $('<select>').addClass('osdCustomElement-' + i + '-visibility-type').data('valueCellClass', 'osdCustomElement-' + i + '-visibility-value').html(`
+            <option value="0">always</option>
+            <option data-value="gv" value="1">Global Variable</option>
+            <option data-value="lc" value="2">Logic Condition</option>
+        `);
+        customElementRowType.append($('<td>').append(selectVisibility));
+        customElementRowValue.append($('<td>').addClass('osdCustomElement-' + i + '-visibility-value').append(
+            $('<select>').addClass('value').addClass('gv').html(getGVoptions()).hide()
+        ).append(
+            $('<select>').addClass('value').addClass('lc').html(getLCoptions()).hide()
+        ));
+
+        selectVisibility.change(function(){
+            var dataValue = $(this).find(':selected').data('value');
+            var valueBlock = $('.' + $(this).data('valueCellClass'))
+            valueBlock.find('.value').hide();
+            valueBlock.find('.' + dataValue).show();
+        });
+
+        customElementLabel.append($('<td>').attr('colspan', 2).append($('<span>').html(chrome.i18n.getMessage("custom_element") + ' ' + (i + 1))));
+
+        customElementTable.append(customElementRowType).append(customElementRowValue).append(customElementLabel);
+        label.append(customElementTable);
+        customElementsContainer.append(label);
+    }
+
+    fillCustomElementsValues();
+    customElementsInitCallback();
+}
+
+function fillCustomElementsValues() {
+    for (var i = 0; i < OSD_CUSTOM_ELEMENTS.settings.customElementsCount; i++) {
+        for (var ii = 0; ii < 3; ii++) {
+            $('.osdCustomElement-' + i + '-part-' + ii + '-type').val(OSD_CUSTOM_ELEMENTS.items[i].customElementItems[ii].type).trigger('change');
+
+            var valueCell = $('.osdCustomElement-' + i + '-part-' + ii + '-value');
+            switch (OSD_CUSTOM_ELEMENTS.items[i].customElementItems[ii].type){
+                case 1:
+                    valueCell.find('.text').val(OSD_CUSTOM_ELEMENTS.items[i].customElementText).trigger('change');
+                    break;
+                case 2:
+                    valueCell.find('.ico').val(OSD_CUSTOM_ELEMENTS.items[i].customElementItems[ii].value).trigger('change');
+                    break;
+                case 3:
+                    valueCell.find('.ico_gv').val(OSD_CUSTOM_ELEMENTS.items[i].customElementItems[ii].value).trigger('change');
+                    break;
+                case 4:
+                case 5:
+                case 6:
+                case 7:
+                    valueCell.find('.gv').val(OSD_CUSTOM_ELEMENTS.items[i].customElementItems[ii].value).trigger('change');
+                    break;
+            }
+        }
+
+        $('.osdCustomElement-' + i + '-visibility-type').val(OSD_CUSTOM_ELEMENTS.items[i].customElementVisibility.type).trigger('change');
+        var valueVisibilityCell = $('.osdCustomElement-' + i + '-visibility-value');
+        switch (OSD_CUSTOM_ELEMENTS.items[i].customElementVisibility.type){
+            case 1:
+                valueVisibilityCell.find('.gv').val(OSD_CUSTOM_ELEMENTS.items[i].customElementVisibility.value).trigger('change');
+                break;
+            case 2:
+                valueVisibilityCell.find('.lc').val(OSD_CUSTOM_ELEMENTS.items[i].customElementVisibility.value).trigger('change');
+                break;
+        }
+
+        customElementNormaliseRow(i);
+        customElementDisableNonValidOptionsRow(i);
+    }
+}
+
+function customElementsInitCallback() {
+
+    var callback = function(){
+        var row = $(this).closest('tr').data('row');
+
+        customElementNormaliseRow(row);
+        customElementDisableNonValidOptionsRow(row);
+
+        MSP.promise(MSPCodes.MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS, customElementGetDataForRow(row));
+    };
+
+    var customElements = $('#osdCustomElements')
+    customElements.find('input, select').change(callback);
+    customElements.find('input').keyup(callback);
+}
+
+function customElementNormaliseRow(row){
+    for(var i = 0; i < 3; i++){
+        var elementType = $('.osdCustomElement-' + row + '-part-' + i + '-type');
+        var valueCell = $('.' + elementType.data('valueCellClass'));
+
+        switch (parseInt(elementType.val())){
+            case 1:
+                valueCell.find('.text').val(valueCell.find('.text').val().toUpperCase());
+                valueCell.find('.text').val(valueCell.find('.text').val().replace(/[^A-Z0-9!.\* ]/g, ""));
+                break;
+            case 2:
+                valueCell.find('.ico').val(valueCell.find('.ico').val() > 255 ? 255 : valueCell.find('.ico').val());
+                valueCell.find('.ico').val(valueCell.find('.ico').val() < 1 ? 1 : valueCell.find('.ico').val());
+        }
+    }
+}
+
+function customElementDisableNonValidOptionsRow(row){
+
+    var selectedTextIndex = false;
+    for(let i = 0; i < 3; i++){
+        let elementType = $('.osdCustomElement-' + row + '-part-' + i + '-type');
+
+        if(parseInt(elementType.val()) === 1)
+        {
+            selectedTextIndex = i;
+            break;
+        }
+    }
+
+    for(let i = 0; i < 3; i++){
+        let elementType = $('.osdCustomElement-' + row + '-part-' + i + '-type');
+        if(i !== selectedTextIndex && selectedTextIndex !== false){
+            elementType.find('option[value="1"]').attr('disabled', 'disabled');
+        }else{
+            elementType.find('option[value="1"]').removeAttr('disabled');
+        }
+    }
+}
+
+function customElementGetDataForRow(row){
+
+    var data = [];
+    data.push8(row);
+
+    var text = "";
+
+    for(var ii = 0; ii < 3; ii++){
+        var elementType = $('.osdCustomElement-' + row + '-part-' + ii + '-type');
+        var valueCell = $('.' + elementType.data('valueCellClass'));
+        var partValue = 0;
+
+        switch (parseInt(elementType.val())){
+            case 1:
+                text = valueCell.find('.text').val();
+                break;
+            case 2:
+                partValue = parseInt(valueCell.find('.ico').val());
+                break;
+            case 3:
+                partValue = parseInt(valueCell.find('.ico_gv').find(':selected').val());
+                break;
+            case 4:
+            case 5:
+            case 6:
+            case 7:
+                partValue = parseInt(valueCell.find('.gv').find(':selected').val());
+                break;
+        }
+
+        data.push8(parseInt(elementType.val()));
+        data.push16(partValue);
+    }
+
+    var elementVisibilityType = $('.osdCustomElement-' + row + '-visibility-type');
+    var valueVisibilityCell = $('.' + elementVisibilityType.data('valueCellClass'));
+    var visibilityValue = null;
+    switch (parseInt(elementVisibilityType.val())){
+        case 1:
+            visibilityValue = parseInt(valueVisibilityCell.find('.gv').find(':selected').val());
+            break;
+        case 2:
+            visibilityValue = parseInt(valueVisibilityCell.find('.lc').find(':selected').val());
+            break;
+    }
+
+    data.push8(parseInt(elementVisibilityType.val()));
+    data.push16(visibilityValue);
+
+    for(var i = 0; i < OSD_CUSTOM_ELEMENTS.settings.customElementTextSize; i++){
+        if(i < text.length){
+            data.push8(text.charCodeAt(i))
+        }else{
+            data.push8(0);
+        }
+    }
+
+    return data;
+}
+
+function getGVoptions(){
+    var result = '';
+    for(var i = 0; i < 8; i++){
+        result += `<option value="` + i + `">GV `+i+`</option>`;
+    }
+    return result;
+}
+
+function getLCoptions(){
+    var result = '';
+    for(var i = 0; i < 64; i++){
+        result += `<option value="` + i + `">LC `+i+`</option>`;
+    }
+    return result;
+}
+
+
 function refreshOSDSwitchIndicators() {
     let group = OSD.constants.ALL_DISPLAY_GROUPS.filter(function(e) {
         return e.name == "osdGroupSwitchIndicators";
@@ -3380,7 +3662,7 @@ function refreshOSDSwitchIndicators() {
     }
 
     OSD.GUI.updatePreviews();
-};
+}
 
 function updatePilotAndCraftNames() {
     let foundPilotName = ($('#pilot_name').val() == undefined);
diff --git a/tabs/outputs.js b/tabs/outputs.js
index 6102efe4..d76cac0c 100644
--- a/tabs/outputs.js
+++ b/tabs/outputs.js
@@ -46,7 +46,6 @@ TABS.outputs.initialize = function (callback) {
         mspHelper.loadMotorMixRules,
         mspHelper.loadServoMixRules,
         mspHelper.loadMixerConfig,
-        mspHelper.loadServoMixRules,
         mspHelper.loadServoConfiguration,
         mspHelper.loadOutputMapping,
         mspHelper.loadRcData,
diff --git a/tabs/ports.js b/tabs/ports.js
index 956edcdd..ccaebf48 100644
--- a/tabs/ports.js
+++ b/tabs/ports.js
@@ -4,222 +4,43 @@ const path = require('path');
 
 TABS.ports = {};
 
-var portFunctionRules;
-
 TABS.ports.initialize = function (callback) {
 
-    /*  ** portFunctionRules Notes **
-        Do not set a defaultBaud for functions in the telemetry group. 
-        These should default to AUTO, which is handled in the onchange function. The baud rate is then set by the firmware.
-    */
-    portFunctionRules = [
-         {name: 'MSP',                  groups: ['data', 'msp'], maxPorts: 2},
-         {name: 'GPS',                  groups: ['sensors'], maxPorts: 1, defaultBaud: 115200},
-         {name: 'TELEMETRY_FRSKY',      groups: ['telemetry'], sharableWith: ['msp'], notSharableWith: ['blackbox'], maxPorts: 1},
-         {name: 'TELEMETRY_HOTT',       groups: ['telemetry'], sharableWith: ['msp'], notSharableWith: ['blackbox'], maxPorts: 1},
-         {name: 'TELEMETRY_SMARTPORT',  groups: ['telemetry'], maxPorts: 1},
-         {name: 'TELEMETRY_LTM',        groups: ['telemetry'], sharableWith: ['msp'], notSharableWith: ['blackbox'], maxPorts: 1},
-         {name: 'RX_SERIAL',            groups: ['rx'], maxPorts: 1},
-         {name: 'BLACKBOX',             groups: ['peripherals'], sharableWith: ['msp'], notSharableWith: ['telemetry'], maxPorts: 1}
-    ];
-
-    portFunctionRules.push({
-        name: 'TELEMETRY_MAVLINK',
-        groups: ['telemetry'],
-        sharableWith: ['msp'],
-        notSharableWith: ['blackbox'],
-        maxPorts: 1
-    });
-
-    /*
-     * Support for FlySky iBus Telemetry
-     */
-    portFunctionRules.push({
-        name: 'TELEMETRY_IBUS',
-        groups: ['telemetry'],
-        sharableWith: ['msp'],
-        notSharableWith: ['blackbox'],
-        maxPorts: 1
-    });
-
-    portFunctionRules.push({
-        name: 'RANGEFINDER',
-        groups: ['sensors'],
-        maxPorts: 1 }
-    );
-
-    portFunctionRules.push({
-        name: 'GSM_SMS',
-        groups: ['telemetry'],
-        maxPorts: 1 }
-    );
-
-    // support configure RunCam Device
-    portFunctionRules.push({
-        name: 'RUNCAM_DEVICE_CONTROL',
-        groups: ['peripherals'],
-        maxPorts: 1 }
-    );
-
-    portFunctionRules.push({
-        name: 'TBS_SMARTAUDIO',
-        groups: ['peripherals'],
-        maxPorts: 1 }
-    );
-    portFunctionRules.push({
-        name: 'IRC_TRAMP',
-        groups: ['peripherals'],
-        maxPorts: 1 }
-    );
-    portFunctionRules.push({
-        name: 'VTX_FFPV',
-        groups: ['peripherals'],
-        maxPorts: 1 }
-    );
-
-    portFunctionRules.push({
-        name: 'OPFLOW',
-        groups: ['sensors'],
-        maxPorts: 1 }
-    );
-
-    portFunctionRules.push({
-        name: 'ESC',
-        groups: ['peripherals'],
-        maxPorts: 1,
-        defaultBaud: 115200 }
-    );
-
-    portFunctionRules.push({
-        name: 'FRSKY_OSD',
-        groups: ['peripherals'],
-        maxPorts: 1,
-        defaultBaud: 250000 }
-    );
-
-    portFunctionRules.push({
-        name: 'DJI_FPV',
-        groups: ['peripherals'],
-        maxPorts: 1,
-        defaultBaud: 115200 }
-    );
-
-    portFunctionRules.push({
-        name: 'MSP_DISPLAYPORT',
-        groups: ['peripherals'],
-        maxPorts: 1 }
-    );
-
-    portFunctionRules.push({
-        name: 'SMARTPORT_MASTER',
-        groups: ['peripherals'],
-        maxPorts: 1,
-        defaultBaud: 57600 }
-    );
-    portFunctionRules.push({
-        name: 'SBUS_OUTPUT',
-        groups: ['peripherals'],
-        maxPorts: 1,
-        defaultBaud: 115200 }
-    );
-
-    for (var i = 0; i < portFunctionRules.length; i++) {
-        portFunctionRules[i].displayName = i18n.getMessage('portsFunction_' + portFunctionRules[i].name);
-    }
-
-    var mspBaudRates = [
-        '9600',
-        '19200',
-        '38400',
-        '57600',
-        '115200'
-    ];
-
-    var gpsBaudRates = [
-        '9600',
-        '19200',
-        '38400',
-        '57600',
-        '115200',
-        '230400'
-    ];
-
-    var telemetryBaudRates_post1_6_3 = [
-        'AUTO',
-        '1200',
-        '2400',
-        '4800',
-        '9600',
-        '19200',
-        '38400',
-        '57600',
-        '115200'
-    ];
-
-    var peripheralsBaudRates = [
-        '19200',
-        '38400',
-        '57600',
-        '115200',
-        '230400',
-        '250000'
-    ];
-
     var columns = ['data', 'logging', 'sensors', 'telemetry', 'rx', 'peripherals'];
 
     if (GUI.active_tab != 'ports') {
         GUI.active_tab = 'ports';
     }
 
-    load_configuration_from_fc();
-
-    function load_configuration_from_fc() {
-        MSP.send_message(MSPCodes.MSP2_CF_SERIAL_CONFIG, false, false, on_configuration_loaded_handler);
-
-        function on_configuration_loaded_handler() {
-            GUI.load(path.join(__dirname, "tabs/ports.html"), on_tab_loaded_handler);
-        }
-    }
+    mspHelper.loadSerialPorts(function () {
+        GUI.load("./tabs/ports.html", on_tab_loaded_handler)
+    });
 
     function update_ui() {
 
         $(".tab-ports").addClass("supported");
 
-        var portIdentifierToNameMapping = {
-           0: 'UART1',
-           1: 'UART2',
-           2: 'UART3',
-           3: 'UART4',
-           4: 'UART5',
-           5: 'UART6',
-           6: 'UART7',
-           7: 'UART8',
-           20: 'USB VCP',
-           30: 'SOFTSERIAL1',
-           31: 'SOFTSERIAL2'
-        };
-
         var i,
             $elements;
 
         $elements = $('select.sensors_baudrate');
-        for (let i = 0; i < gpsBaudRates.length; i++) {
-            $elements.append('<option value="' + gpsBaudRates[i] + '">' + gpsBaudRates[i] + '</option>');
+        for (i = 0; i < helper.serialPortHelper.getBauds('SENSOR').length; i++) {
+            $elements.append('<option value="' + helper.serialPortHelper.getBauds('SENSOR')[i] + '">' + helper.serialPortHelper.getBauds('SENSOR')[i] + '</option>');
         }
 
         $elements = $('select.msp_baudrate');
-        for (let i = 0; i < mspBaudRates.length; i++) {
-            $elements.append('<option value="' + mspBaudRates[i] + '">' + mspBaudRates[i] + '</option>');
+        for (i = 0; i < helper.serialPortHelper.getBauds('MSP').length; i++) {
+            $elements.append('<option value="' + helper.serialPortHelper.getBauds('MSP')[i] + '">' + helper.serialPortHelper.getBauds('MSP')[i] + '</option>');
         }
 
         $elements = $('select.telemetry_baudrate');
-        for (let i = 0; i < telemetryBaudRates_post1_6_3.length; i++) {
-            $elements.append('<option value="' + telemetryBaudRates_post1_6_3[i] + '">' + telemetryBaudRates_post1_6_3[i] + '</option>');
+        for (i = 0; i < helper.serialPortHelper.getBauds('TELEMETRY').length; i++) {
+            $elements.append('<option value="' + helper.serialPortHelper.getBauds('TELEMETRY')[i] + '">' + helper.serialPortHelper.getBauds('TELEMETRY')[i] + '</option>');
         }
 
         $elements = $('select.peripherals_baudrate');
-        for (let i = 0; i < peripheralsBaudRates.length; i++) {
-            $elements.append('<option value="' + peripheralsBaudRates[i] + '">' + peripheralsBaudRates[i] + '</option>');
+        for (i = 0; i < helper.serialPortHelper.getBauds('PERIPHERAL').length; i++) {
+            $elements.append('<option value="' + helper.serialPortHelper.getBauds('PERIPHERAL')[i] + '">' + helper.serialPortHelper.getBauds('PERIPHERAL')[i] + '</option>');
         }
 
         var ports_e = $('.tab-ports .ports');
@@ -239,7 +60,7 @@ TABS.ports.initialize = function (callback) {
                 port_configuration_e.find('select.sensors_baudrate').val(serialPort.sensors_baudrate);
                 port_configuration_e.find('select.peripherals_baudrate').val(serialPort.peripherals_baudrate);
 
-                port_configuration_e.find('.identifier').text(portIdentifierToNameMapping[serialPort.identifier]);
+                port_configuration_e.find('.identifier').text(helper.serialPortHelper.getPortName(serialPort.identifier));
                 if (serialPort.identifier >= 30) {
                     port_configuration_e.find('.softSerialWarning').css("display", "inline")
                 } else {
@@ -256,9 +77,9 @@ TABS.ports.initialize = function (callback) {
                     let functions_e_id = "portFunc-" + column + "-" + portIndex;
                     functions_e.attr("id", functions_e_id);
 
-                for (let i = 0; i < portFunctionRules.length; i++) {
-                    var functionRule = portFunctionRules[i];
-                    var functionName = functionRule.name;
+                    for (i = 0; i < helper.serialPortHelper.getRules().length; i++) {
+                        var functionRule = helper.serialPortHelper.getRules()[i];
+                        var functionName = functionRule.name;
 
                         if (functionRule.groups.indexOf(column) == -1) {
                             continue;
@@ -276,17 +97,17 @@ TABS.ports.initialize = function (callback) {
 
                         } else {
 
-                        var selectElementName = 'function-' + column;
-                        var selectElementSelector = 'select[name=' + selectElementName + ']';
-                        select_e = functions_e.find(selectElementSelector);
-
-                        if (select_e.length == 0) {
-                            functions_e.prepend('<span class="function"><select name="' + selectElementName + '" class="' + selectElementName + '" onchange="updateDefaultBaud(\'' + functions_e_id + '\', \'' + column + '\')" /></span>');
+                            var selectElementName = 'function-' + column;
+                            var selectElementSelector = 'select[name=' + selectElementName + ']';
                             select_e = functions_e.find(selectElementSelector);
-                            var disabledText = i18n.getMessage('portsTelemetryDisabled');
-                            select_e.append('<option value="">' + disabledText + '</option>');
-                        }
-                        select_e.append('<option value="' + functionName + '">' + functionRule.displayName + '</option>');
+                            
+                            if (select_e.length == 0) {
+                                functions_e.prepend('<span class="function"><select name="' + selectElementName + '" class="function-select ' + selectElementName + '" onchange="updateDefaultBaud(\'' + functions_e_id + '\', \'' + column + '\')" /></span>');
+                                select_e = functions_e.find(selectElementSelector);
+                                var disabledText = chrome.i18n.getMessage('portsTelemetryDisabled');
+                                select_e.append('<option value="">' + disabledText + '</option>');
+                            }
+                            select_e.append('<option value="' + functionName + '">' + functionRule.displayName + '</option>');
 
                             if (serialPort.functions.indexOf(functionName) >= 0) {
                                 select_e.val(functionName);
@@ -298,6 +119,48 @@ TABS.ports.initialize = function (callback) {
 
             }            
         }
+
+        $('table.ports tbody').on('change', 'select', onSwitchChange);
+        $('table.ports tbody').on('change', 'input', onSwitchChange);
+    }
+
+    function onSwitchChange(e) {
+        let $cT  = $(e.currentTarget);
+
+        let functionName = $cT.val();
+        let rule = helper.serialPortHelper.getRuleByName($cT.val());
+
+        //if type is checkbox then process only if selected
+        if ($cT.is('input[type="checkbox"]') && !$cT.is(':checked')) {
+            return;
+        }
+        //if type select then process only if selected
+        if ($cT.is('select') && !functionName) {
+            return;
+        }
+
+        if (rule && rule.isUnique) {
+            let $selects = $cT.closest('tr').find('.function-select');
+            $selects.each(function (index, element) {
+
+                let $element = $(element);
+
+                if ($element.val() != functionName) {
+                    $element.val('');
+                }
+            });
+
+            let $checkboxes = $cT.closest('tr').find('input[type="checkbox"]');
+            $checkboxes.each(function (index, element) {
+                let $element = $(element);
+
+                if ($element.val() != functionName) {
+                    $element.prop('checked', false);
+                    $element.trigger('change');
+                }
+            });
+        }
+
     }
 
     function on_tab_loaded_handler() {
@@ -356,7 +219,7 @@ TABS.ports.initialize = function (callback) {
             SERIAL_CONFIG.ports.push(serialPort);
         });
 
-        MSP.send_message(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG), false, save_to_eeprom);
+        mspHelper.saveSerialPorts(save_to_eeprom);
 
         function save_to_eeprom() {
             MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, on_saved_handler);
@@ -382,13 +245,10 @@ function updateDefaultBaud(baudSelect, column) {
     let portName = section.find('.function-' + column).val();
     let baudRate = (column === 'telemetry') ? "AUTO" : 115200;;
 
-    for (let i = 0; i < portFunctionRules.length; i++) {
-        if (portFunctionRules[i].name === portName) {
-            if (typeof portFunctionRules[i].defaultBaud !== 'undefined') {
-                baudRate = portFunctionRules[i].defaultBaud;
-            }
-            break;
-        }
+    let rule = helper.serialPortHelper.getRuleByName(portName);
+
+    if (rule && typeof rule.defaultBaud !== 'undefined') {
+        baudRate = rule.defaultBaud;
     }
 
     section.find("." + column + "_baudrate").children('[value=' + baudRate + ']').prop('selected', true);