diff --git a/Android/AndroidManifest.xml b/Android/AndroidManifest.xml
index 740a1631ef..178a567348 100644
--- a/Android/AndroidManifest.xml
+++ b/Android/AndroidManifest.xml
@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
           package="org.droidplanner"
-          android:versionCode="91"
+          android:versionCode="92"
           android:versionName="please run version.sh to get the version name">
 
     <uses-sdk
diff --git a/Android/src/org/droidplanner/android/DroidPlannerApp.java b/Android/src/org/droidplanner/android/DroidPlannerApp.java
index 5d039f6d4c..a2afa979bd 100644
--- a/Android/src/org/droidplanner/android/DroidPlannerApp.java
+++ b/Android/src/org/droidplanner/android/DroidPlannerApp.java
@@ -9,17 +9,16 @@
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.core.MAVLink.MAVLinkStreams;
 import org.droidplanner.core.MAVLink.MavLinkMsgHandler;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneImpl;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.Clock;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.gcs.follow.Follow;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.os.SystemClock;
-import android.widget.Toast;
 
 import com.MAVLink.Messages.MAVLinkMessage;
 
@@ -110,7 +109,7 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 		}
 	}
 
-	public DroidPlannerPrefs getPreferences(){
+	public DroidPlannerPrefs getPreferences() {
 		return prefs;
 	}
 
diff --git a/Android/src/org/droidplanner/android/activities/EditorActivity.java b/Android/src/org/droidplanner/android/activities/EditorActivity.java
index c33a152419..ded2ca2041 100644
--- a/Android/src/org/droidplanner/android/activities/EditorActivity.java
+++ b/Android/src/org/droidplanner/android/activities/EditorActivity.java
@@ -23,9 +23,9 @@
 import org.droidplanner.android.utils.file.IO.MissionReader;
 import org.droidplanner.android.utils.file.IO.MissionWriter;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.os.Bundle;
 import android.support.v4.app.FragmentManager;
diff --git a/Android/src/org/droidplanner/android/activities/FlightActivity.java b/Android/src/org/droidplanner/android/activities/FlightActivity.java
index 65bd416cdd..6c032c2b90 100644
--- a/Android/src/org/droidplanner/android/activities/FlightActivity.java
+++ b/Android/src/org/droidplanner/android/activities/FlightActivity.java
@@ -10,9 +10,9 @@
 import org.droidplanner.android.fragments.mode.FlightModePanel;
 import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Dialog;
 import android.content.DialogInterface;
@@ -31,7 +31,7 @@
 import com.google.android.gms.common.GooglePlayServicesUtil;
 
 //TODO find some newer class to use instead of the SlidingDrawer
-@SuppressWarnings("deprecation") 
+@SuppressWarnings("deprecation")
 public class FlightActivity extends DrawerNavigationUI implements
 		FlightActionsFragment.OnMissionControlInteraction, OnDroneListener {
 
diff --git a/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java b/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
index b87fd309e8..5ea854ed4f 100644
--- a/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
+++ b/Android/src/org/droidplanner/android/activities/helpers/SuperUI.java
@@ -7,10 +7,10 @@
 import org.droidplanner.android.utils.Utils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.android.widgets.actionProviders.InfoBarActionProvider;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.gcs.GCSHeartbeat;
+import org.droidplanner.core.model.Drone;
 
 import android.app.ActionBar;
 import android.content.Context;
diff --git a/Android/src/org/droidplanner/android/communication/connection/MAVLinkConnection.java b/Android/src/org/droidplanner/android/communication/connection/MAVLinkConnection.java
index 3de130b10a..9a4fdaccf7 100644
--- a/Android/src/org/droidplanner/android/communication/connection/MAVLinkConnection.java
+++ b/Android/src/org/droidplanner/android/communication/connection/MAVLinkConnection.java
@@ -167,9 +167,10 @@ private void saveToLog(MAVLinkPacket receivedPacket) throws IOException {
 				Log.e(TAG, "Ignoring Buffer Overflow in saveToLog: " + e);
 			} catch (NullPointerException e) {
 				Log.e(TAG, "Ignoring NPE in " + e);
-				// There was a null pointer error for some users on
-				// logBuffer.clear();
-			}
+			} catch (ArrayIndexOutOfBoundsException e){
+				//TODO fix this exception in a proper manner
+				Log.e(TAG, "Ignoring Buffer overflow " + e);
+			}			
 		}
 	}
 
diff --git a/Android/src/org/droidplanner/android/communication/service/NetworkConnectivityReceiver.java b/Android/src/org/droidplanner/android/communication/service/NetworkConnectivityReceiver.java
index 1599a204be..6355dc5426 100644
--- a/Android/src/org/droidplanner/android/communication/service/NetworkConnectivityReceiver.java
+++ b/Android/src/org/droidplanner/android/communication/service/NetworkConnectivityReceiver.java
@@ -4,40 +4,40 @@
 import android.content.ComponentName;
 import android.content.Context;
 import android.content.Intent;
-import android.content.IntentFilter;
 import android.content.pm.PackageManager;
 import android.net.ConnectivityManager;
 import android.net.NetworkInfo;
 import android.util.Log;
 
 /**
- * When the device's network connectivity is restored, check and see if there's anymore data to
- * upload.
+ * When the device's network connectivity is restored, check and see if there's
+ * anymore data to upload.
  */
 public class NetworkConnectivityReceiver extends BroadcastReceiver {
 
-    private static final String TAG = NetworkConnectivityReceiver.class.getSimpleName();
+	private static final String TAG = NetworkConnectivityReceiver.class.getSimpleName();
 
 	@Override
 	public void onReceive(Context context, Intent intent) {
-        final String action = intent.getAction();
-        if(ConnectivityManager.CONNECTIVITY_ACTION.equals(action)) {
-            final boolean noConnectivity = intent.getBooleanExtra(ConnectivityManager
-                    .EXTRA_NO_CONNECTIVITY, false);
+		final String action = intent.getAction();
+		if (ConnectivityManager.CONNECTIVITY_ACTION.equals(action)) {
+			final boolean noConnectivity = intent.getBooleanExtra(
+					ConnectivityManager.EXTRA_NO_CONNECTIVITY, false);
 
-            if(noConnectivity){
-                //No connectivity. Keep the receiver enabled to listen for possible connectivity
-                // changes in the future.
-                return;
-            }
+			if (noConnectivity) {
+				// No connectivity. Keep the receiver enabled to listen for
+				// possible connectivity
+				// changes in the future.
+				return;
+			}
 
-            //There is connectivity! Restart the droneshare uploader service,
-            // and disable this connectivity receiver.
-            context.startService(UploaderService.createIntent(context));
+			// There is connectivity! Restart the droneshare uploader service,
+			// and disable this connectivity receiver.
+			context.startService(UploaderService.createIntent(context));
 
-            Log.d(TAG, "Disabling connectivity receiver.");
-            enableConnectivityReceiver(context, false);
-        }
+			Log.d(TAG, "Disabling connectivity receiver.");
+			enableConnectivityReceiver(context, false);
+		}
 	}
 
 	public static boolean isNetworkAvailable(Context context) {
@@ -47,19 +47,20 @@ public static boolean isNetworkAvailable(Context context) {
 		return activeNetworkInfo != null && activeNetworkInfo.isConnected();
 	}
 
-    /**
-     * Toggles the connectivity listener component of the app.
-     * @param context application context
-     * @param enable true to enable
-     */
-    public static void enableConnectivityReceiver(Context context, boolean enable) {
-        final ComponentName receiver = new ComponentName(context, NetworkConnectivityReceiver
-                .class);
-        final int newState = enable
-                ? PackageManager.COMPONENT_ENABLED_STATE_ENABLED
-                : PackageManager.COMPONENT_ENABLED_STATE_DISABLED;
+	/**
+	 * Toggles the connectivity listener component of the app.
+	 * 
+	 * @param context
+	 *            application context
+	 * @param enable
+	 *            true to enable
+	 */
+	public static void enableConnectivityReceiver(Context context, boolean enable) {
+		final ComponentName receiver = new ComponentName(context, NetworkConnectivityReceiver.class);
+		final int newState = enable ? PackageManager.COMPONENT_ENABLED_STATE_ENABLED
+				: PackageManager.COMPONENT_ENABLED_STATE_DISABLED;
 
-        context.getPackageManager().setComponentEnabledSetting(receiver, newState,
-                PackageManager.DONT_KILL_APP);
-    }
+		context.getPackageManager().setComponentEnabledSetting(receiver, newState,
+				PackageManager.DONT_KILL_APP);
+	}
 }
\ No newline at end of file
diff --git a/Android/src/org/droidplanner/android/communication/service/UploaderService.java b/Android/src/org/droidplanner/android/communication/service/UploaderService.java
index 92e25d11f2..3280339baf 100644
--- a/Android/src/org/droidplanner/android/communication/service/UploaderService.java
+++ b/Android/src/org/droidplanner/android/communication/service/UploaderService.java
@@ -31,15 +31,15 @@ public class UploaderService extends IntentService {
 	private static final String TAG = UploaderService.class.getSimpleName();
 	static final String apiKey = "2d38fb2e.72afe7b3761d5ee6346c178fdd6b680f";
 
-    private static final int ONGOING_UPLOAD_NOTIFICATION_ID = 123;
-    private static final int UPLOAD_STATUS_NOTIFICATION_ID = 124;
+	private static final int ONGOING_UPLOAD_NOTIFICATION_ID = 123;
+	private static final int UPLOAD_STATUS_NOTIFICATION_ID = 124;
 
 	private DroidPlannerPrefs prefs;
 
 	private final IUploadListener callback = new IUploadListener() {
 
-        private int numUploaded = 0;
-        private Notification failedUploadNotification;
+		private int numUploaded = 0;
+		private Notification failedUploadNotification;
 
 		@Override
 		public void onUploadStart(File f) {
@@ -54,27 +54,26 @@ public void onUploadSuccess(File f, String viewURL) {
 			} else {
 				Log.i(TAG, "Upload success: " + f + " url=" + viewURL);
 
-                // Attach the view URL
-                final PendingIntent pIntent = PendingIntent.getActivity(UploaderService.this, 0,
-                        new Intent(Intent.ACTION_VIEW, Uri.parse(viewURL)),
-                        PendingIntent.FLAG_UPDATE_CURRENT);
+				// Attach the view URL
+				final PendingIntent pIntent = PendingIntent.getActivity(UploaderService.this, 0,
+						new Intent(Intent.ACTION_VIEW, Uri.parse(viewURL)),
+						PendingIntent.FLAG_UPDATE_CURRENT);
 
-                final Intent sendIntent = new Intent(Intent.ACTION_SEND)
-                        .putExtra(Intent.EXTRA_TEXT, viewURL)
-                        .setType("text/plain");
+				final Intent sendIntent = new Intent(Intent.ACTION_SEND).putExtra(
+						Intent.EXTRA_TEXT, viewURL).setType("text/plain");
 
-                final PendingIntent sendPIntent = PendingIntent.getActivity(UploaderService.this, 0,
-                        sendIntent, PendingIntent.FLAG_UPDATE_CURRENT);
+				final PendingIntent sendPIntent = PendingIntent.getActivity(UploaderService.this,
+						0, sendIntent, PendingIntent.FLAG_UPDATE_CURRENT);
 
 				numUploaded++;
 
-                final NotificationCompat.Builder notifBuilder = generateNotificationBuilder()
-                        .setContentText(getString(R.string.uploader_success_message))
-                        .setContentIntent(pIntent)
-                        // Attach a web link
-                        .addAction(android.R.drawable.ic_menu_set_as, "Web", pIntent)
-                        // Add a share link
-                        .addAction(android.R.drawable.ic_menu_share, "Share", sendPIntent);
+				final NotificationCompat.Builder notifBuilder = generateNotificationBuilder()
+						.setContentText(getString(R.string.uploader_success_message))
+						.setContentIntent(pIntent)
+						// Attach a web link
+						.addAction(android.R.drawable.ic_menu_set_as, "Web", pIntent)
+						// Add a share link
+						.addAction(android.R.drawable.ic_menu_share, "Share", sendPIntent);
 
 				if (numUploaded > 1)
 					notifBuilder.setNumber(numUploaded);
@@ -91,21 +90,20 @@ public void onUploadFailure(File f, Exception ex) {
 			if (ex instanceof HttpResponseException)
 				msg = ex.getMessage();
 
-            if(failedUploadNotification == null) {
-                failedUploadNotification = generateNotificationBuilder()
-                        .setContentText(msg)
-                        .setSubText(getString(R.string.uploader_fail_retry_message))
-                        .build();
-            }
-            updateUploadStatusNotification(failedUploadNotification);
-
-            if(!NetworkConnectivityReceiver.isNetworkAvailable(getApplicationContext())){
-                //Activating the network connectivity receiver so we can be restarted when
-                // connectivity is restored.
-                Log.d(TAG, "Activating connectivity receiver");
-                NetworkConnectivityReceiver.enableConnectivityReceiver(getApplicationContext(),
-                        true);
-            }
+			if (failedUploadNotification == null) {
+				failedUploadNotification = generateNotificationBuilder().setContentText(msg)
+						.setSubText(getString(R.string.uploader_fail_retry_message)).build();
+			}
+			updateUploadStatusNotification(failedUploadNotification);
+
+			if (!NetworkConnectivityReceiver.isNetworkAvailable(getApplicationContext())) {
+				// Activating the network connectivity receiver so we can be
+				// restarted when
+				// connectivity is restored.
+				Log.d(TAG, "Activating connectivity receiver");
+				NetworkConnectivityReceiver.enableConnectivityReceiver(getApplicationContext(),
+						true);
+			}
 		}
 	};
 
@@ -119,45 +117,45 @@ public UploaderService() {
 	public void onCreate() {
 		super.onCreate();
 
-        prefs = new DroidPlannerPrefs(this);
-        notifyManager = NotificationManagerCompat.from(getApplicationContext());
+		prefs = new DroidPlannerPrefs(this);
+		notifyManager = NotificationManagerCompat.from(getApplicationContext());
 	}
 
 	@Override
 	protected void onHandleIntent(Intent intent) {
-        //Check if droneshare is enabled, and the login credentials set before trying to do
-        // anything.
-        if(prefs.getDroneshareEnabled() && areLoginCredentialsSet()) {
-
-            // Any time we receive an intent - rescan the directory
-            if (NetworkConnectivityReceiver.isNetworkAvailable(this)) {
-                Log.i(TAG, "Scanning for new uploads");
-                doUploads();
-            }
-            else {
-                Log.v(TAG, "Not scanning - network offline");
-
-                //Activating the network connectivity receiver so we can be restarted when
-                // connectivity is restored.
-                Log.d(TAG, "Activating connectivity receiver");
-                NetworkConnectivityReceiver.enableConnectivityReceiver(getApplicationContext(),
-                        true);
-            }
-        }
+		// Check if droneshare is enabled, and the login credentials set before
+		// trying to do
+		// anything.
+		if (prefs.getDroneshareEnabled() && areLoginCredentialsSet()) {
+
+			// Any time we receive an intent - rescan the directory
+			if (NetworkConnectivityReceiver.isNetworkAvailable(this)) {
+				Log.i(TAG, "Scanning for new uploads");
+				doUploads();
+			} else {
+				Log.v(TAG, "Not scanning - network offline");
+
+				// Activating the network connectivity receiver so we can be
+				// restarted when
+				// connectivity is restored.
+				Log.d(TAG, "Activating connectivity receiver");
+				NetworkConnectivityReceiver.enableConnectivityReceiver(getApplicationContext(),
+						true);
+			}
+		}
 	}
 
-    private NotificationCompat.Builder generateNotificationBuilder(){
-        return new NotificationCompat.Builder(getApplicationContext())
-                .setContentTitle(getString(R.string.uploader_notification_title))
-                .setSmallIcon(R.drawable.ic_launcher)
-                        // .setProgress(fileSize, 0, false)
-                .setAutoCancel(true)
-                .setPriority(NotificationCompat.PRIORITY_HIGH);
-    }
+	private NotificationCompat.Builder generateNotificationBuilder() {
+		return new NotificationCompat.Builder(getApplicationContext())
+				.setContentTitle(getString(R.string.uploader_notification_title))
+				.setSmallIcon(R.drawable.ic_launcher)
+				// .setProgress(fileSize, 0, false)
+				.setAutoCancel(true).setPriority(NotificationCompat.PRIORITY_HIGH);
+	}
 
-    private boolean areLoginCredentialsSet(){
-        return !prefs.getDroneshareLogin().isEmpty() && !prefs.getDronesharePassword().isEmpty();
-    }
+	private boolean areLoginCredentialsSet() {
+		return !prefs.getDroneshareLogin().isEmpty() && !prefs.getDronesharePassword().isEmpty();
+	}
 
 	private void doUploads() {
 		File srcDir = DirectoryPath.getTLogPath();
@@ -167,26 +165,25 @@ private void doUploads() {
 		String password = prefs.getDronesharePassword();
 
 		if (!login.isEmpty() && !password.isEmpty()) {
-			DirectoryUploader up = new DirectoryUploader(srcDir, destDir,
-					callback, login, password, prefs.getVehicleId(), apiKey, "DEFAULT");
+			DirectoryUploader up = new DirectoryUploader(srcDir, destDir, callback, login,
+					password, prefs.getVehicleId(), apiKey, "DEFAULT");
 
-            final Notification notification = generateNotificationBuilder()
-                    .setContentText("Uploading log file")
-                    .build();
-            startForeground(ONGOING_UPLOAD_NOTIFICATION_ID, notification);
+			final Notification notification = generateNotificationBuilder().setContentText(
+					"Uploading log file").build();
+			startForeground(ONGOING_UPLOAD_NOTIFICATION_ID, notification);
 			up.run();
-            stopForeground(true);
+			stopForeground(true);
 		}
 	}
 
-    private void updateUploadStatusNotification(Notification notification) {
-        notifyManager.notify(UPLOAD_STATUS_NOTIFICATION_ID, notification);
-    }
+	private void updateUploadStatusNotification(Notification notification) {
+		notifyManager.notify(UPLOAD_STATUS_NOTIFICATION_ID, notification);
+	}
 
-    /**
-     * Create an Intent that will start this service
-     */
-    static public Intent createIntent(Context context) {
+	/**
+	 * Create an Intent that will start this service
+	 */
+	static public Intent createIntent(Context context) {
 		return new Intent(context, UploaderService.class);
 	}
 }
diff --git a/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java b/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
index 01dd003f8b..dd2c2fa56f 100644
--- a/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
+++ b/Android/src/org/droidplanner/android/dialogs/DroneshareDialog.java
@@ -38,12 +38,9 @@ public Dialog onCreateDialog(Bundle savedInstanceState) {
 		final EditText username = (EditText) root.findViewById(R.id.username);
 		final EditText password = (EditText) root.findViewById(R.id.password);
 		final EditText email = (EditText) root.findViewById(R.id.email);
-		final RadioButton createNew = (RadioButton) root
-				.findViewById(R.id.radioCreateNew);
-		final RadioButton loginExisting = (RadioButton) root
-				.findViewById(R.id.radioLoginExisting);
-		final RadioButton noDroneshare = (RadioButton) root
-				.findViewById(R.id.radioNoDroneshare);
+		final RadioButton createNew = (RadioButton) root.findViewById(R.id.radioCreateNew);
+		final RadioButton loginExisting = (RadioButton) root.findViewById(R.id.radioLoginExisting);
+		final RadioButton noDroneshare = (RadioButton) root.findViewById(R.id.radioNoDroneshare);
 
 		username.setText(prefs.getDroneshareLogin());
 		password.setText(prefs.getDronesharePassword());
@@ -51,8 +48,7 @@ public Dialog onCreateDialog(Bundle savedInstanceState) {
 		username.requestFocus();
 
 		if (prefs.getDroneshareEnabled()) {
-			if (!prefs.getDroneshareLogin().isEmpty()
-					&& !prefs.getDronesharePassword().isEmpty())
+			if (!prefs.getDroneshareLogin().isEmpty() && !prefs.getDronesharePassword().isEmpty())
 				loginExisting.setSelected(true);
 			else
 				createNew.setSelected(true);
@@ -69,10 +65,8 @@ public void onClick(DialogInterface dialog, int id) {
 							prefs.setDroneshareEnabled(false);
 						else {
 							prefs.setDroneshareEnabled(true);
-							prefs.setDroneshareLogin(username.getText()
-									.toString());
-							prefs.setDronesharePassword(password.getText()
-									.toString());
+							prefs.setDroneshareLogin(username.getText().toString());
+							prefs.setDronesharePassword(password.getText().toString());
 							prefs.setDroneshareEmail(email.getText().toString());
 						}
 					}
@@ -88,8 +82,7 @@ static public void perhapsShow(FragmentActivity parent) {
 							// the app some...
 		if (prefs.getNumberOfRuns() > numRuns
 				&& prefs.getDroneshareEnabled()
-				&& (prefs.getDroneshareLogin().isEmpty() || prefs
-						.getDronesharePassword().isEmpty())) {
+				&& (prefs.getDroneshareLogin().isEmpty() || prefs.getDronesharePassword().isEmpty())) {
 			// Create an instance of the dialog fragment and show it
 			DialogFragment dialog = new DroneshareDialog();
 			dialog.show(parent.getSupportFragmentManager(), "DroneshareDialog");
diff --git a/Android/src/org/droidplanner/android/fragments/ChecklistFragment.java b/Android/src/org/droidplanner/android/fragments/ChecklistFragment.java
index 9963dd9a45..0271826140 100644
--- a/Android/src/org/droidplanner/android/fragments/ChecklistFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/ChecklistFragment.java
@@ -12,9 +12,9 @@
 import org.droidplanner.android.widgets.checklist.CheckListSysLink;
 import org.droidplanner.android.widgets.checklist.CheckListXmlParser;
 import org.droidplanner.android.widgets.checklist.xml.ListXmlParser.OnXmlParserError;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.content.Context;
diff --git a/Android/src/org/droidplanner/android/fragments/DroneMap.java b/Android/src/org/droidplanner/android/fragments/DroneMap.java
index bb294cf3ae..17d40fefdb 100644
--- a/Android/src/org/droidplanner/android/fragments/DroneMap.java
+++ b/Android/src/org/droidplanner/android/fragments/DroneMap.java
@@ -12,10 +12,10 @@
 import org.droidplanner.android.proxy.mission.MissionProxy;
 import org.droidplanner.android.utils.Utils;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.content.Context;
diff --git a/Android/src/org/droidplanner/android/fragments/EditorListFragment.java b/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
index 8c5e30be71..cb382ee0b7 100644
--- a/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/EditorListFragment.java
@@ -14,9 +14,9 @@
 import org.droidplanner.android.proxy.mission.MissionSelection;
 import org.droidplanner.android.proxy.mission.item.MissionItemProxy;
 import org.droidplanner.android.widgets.adapterViews.MissionItemProxyView;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.os.Bundle;
diff --git a/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java b/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
index 2f18bca9d9..ae1840f1b0 100644
--- a/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/EditorToolsFragment.java
@@ -67,7 +67,6 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 				.findViewById(R.id.editor_tools_poly);
 		final RadioButtonCenter buttonTrash = (RadioButtonCenter) view
 				.findViewById(R.id.editor_tools_trash);
-		
 
 		for (View vv : new View[] { buttonDraw, buttonMarker, buttonPoly, buttonTrash }) {
 			vv.setOnClickListener(this);
@@ -93,8 +92,8 @@ public void onAttach(Activity activity) {
 			throw new IllegalStateException("Parent activity must be an instance of "
 					+ OnEditorToolSelected.class.getName());
 		}
-		
-		mMissionProxy = ((DroidPlannerApp)activity.getApplication()).missionProxy;
+
+		mMissionProxy = ((DroidPlannerApp) activity.getApplication()).missionProxy;
 
 		listener = (OnEditorToolSelected) activity;
 	}
@@ -167,8 +166,7 @@ private void setTool(EditorTools tool, boolean notifyListeners) {
 			case RTL:
 				tool = EditorTools.NONE;
 				mEditorRadioGroup.clearCheck();
-				Toast.makeText(getActivity(),
-						getString(R.string.editor_err_land_rtl_added),
+				Toast.makeText(getActivity(), getString(R.string.editor_err_land_rtl_added),
 						Toast.LENGTH_SHORT).show();
 				return;
 			default:
diff --git a/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java b/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
index d99a0d1bbc..b378df949f 100644
--- a/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
@@ -3,8 +3,8 @@
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.utils.analytics.GAUtils;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.gcs.follow.Follow;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -115,33 +115,33 @@ public void onClick(View v) {
 
 		case R.id.mc_follow:
 			final int result = followMe.toggleFollowMeState();
-            String eventLabel = null;
-            switch(result){
-                case Follow.FOLLOW_START:
-                    eventLabel = "FollowMe enabled";
-                    break;
-
-                case Follow.FOLLOW_END:
-                    eventLabel = "FollowMe disabled";
-                    break;
-
-                case Follow.FOLLOW_INVALID_STATE:
-                    eventLabel = "FollowMe error: invalid state";
-                    break;
-
-                case Follow.FOLLOW_DRONE_DISCONNECTED:
-                    eventLabel = "FollowMe error: drone not connected";
-                    break;
-
-                case Follow.FOLLOW_DRONE_NOT_ARMED:
-                    eventLabel = "FollowMe error: drone not armed";
-                    break;
-            }
-
-            if(eventLabel != null){
-                eventBuilder.setAction("FollowMe selected").setLabel(eventLabel);
-                Toast.makeText(getActivity(), eventLabel, Toast.LENGTH_SHORT).show();
-            }
+			String eventLabel = null;
+			switch (result) {
+			case Follow.FOLLOW_START:
+				eventLabel = "FollowMe enabled";
+				break;
+
+			case Follow.FOLLOW_END:
+				eventLabel = "FollowMe disabled";
+				break;
+
+			case Follow.FOLLOW_INVALID_STATE:
+				eventLabel = "FollowMe error: invalid state";
+				break;
+
+			case Follow.FOLLOW_DRONE_DISCONNECTED:
+				eventLabel = "FollowMe error: drone not connected";
+				break;
+
+			case Follow.FOLLOW_DRONE_NOT_ARMED:
+				eventLabel = "FollowMe error: drone not armed";
+				break;
+			}
+
+			if (eventLabel != null) {
+				eventBuilder.setAction("FollowMe selected").setLabel(eventLabel);
+				Toast.makeText(getActivity(), eventLabel, Toast.LENGTH_SHORT).show();
+			}
 			break;
 
 		default:
diff --git a/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java b/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
index 520c50a61f..2167523ef4 100644
--- a/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/FlightMapFragment.java
@@ -7,10 +7,10 @@
 import org.droidplanner.android.utils.DroneHelper;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.content.SharedPreferences;
 import android.os.Bundle;
diff --git a/Android/src/org/droidplanner/android/fragments/ParamsFragment.java b/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
index 2a7d8cfa21..c9f5a1b512 100644
--- a/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/ParamsFragment.java
@@ -13,10 +13,10 @@
 import org.droidplanner.android.utils.file.IO.ParameterWriter;
 import org.droidplanner.android.widgets.adapterViews.ParamsAdapter;
 import org.droidplanner.android.widgets.adapterViews.ParamsAdapterItem;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.parameters.Parameter;
 import org.droidplanner.core.parameters.ParameterMetadata;
 
diff --git a/Android/src/org/droidplanner/android/fragments/SettingsFragment.java b/Android/src/org/droidplanner/android/fragments/SettingsFragment.java
index 8e184f288c..3a86583817 100644
--- a/Android/src/org/droidplanner/android/fragments/SettingsFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/SettingsFragment.java
@@ -14,12 +14,11 @@
 import org.droidplanner.android.activities.helpers.MapPreferencesActivity;
 import org.droidplanner.android.communication.service.UploaderService;
 import org.droidplanner.android.maps.providers.DPMapProvider;
-import org.droidplanner.android.notifications.TTSNotificationProvider;
 import org.droidplanner.android.utils.file.DirectoryPath;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.variables.HeartBeat;
+import org.droidplanner.core.model.Drone;
 
 import android.content.ActivityNotFoundException;
 import android.content.Context;
@@ -36,7 +35,6 @@
 import android.preference.Preference.OnPreferenceClickListener;
 import android.preference.PreferenceCategory;
 import android.preference.PreferenceManager;
-import android.preference.PreferenceScreen;
 import android.util.Log;
 import android.widget.Toast;
 
@@ -135,7 +133,8 @@ public boolean onPreferenceChange(Preference preference, Object newValue) {
 			updateMapSettingsPreference(defaultProviderName);
 		}
 
-		// update the summary for the preferences in the mDefaultSummaryPrefs hash table.
+		// update the summary for the preferences in the mDefaultSummaryPrefs
+		// hash table.
 		for (String prefKey : mDefaultSummaryPrefs) {
 			final Preference pref = findPreference(prefKey);
 			if (pref != null) {
@@ -195,115 +194,112 @@ public boolean onPreferenceChange(Preference preference, Object newValue) {
 
 		updateMavlinkVersionPreference(null);
 		setupPebblePreference();
-        setDronesharePreferencesListeners();
+		setDronesharePreferencesListeners();
+	}
+
+	/**
+	 * When a droneshare preference is updated, the listener will kick start the
+	 * droneshare uploader service to see if any action is needed.
+	 */
+	private void setDronesharePreferencesListeners() {
+		final Context context = getActivity().getApplicationContext();
+
+		CheckBoxPreference dshareTogglePref = (CheckBoxPreference) findPreference(getString(R.string.pref_dshare_enabled_key));
+		if (dshareTogglePref != null) {
+			dshareTogglePref
+					.setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+						@Override
+						public boolean onPreferenceChange(Preference preference, Object newValue) {
+							if ((Boolean) newValue) {
+								context.startService(UploaderService.createIntent(context));
+							}
+							return true;
+						}
+					});
+		}
+
+		EditTextPreference dshareUsernamePref = (EditTextPreference) findPreference(getString(R.string.pref_dshare_username_key));
+		if (dshareUsernamePref != null) {
+			dshareUsernamePref
+					.setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+						@Override
+						public boolean onPreferenceChange(Preference preference, Object newValue) {
+							if (!newValue.toString().isEmpty()) {
+								context.startService(UploaderService.createIntent(context));
+							}
+							return true;
+						}
+					});
+		}
+
+		EditTextPreference dsharePasswordPref = (EditTextPreference) findPreference(getString(R.string.pref_dshare_password_key));
+		if (dsharePasswordPref != null) {
+			dsharePasswordPref
+					.setOnPreferenceChangeListener(new Preference.OnPreferenceChangeListener() {
+						@Override
+						public boolean onPreferenceChange(Preference preference, Object newValue) {
+							if (!newValue.toString().isEmpty()) {
+								context.startService(UploaderService.createIntent(context));
+							}
+							return true;
+						}
+					});
+		}
 	}
 
-    /**
-     * When a droneshare preference is updated, the listener will kick start the droneshare
-     * uploader service to see if any action is needed.
-     */
-    private void setDronesharePreferencesListeners() {
-        final Context context = getActivity().getApplicationContext();
-
-        CheckBoxPreference dshareTogglePref = (CheckBoxPreference) findPreference(getString(R
-                .string.pref_dshare_enabled_key));
-        if(dshareTogglePref != null){
-            dshareTogglePref.setOnPreferenceChangeListener(new Preference
-                    .OnPreferenceChangeListener() {
-                @Override
-                public boolean onPreferenceChange(Preference preference, Object newValue) {
-                    if((Boolean) newValue){
-                        context.startService(UploaderService.createIntent(context));
-                    }
-                    return true;
-                }
-            });
-        }
-
-        EditTextPreference dshareUsernamePref = (EditTextPreference) findPreference(getString(R
-                .string.pref_dshare_username_key));
-        if(dshareUsernamePref != null){
-            dshareUsernamePref.setOnPreferenceChangeListener(new Preference
-                    .OnPreferenceChangeListener() {
-                @Override
-                public boolean onPreferenceChange(Preference preference, Object newValue) {
-                    if(!newValue.toString().isEmpty()){
-                        context.startService(UploaderService.createIntent(context));
-                    }
-                    return true;
-                }
-            });
-        }
-
-        EditTextPreference dsharePasswordPref = (EditTextPreference) findPreference(getString(R
-                .string.pref_dshare_password_key));
-        if(dsharePasswordPref != null){
-            dsharePasswordPref.setOnPreferenceChangeListener(new Preference
-                    .OnPreferenceChangeListener() {
-                @Override
-                public boolean onPreferenceChange(Preference preference, Object newValue) {
-                    if(!newValue.toString().isEmpty()){
-                        context.startService(UploaderService.createIntent(context));
-                    }
-                    return true;
-                }
-            });
-        }
-    }
-
-    /**
-     * Pebble Install Button. When clicked, will check for pebble if pebble
-     * is not present, error displayed. If it is, the pbw (pebble bundle)
-     * will be copied from assets to external memory (makes sure to
-     * overwrite), and sends pbw intent for pebble app to install bundle.
-     */
-    private void setupPebblePreference(){
-        final Context context = getActivity().getApplicationContext();
-
-        Preference pebblePreference = findPreference(getString(R.string.pref_pebble_install_key));
-        pebblePreference.setOnPreferenceClickListener(new OnPreferenceClickListener() {
-            @Override
-            public boolean onPreferenceClick(Preference pref) {
-                if (PebbleKit.isWatchConnected(context)) {
-                    InputStream in = null;
-                    OutputStream out = null;
-                    try {
-                        in = context.getAssets().open("Pebble/DroidPlanner.pbw");
-                        File outFile = new File(DirectoryPath.getDroidPlannerPath(),
-                                "DroidPlanner.pbw");
-                        out = new FileOutputStream(outFile);
-                        byte[] buffer = new byte[1024];
-                        int read;
-                        while ((read = in.read(buffer)) != -1) {
-                            out.write(buffer, 0, read);
-                        }
-                        in.close();
-                        in = null;
-                        out.flush();
-                        out.close();
-                        out = null;
-
-                        Intent intent = new Intent(Intent.ACTION_VIEW);
-                        intent.setData(Uri.fromFile(outFile));
-                        intent.setClassName("com.getpebble.android",
-                                "com.getpebble.android.ui.UpdateActivity");
-                        startActivity(intent);
-                    } catch (IOException e) {
-                        Log.e("pebble", "Failed to copy pbw asset", e);
-                        Toast.makeText(context, "Failed to copy pbw asset", Toast.LENGTH_SHORT)
-                                .show();
-                    } catch (ActivityNotFoundException e) {
-                        Log.e("pebble", "Pebble App Not installed", e);
-                        Toast.makeText(context, "Pebble App Not installed", Toast.LENGTH_SHORT)
-                                .show();
-                    }
-                } else {
-                    Toast.makeText(context, "No Pebble Connected", Toast.LENGTH_SHORT).show();
-                }
-                return true;
-            }
-        });
-    }
+	/**
+	 * Pebble Install Button. When clicked, will check for pebble if pebble is
+	 * not present, error displayed. If it is, the pbw (pebble bundle) will be
+	 * copied from assets to external memory (makes sure to overwrite), and
+	 * sends pbw intent for pebble app to install bundle.
+	 */
+	private void setupPebblePreference() {
+		final Context context = getActivity().getApplicationContext();
+
+		Preference pebblePreference = findPreference(getString(R.string.pref_pebble_install_key));
+		pebblePreference.setOnPreferenceClickListener(new OnPreferenceClickListener() {
+			@Override
+			public boolean onPreferenceClick(Preference pref) {
+				if (PebbleKit.isWatchConnected(context)) {
+					InputStream in = null;
+					OutputStream out = null;
+					try {
+						in = context.getAssets().open("Pebble/DroidPlanner.pbw");
+						File outFile = new File(DirectoryPath.getDroidPlannerPath(),
+								"DroidPlanner.pbw");
+						out = new FileOutputStream(outFile);
+						byte[] buffer = new byte[1024];
+						int read;
+						while ((read = in.read(buffer)) != -1) {
+							out.write(buffer, 0, read);
+						}
+						in.close();
+						in = null;
+						out.flush();
+						out.close();
+						out = null;
+
+						Intent intent = new Intent(Intent.ACTION_VIEW);
+						intent.setData(Uri.fromFile(outFile));
+						intent.setClassName("com.getpebble.android",
+								"com.getpebble.android.ui.UpdateActivity");
+						startActivity(intent);
+					} catch (IOException e) {
+						Log.e("pebble", "Failed to copy pbw asset", e);
+						Toast.makeText(context, "Failed to copy pbw asset", Toast.LENGTH_SHORT)
+								.show();
+					} catch (ActivityNotFoundException e) {
+						Log.e("pebble", "Pebble App Not installed", e);
+						Toast.makeText(context, "Pebble App Not installed", Toast.LENGTH_SHORT)
+								.show();
+					}
+				} else {
+					Toast.makeText(context, "No Pebble Connected", Toast.LENGTH_SHORT).show();
+				}
+				return true;
+			}
+		});
+	}
 
 	private void initSummaryPerPrefs() {
 		mDefaultSummaryPrefs.clear();
@@ -384,25 +380,34 @@ public void onSharedPreferenceChanged(SharedPreferences sharedPreferences, Strin
 			}
 		}
 
-		if(key.equals(getString(R.string.pref_tts_periodic_period_key))){
+		if (key.equals(getString(R.string.pref_tts_periodic_period_key))) {
 			setupPeriodicControls();
-			int val = Integer.parseInt(sharedPreferences.getString(getString(R.string.pref_tts_periodic_period_key), null));
-			if(droidPlannerApp.getDrone().getMavClient().isConnected()) {
-				droidPlannerApp.mNotificationHandler.getTtsNotification().setupPeriodicSpeechOutput(val, droidPlannerApp.getDrone());
+			int val = Integer.parseInt(sharedPreferences.getString(
+					getString(R.string.pref_tts_periodic_period_key), null));
+			if (droidPlannerApp.getDrone().getMavClient().isConnected()) {
+				droidPlannerApp.mNotificationHandler.getTtsNotification()
+						.setupPeriodicSpeechOutput(val, droidPlannerApp.getDrone());
 			}
 		}
 	}
 
-	private void setupPeriodicControls(){
-		final PreferenceCategory periodicSpeechPrefs = (PreferenceCategory) findPreference(getActivity().getApplicationContext().getString(R.string.pref_tts_periodic_key));
+	private void setupPeriodicControls() {
+		final PreferenceCategory periodicSpeechPrefs = (PreferenceCategory) findPreference(getActivity()
+				.getApplicationContext().getString(R.string.pref_tts_periodic_key));
 		ListPreference periodic = ((ListPreference) periodicSpeechPrefs.getPreference(0));
-		int val = Integer.parseInt(periodic.getValue());
-		if(val != 0) {
+		int val;
+		try {
+			val = Integer.parseInt(periodic.getValue());
+		} catch (NumberFormatException e) {
+			val = 0;
+		}
+
+		if (val != 0) {
 			periodic.setSummary("Status every " + val + " seconds");
-		}else{
+		} else {
 			periodic.setSummary("Status disabled");
 		}
-		for(int i = 1; i < periodicSpeechPrefs.getPreferenceCount(); i ++) {
+		for (int i = 1; i < periodicSpeechPrefs.getPreferenceCount(); i++) {
 			periodicSpeechPrefs.getPreference(i).setEnabled(val != 0);
 		}
 	}
diff --git a/Android/src/org/droidplanner/android/fragments/TelemetryFragment.java b/Android/src/org/droidplanner/android/fragments/TelemetryFragment.java
index b8b387e806..69f20b80b7 100644
--- a/Android/src/org/droidplanner/android/fragments/TelemetryFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/TelemetryFragment.java
@@ -3,9 +3,9 @@
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.widgets.AttitudeIndicator;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.content.SharedPreferences;
 import android.os.Bundle;
@@ -100,9 +100,12 @@ public void onOrientationUpdate(Drone drone) {
 	}
 
 	public void onSpeedAltitudeAndClimbRateUpdate(Drone drone) {
-		airSpeed.setText(String.format("%3.1f", drone.getSpeed().getAirSpeed().valueInMetersPerSecond()));
-		groundSpeed.setText(String.format("%3.1f", drone.getSpeed().getGroundSpeed().valueInMetersPerSecond()));
-		climbRate.setText(String.format("%3.1f", drone.getSpeed().getVerticalSpeed().valueInMetersPerSecond()));
+		airSpeed.setText(String.format("%3.1f", drone.getSpeed().getAirSpeed()
+				.valueInMetersPerSecond()));
+		groundSpeed.setText(String.format("%3.1f", drone.getSpeed().getGroundSpeed()
+				.valueInMetersPerSecond()));
+		climbRate.setText(String.format("%3.1f", drone.getSpeed().getVerticalSpeed()
+				.valueInMetersPerSecond()));
 		double alt = drone.getAltitude().getAltitude();
 		double targetAlt = drone.getAltitude().getTargetAltitude();
 		altitude.setText(String.format("%3.1f", alt));
diff --git a/Android/src/org/droidplanner/android/fragments/TuningFragment.java b/Android/src/org/droidplanner/android/fragments/TuningFragment.java
index bb27febb52..6169cc5866 100644
--- a/Android/src/org/droidplanner/android/fragments/TuningFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/TuningFragment.java
@@ -5,9 +5,9 @@
 import org.droidplanner.android.widgets.graph.Chart;
 import org.droidplanner.android.widgets.graph.ChartSeries;
 import org.droidplanner.core.MAVLink.MavLinkStreamRates;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.graphics.Color;
 import android.os.Bundle;
@@ -77,7 +77,8 @@ public void onStop() {
 
 	private void setupDataStreamingForTuning() {
 		// Sets the nav messages at 50Hz and other messages at a low rate 1Hz
-		MavLinkStreamRates.setupStreamRates(drone.getMavClient(), 1, 0, 1, 1, 1, 0, 0, NAV_MSG_RATE);
+		MavLinkStreamRates
+				.setupStreamRates(drone.getMavClient(), 1, 0, 1, 1, 1, 0, 0, NAV_MSG_RATE);
 	}
 
 	private void setupLocalViews(View view) {
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java b/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java
index 341931cc91..14f65b7891 100644
--- a/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java
+++ b/Android/src/org/droidplanner/android/fragments/calibration/flightmodes/FragmentSetupFM.java
@@ -6,8 +6,8 @@
 import org.droidplanner.android.fragments.helpers.SuperSetupMainPanel;
 import org.droidplanner.android.helpers.calibration.CalParameters;
 import org.droidplanner.android.helpers.calibration.FM_CalParameters;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
+import org.droidplanner.core.model.Drone;
 
 import android.view.View;
 import android.widget.ArrayAdapter;
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java b/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
index aa755e5ec0..17177fb3a2 100644
--- a/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
+++ b/Android/src/org/droidplanner/android/fragments/calibration/imu/FragmentSetupIMU.java
@@ -4,10 +4,10 @@
 import org.droidplanner.android.fragments.SetupSensorFragment;
 import org.droidplanner.android.fragments.calibration.SetupMainPanel;
 import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.drone.variables.Calibration;
+import org.droidplanner.core.model.Drone;
 
 import android.graphics.drawable.Drawable;
 import android.os.Handler;
diff --git a/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java b/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java
index b457232f00..5ca0b80c4d 100644
--- a/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java
+++ b/Android/src/org/droidplanner/android/fragments/calibration/rc/FragmentSetupRC.java
@@ -12,8 +12,8 @@
 import org.droidplanner.android.helpers.calibration.RC_CalParameters;
 import org.droidplanner.android.widgets.FillBar.FillBar;
 import org.droidplanner.android.widgets.RcStick.RcStick;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
+import org.droidplanner.core.model.Drone;
 
 import android.os.Bundle;
 import android.view.View;
diff --git a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java
index 417993906b..83b8ef2781 100644
--- a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupFragment.java
@@ -5,9 +5,9 @@
 import org.droidplanner.android.activities.ConfigurationActivity;
 import org.droidplanner.android.fragments.calibration.SetupMainPanel;
 import org.droidplanner.android.fragments.calibration.SetupSidePanel;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.os.Bundle;
diff --git a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java
index d87eacabd0..b754904b12 100644
--- a/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java
+++ b/Android/src/org/droidplanner/android/fragments/helpers/SuperSetupMainPanel.java
@@ -7,9 +7,9 @@
 import org.droidplanner.android.fragments.calibration.SetupSidePanel;
 import org.droidplanner.android.helpers.calibration.CalParameters;
 import org.droidplanner.android.helpers.calibration.CalParameters.OnCalibrationEvent;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.os.Bundle;
 
diff --git a/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java b/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
index 47d82b0cc5..c3b925c234 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
@@ -3,9 +3,9 @@
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.activities.helpers.SuperUI;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
 import android.os.Bundle;
diff --git a/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java b/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
index e45810a1e6..ebb892a3aa 100644
--- a/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/mode/ModeFollowFragment.java
@@ -2,12 +2,12 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.gcs.follow.FollowAlgorithm.FollowModes;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 import android.os.Bundle;
 import android.view.LayoutInflater;
diff --git a/Android/src/org/droidplanner/android/graphic/map/GraphicDrone.java b/Android/src/org/droidplanner/android/graphic/map/GraphicDrone.java
index a96b6164c7..f3452f3eaa 100644
--- a/Android/src/org/droidplanner/android/graphic/map/GraphicDrone.java
+++ b/Android/src/org/droidplanner/android/graphic/map/GraphicDrone.java
@@ -2,8 +2,8 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.maps.MarkerInfo;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.content.res.Resources;
 import android.graphics.Bitmap;
diff --git a/Android/src/org/droidplanner/android/graphic/map/GraphicGuided.java b/Android/src/org/droidplanner/android/graphic/map/GraphicGuided.java
index 41bc983cd1..147e18520f 100644
--- a/Android/src/org/droidplanner/android/graphic/map/GraphicGuided.java
+++ b/Android/src/org/droidplanner/android/graphic/map/GraphicGuided.java
@@ -7,10 +7,10 @@
 import org.droidplanner.android.maps.DPMap.PathSource;
 import org.droidplanner.android.maps.MarkerInfo;
 import org.droidplanner.android.maps.MarkerWithText;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.variables.GPS;
 import org.droidplanner.core.drone.variables.GuidedPoint;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.content.res.Resources;
 import android.graphics.Bitmap;
diff --git a/Android/src/org/droidplanner/android/graphic/map/GraphicHome.java b/Android/src/org/droidplanner/android/graphic/map/GraphicHome.java
index 36417b15a0..9030e9b13c 100644
--- a/Android/src/org/droidplanner/android/graphic/map/GraphicHome.java
+++ b/Android/src/org/droidplanner/android/graphic/map/GraphicHome.java
@@ -2,9 +2,9 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.maps.MarkerInfo;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.variables.Home;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.content.res.Resources;
 import android.graphics.Bitmap;
diff --git a/Android/src/org/droidplanner/android/maps/DPMap.java b/Android/src/org/droidplanner/android/maps/DPMap.java
index eb5be29052..157c5ce486 100644
--- a/Android/src/org/droidplanner/android/maps/DPMap.java
+++ b/Android/src/org/droidplanner/android/maps/DPMap.java
@@ -140,25 +140,25 @@ interface OnMarkerDragListener {
 	 */
 	public void clearFlightPath();
 
-    /**
-     * @return the map center coordinates.
-     */
-    public Coord2D getMapCenter();
-
-    /**
-     * @return the map current zoom level.
-     */
-    public float getMapZoomLevel();
-
-    /**
-     * @return the map maximum zoom level.
-     */
-    public float getMaxZoomLevel();
-
-    /**
-     * @return the map minimum zoom level.
-     */
-    public float getMinZoomLevel();
+	/**
+	 * @return the map center coordinates.
+	 */
+	public Coord2D getMapCenter();
+
+	/**
+	 * @return the map current zoom level.
+	 */
+	public float getMapZoomLevel();
+
+	/**
+	 * @return the map maximum zoom level.
+	 */
+	public float getMaxZoomLevel();
+
+	/**
+	 * @return the map minimum zoom level.
+	 */
+	public float getMinZoomLevel();
 
 	/**
 	 * @return this map's provider.
@@ -187,13 +187,13 @@ interface OnMarkerDragListener {
 	 */
 	public void saveCameraPosition();
 
-    /**
-     * Enable map auto panning on the passed target type.
-     *
-     * @param mode
-     *            auto pan target (user / drone / disabled).
-     */
-    public void selectAutoPanMode(AutoPanMode mode);
+	/**
+	 * Enable map auto panning on the passed target type.
+	 * 
+	 * @param mode
+	 *            auto pan target (user / drone / disabled).
+	 */
+	public void selectAutoPanMode(AutoPanMode mode);
 
 	/**
 	 * Adds padding around the edges of the map.
diff --git a/Android/src/org/droidplanner/android/maps/providers/DPMapProvider.java b/Android/src/org/droidplanner/android/maps/providers/DPMapProvider.java
index 69cee1864c..701e41c8df 100644
--- a/Android/src/org/droidplanner/android/maps/providers/DPMapProvider.java
+++ b/Android/src/org/droidplanner/android/maps/providers/DPMapProvider.java
@@ -26,20 +26,20 @@ public MapProviderPreferences getMapProviderPreferences() {
 		}
 	},
 
-    /**
-     * Provides access to mapbox map.
-     */
-    MAPBOX{
-        @Override
-    public DPMap getMapFragment(){
-            return new MapBoxFragment();
-        }
+	/**
+	 * Provides access to mapbox map.
+	 */
+	MAPBOX {
+		@Override
+		public DPMap getMapFragment() {
+			return new MapBoxFragment();
+		}
 
-        @Override
-    public MapProviderPreferences getMapProviderPreferences(){
-            return new MapBoxProviderPreferences();
-        }
-    };
+		@Override
+		public MapProviderPreferences getMapProviderPreferences() {
+			return new MapBoxProviderPreferences();
+		}
+	};
 
 	/**
 	 * @return the fragment implementing the map.
diff --git a/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java b/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
index 960270770b..cb9f9a7931 100644
--- a/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
+++ b/Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
@@ -14,9 +14,9 @@
 import org.droidplanner.android.utils.DroneHelper;
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.content.IntentSender;
@@ -188,27 +188,27 @@ public void clearFlightPath() {
 		}
 	}
 
-    @Override
-    public Coord2D getMapCenter() {
-        return DroneHelper.LatLngToCoord(mMap.getCameraPosition().target);
-    }
+	@Override
+	public Coord2D getMapCenter() {
+		return DroneHelper.LatLngToCoord(mMap.getCameraPosition().target);
+	}
 
-    @Override
-    public float getMapZoomLevel() {
-        return mMap.getCameraPosition().zoom;
-    }
+	@Override
+	public float getMapZoomLevel() {
+		return mMap.getCameraPosition().zoom;
+	}
 
-    @Override
-    public float getMaxZoomLevel() {
-        return mMap.getMaxZoomLevel();
-    }
+	@Override
+	public float getMaxZoomLevel() {
+		return mMap.getMaxZoomLevel();
+	}
 
-    @Override
-    public float getMinZoomLevel() {
-        return mMap.getMinZoomLevel();
-    }
+	@Override
+	public float getMinZoomLevel() {
+		return mMap.getMinZoomLevel();
+	}
 
-    @Override
+	@Override
 	public void selectAutoPanMode(AutoPanMode target) {
 		final AutoPanMode currentMode = mPanMode.get();
 		if (currentMode == target)
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/ItemizedDraggableIconOverlay.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/ItemizedDraggableIconOverlay.java
index 6a8d8d8d11..eb08971206 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/ItemizedDraggableIconOverlay.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/ItemizedDraggableIconOverlay.java
@@ -1,5 +1,7 @@
 package org.droidplanner.android.maps.providers.mapbox;
 
+import java.util.List;
+
 import android.content.Context;
 import android.graphics.Point;
 import android.graphics.PointF;
@@ -12,117 +14,118 @@
 import com.mapbox.mapboxsdk.views.MapView;
 import com.mapbox.mapboxsdk.views.util.Projection;
 
-import java.util.List;
-
 /**
  * Provides support for draggable markers.
  */
 public class ItemizedDraggableIconOverlay extends ItemizedIconOverlay {
 
-    public interface OnMarkerDragListener{
-        abstract void onMarkerDrag(Marker marker);
-        abstract void onMarkerDragEnd(Marker marker);
-        abstract void onMarkerDragStart(Marker marker);
-    }
-
-    private Marker mDragMarker;
-    private OnMarkerDragListener mMarkerDragListener;
-
-    public ItemizedDraggableIconOverlay(Context pContext, List<Marker> pList, OnItemGestureListener<Marker> pOnItemGestureListener) {
-        super(pContext, pList, pOnItemGestureListener);
-    }
-
-    public void setMarkerDragListener(OnMarkerDragListener markerDragListener){
-        mMarkerDragListener = markerDragListener;
-    }
-
-    @Override
-    public boolean onTouchEvent(final MotionEvent event, final MapView mapView){
-        if(mDragMarker != null){
-            if(event.getAction() == MotionEvent.ACTION_UP){
-                if(mMarkerDragListener != null){
-                    mMarkerDragListener.onMarkerDragEnd(mDragMarker);
-                }
-                mDragMarker = null;
-            }
-            else if(event.getAction() == MotionEvent.ACTION_MOVE){
-                moveToEventPosition(event, mapView, mDragMarker);
-                if(mMarkerDragListener != null){
-                    mMarkerDragListener.onMarkerDrag(mDragMarker);
-                }
-            }
-            else{
-                return false;
-            }
-            return true;
-        }
-        return false;
-    }
-
-    @Override
-    public boolean onLongPress(final MotionEvent event, final MapView mapView){
-        return (activateSelectedItems(event, mapView, new ActiveItem() {
-            @Override
-            public boolean run(int index) {
-                final Marker pressedMarker = getItem(index);
-                mDragMarker = pressedMarker;
-                if(mMarkerDragListener != null){
-                    mMarkerDragListener.onMarkerDragStart(pressedMarker);
-                }
-                moveToEventPosition(event, mapView, pressedMarker);
-                return true;
-            }
-        }));
-    }
-
-    public void moveToEventPosition(final MotionEvent event, final MapView mapView,
-                                    final Marker marker){
-        final Projection pj = mapView.getProjection();
-        marker.setPoint((LatLng)pj.fromPixels(event.getX(), event.getY()));
-        mapView.invalidate();
-    }
-
-    /**
-     * When a content sensitive action is performed the content item needs to be identified. This
-     * method does that and then performs the assigned task on that item.
-     *
-     * @return true if event is handled false otherwise
-     */
-    protected boolean activateSelectedItems(final MotionEvent event, final MapView mapView,
-                                          final ActiveItem task) {
-        final Projection projection = mapView.getProjection();
-        final float x = event.getX();
-        final float y = event.getY();
-        for (int i = 0; i < this.mItemList.size(); ++i) {
-            final Marker item = getItem(i);
-            if (markerHitTest(item, projection, x, y)) {
-                if (task.run(i)) {
-                    this.setFocus(item);
-                    return true;
-                }
-            }
-        }
-        return false;
-    }
-
-    @Override
-    protected boolean markerHitTest(final Marker pMarker, final Projection pProjection,
-                                    final float pX, final float pY) {
-        RectF rect = getMarkerDrawingBounds(pProjection, null, pMarker);
-        return rect.contains(pX, pY);
-    }
-
-    private static RectF getMarkerDrawingBounds(final Projection projection, RectF reuse, Marker marker) {
-        if (reuse == null) {
-            reuse = new RectF();
-        }
-        final PointF position = marker.getPositionOnScreen(projection, null);
-        final int w = marker.getWidth();
-        final int h = marker.getHeight();
-        final Point anchor = marker.getAnchor();
-        final float x = position.x + anchor.x;
-        final float y = position.y + anchor.y;
-        reuse.set(x, y, x + w, y + h * 2);
-        return reuse;
-    }
+	public interface OnMarkerDragListener {
+		abstract void onMarkerDrag(Marker marker);
+
+		abstract void onMarkerDragEnd(Marker marker);
+
+		abstract void onMarkerDragStart(Marker marker);
+	}
+
+	private Marker mDragMarker;
+	private OnMarkerDragListener mMarkerDragListener;
+
+	public ItemizedDraggableIconOverlay(Context pContext, List<Marker> pList,
+			OnItemGestureListener<Marker> pOnItemGestureListener) {
+		super(pContext, pList, pOnItemGestureListener);
+	}
+
+	public void setMarkerDragListener(OnMarkerDragListener markerDragListener) {
+		mMarkerDragListener = markerDragListener;
+	}
+
+	@Override
+	public boolean onTouchEvent(final MotionEvent event, final MapView mapView) {
+		if (mDragMarker != null) {
+			if (event.getAction() == MotionEvent.ACTION_UP) {
+				if (mMarkerDragListener != null) {
+					mMarkerDragListener.onMarkerDragEnd(mDragMarker);
+				}
+				mDragMarker = null;
+			} else if (event.getAction() == MotionEvent.ACTION_MOVE) {
+				moveToEventPosition(event, mapView, mDragMarker);
+				if (mMarkerDragListener != null) {
+					mMarkerDragListener.onMarkerDrag(mDragMarker);
+				}
+			} else {
+				return false;
+			}
+			return true;
+		}
+		return false;
+	}
+
+	@Override
+	public boolean onLongPress(final MotionEvent event, final MapView mapView) {
+		return (activateSelectedItems(event, mapView, new ActiveItem() {
+			@Override
+			public boolean run(int index) {
+				final Marker pressedMarker = getItem(index);
+				mDragMarker = pressedMarker;
+				if (mMarkerDragListener != null) {
+					mMarkerDragListener.onMarkerDragStart(pressedMarker);
+				}
+				moveToEventPosition(event, mapView, pressedMarker);
+				return true;
+			}
+		}));
+	}
+
+	public void moveToEventPosition(final MotionEvent event, final MapView mapView,
+			final Marker marker) {
+		final Projection pj = mapView.getProjection();
+		marker.setPoint((LatLng) pj.fromPixels(event.getX(), event.getY()));
+		mapView.invalidate();
+	}
+
+	/**
+	 * When a content sensitive action is performed the content item needs to be
+	 * identified. This method does that and then performs the assigned task on
+	 * that item.
+	 * 
+	 * @return true if event is handled false otherwise
+	 */
+	protected boolean activateSelectedItems(final MotionEvent event, final MapView mapView,
+			final ActiveItem task) {
+		final Projection projection = mapView.getProjection();
+		final float x = event.getX();
+		final float y = event.getY();
+		for (int i = 0; i < this.mItemList.size(); ++i) {
+			final Marker item = getItem(i);
+			if (markerHitTest(item, projection, x, y)) {
+				if (task.run(i)) {
+					this.setFocus(item);
+					return true;
+				}
+			}
+		}
+		return false;
+	}
+
+	@Override
+	protected boolean markerHitTest(final Marker pMarker, final Projection pProjection,
+			final float pX, final float pY) {
+		RectF rect = getMarkerDrawingBounds(pProjection, null, pMarker);
+		return rect.contains(pX, pY);
+	}
+
+	private static RectF getMarkerDrawingBounds(final Projection projection, RectF reuse,
+			Marker marker) {
+		if (reuse == null) {
+			reuse = new RectF();
+		}
+		final PointF position = marker.getPositionOnScreen(projection, null);
+		final int w = marker.getWidth();
+		final int h = marker.getHeight();
+		final Point anchor = marker.getAnchor();
+		final float x = position.x + anchor.x;
+		final float y = position.y + anchor.y;
+		reuse.set(x, y, x + w, y + h * 2);
+		return reuse;
+	}
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
index 9c32dfee9c..4768e8b371 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java
@@ -1,5 +1,21 @@
 package org.droidplanner.android.maps.providers.mapbox;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicReference;
+
+import org.droidplanner.R;
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.maps.DPMap;
+import org.droidplanner.android.maps.MarkerInfo;
+import org.droidplanner.android.maps.providers.DPMapProvider;
+import org.droidplanner.android.utils.DroneHelper;
+import org.droidplanner.android.utils.prefs.AutoPanMode;
+import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
+import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
+
 import android.app.Activity;
 import android.content.SharedPreferences;
 import android.content.res.Resources;
@@ -28,494 +44,478 @@
 import com.mapbox.mapboxsdk.views.MapViewListener;
 import com.mapbox.mapboxsdk.views.util.Projection;
 
-import org.droidplanner.R;
-import org.droidplanner.android.DroidPlannerApp;
-import org.droidplanner.android.maps.DPMap;
-import org.droidplanner.android.maps.MarkerInfo;
-import org.droidplanner.android.maps.providers.DPMapProvider;
-import org.droidplanner.android.utils.DroneHelper;
-import org.droidplanner.android.utils.prefs.AutoPanMode;
-import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
-import org.droidplanner.core.drone.DroneInterfaces;
-import org.droidplanner.core.helpers.coordinates.Coord2D;
-import org.droidplanner.core.model.Drone;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.atomic.AtomicReference;
-
 /**
  * MapBox implementation of the DPMap interface.
  */
 public class MapBoxFragment extends Fragment implements DPMap {
 
-    private final HashBiMap<MarkerInfo, Marker> mMarkers = HashBiMap.create();
-
-    private final ItemizedDraggableIconOverlay.OnMarkerDragListener mMarkerDragHandler = new ItemizedDraggableIconOverlay.OnMarkerDragListener() {
-        @Override
-        public void onMarkerDrag(Marker marker) {
-            if(mMarkerDragListener != null){
-                final MarkerInfo markerInfo = getMarkerInfo(marker);
-                markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
-                mMarkerDragListener.onMarkerDrag(markerInfo);
-            }
-        }
-
-        @Override
-        public void onMarkerDragEnd(Marker marker) {
-            if(mMarkerDragListener != null){
-                final MarkerInfo markerInfo = getMarkerInfo(marker);
-                markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
-                mMarkerDragListener.onMarkerDragEnd(markerInfo);
-            }
-        }
-
-        @Override
-        public void onMarkerDragStart(Marker marker) {
-            if(mMarkerDragListener != null){
-                final MarkerInfo markerInfo = getMarkerInfo(marker);
-                markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
-                mMarkerDragListener.onMarkerDragStart(markerInfo);
-            }
-        }
-    };
-
-    private final MapViewListener mMapViewListener = new MapViewListener() {
-        @Override
-        public void onShowMarker(MapView pMapView, Marker pMarker) {
-        }
-
-        @Override
-        public void onHidemarker(MapView pMapView, Marker pMarker) {
-        }
-
-        @Override
-        public void onTapMarker(MapView pMapView, final Marker pMarker) {
-            if (mMarkerClickListener != null) {
-                mMarkerClickListener.onMarkerClick(getMarkerInfo(pMarker));
-            }
-        }
-
-        @Override
-        public void onLongPressMarker(MapView pMapView, Marker pMarker) {}
-
-        @Override
-        public void onTapMap(MapView pMapView, final ILatLng pPosition) {
-            if (mMapClickListener != null) {
-                mMapClickListener.onMapClick(DroneHelper.ILatLngToCoord(pPosition));
-            }
-        }
-
-        @Override
-        public void onLongPressMap(MapView pMapView, final ILatLng pPosition) {
-            if (mMapLongClickListener != null) {
-                mMapLongClickListener.onMapLongClick(DroneHelper.ILatLngToCoord(pPosition));
-            }
-        }
-    };
-
-    private Drone mDrone;
-    private DroidPlannerPrefs mPrefs;
-
-    private final AtomicReference<AutoPanMode> mPanMode = new AtomicReference<AutoPanMode>
-            (AutoPanMode.DISABLED);
-
-    /**
-     * Mapbox map view handle
-     */
-    private MapView mMapView;
-    private TrackingMode mUserLocationTrackingMode = TrackingMode.NONE;
-    private ItemizedDraggableIconOverlay mMarkersOverlay;
-
-    private PathOverlay mFlightPath;
-    private PathOverlay mMissionPath;
-    private PathOverlay mDroneLeashPath;
-
-    /**
-     * Listeners
-     */
-    private OnMapClickListener mMapClickListener;
-    private OnMapLongClickListener mMapLongClickListener;
-    private OnMarkerDragListener mMarkerDragListener;
-    private OnMarkerClickListener mMarkerClickListener;
-
-    @Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container,
-                             Bundle savedInstanceState) {
-        return inflater.inflate(R.layout.fragment_mapbox, container, false);
-    }
-
-    @Override
-    public void onViewCreated(View view, Bundle savedInstanceState) {
-        super.onViewCreated(view, savedInstanceState);
-
-        final Activity activity = getActivity();
-        mDrone = ((DroidPlannerApp) activity.getApplication()).getDrone();
-        mPrefs = new DroidPlannerPrefs(activity.getApplicationContext());
-        mMapView = (MapView) view.findViewById(R.id.mapbox_mapview);
-    }
-
-    @Override
-    public void onStart() {
-        super.onStart();
-        setupMap();
-
-        mMapView.setUserLocationEnabled(true);
-        final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-        if (userLocation != null) {
-            userLocation.setDrawAccuracyEnabled(true);
-
-            if (mUserLocationTrackingMode == TrackingMode.NONE) {
-                userLocation.disableFollowLocation();
-            } else {
-                userLocation.enableFollowLocation();
-            }
-        }
-    }
-
-    private void setupMap() {
-        //TODO complete
-        mMapView.setMapViewListener(mMapViewListener);
-
-        final RotationGestureOverlay rotationOverlay = new RotationGestureOverlay(mMapView);
-        rotationOverlay.setEnabled(false);
-
-        mMapView.getOverlays().add(rotationOverlay);
-        resetMarkersOverlay();
-    }
-
-    private void resetMarkersOverlay() {
-        if (mMarkersOverlay != null) {
-            mMarkersOverlay.removeAllItems();
-            mMapView.removeOverlay(mMarkersOverlay);
-        }
-
-        mMarkersOverlay = new ItemizedDraggableIconOverlay(getActivity().getApplicationContext(),
-                new ArrayList<Marker>(), new ItemizedIconOverlay.OnItemGestureListener<Marker>() {
-            @Override
-            public boolean onItemSingleTapUp(int index, Marker item) {
-                mMapView.selectMarker(item);
-                return true;
-            }
-
-            @Override
-            public boolean onItemLongPress(int index, Marker item) {
-                mMapViewListener.onLongPressMarker(mMapView, item);
-                return true;
-            }
-        });
-        mMarkersOverlay.setMarkerDragListener(mMarkerDragHandler);
-        mMapView.addItemizedOverlay(mMarkersOverlay);
-    }
-
-    @Override
-    public void onStop() {
-        super.onStop();
-
-        final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-        if (userLocation != null) {
-            userLocation.disableFollowLocation();
-        }
-
-        mMapView.setUserLocationEnabled(false);
-    }
-
-    /**
-     * Used to retrieve the info for the given marker.
-     *
-     * @param marker marker whose info to retrieve
-     * @return marker's info
-     */
-    private MarkerInfo getMarkerInfo(Marker marker) {
-        return mMarkers.inverse().get(marker);
-    }
-
-    @Override
-    public void addFlightPathPoint(Coord2D coord) {
-        if (mFlightPath == null) {
-            mFlightPath = new PathOverlay(FLIGHT_PATH_DEFAULT_COLOR, FLIGHT_PATH_DEFAULT_WIDTH);
-            mMapView.getOverlays().add(mFlightPath);
-        }
-
-        mFlightPath.addPoint(DroneHelper.CoordToLatLng(coord));
-    }
-
-    @Override
-    public void cleanMarkers() {
-        resetMarkersOverlay();
-        mMarkers.clear();
-        mMapView.invalidate();
-    }
-
-    @Override
-    public void clearFlightPath() {
-        if (mFlightPath != null) {
-            mFlightPath.clearPath();
-        }
-    }
-
-    @Override
-    public Coord2D getMapCenter() {
-        return DroneHelper.ILatLngToCoord(mMapView.getCenter());
-    }
-
-    @Override
-    public float getMapZoomLevel() {
-        return mMapView.getZoomLevel();
-    }
-
-    @Override
-    public float getMaxZoomLevel() {
-        return mMapView.getMaxZoomLevel();
-    }
-
-    @Override
-    public float getMinZoomLevel() {
-        return mMapView.getMinZoomLevel();
-    }
-
-    @Override
-    public DPMapProvider getProvider() {
-        return DPMapProvider.MAPBOX;
-    }
-
-    @Override
-    public void goToDroneLocation() {
-        final float currentZoomLevel = getMapZoomLevel();
-        final Coord2D droneLocation = mDrone.getGps().getPosition();
-        updateCamera(droneLocation, currentZoomLevel);
-    }
-
-    @Override
-    public void goToMyLocation() {
-        final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-        if (userLocation != null) {
-            userLocation.goToMyPosition(true);
-        }
-    }
-
-    @Override
-    public void loadCameraPosition() {
-        final float centerLat = mPrefs.prefs.getFloat(PREF_LAT, 0);
-        final float centerLng = mPrefs.prefs.getFloat(PREF_LNG, 0);
-        mMapView.setCenter(new LatLng(centerLat, centerLng));
-
-        final float zoom = mPrefs.prefs.getFloat(PREF_ZOOM, 0);
-        mMapView.setZoom(zoom);
-
-        final float rotation = mPrefs.prefs.getFloat(PREF_BEA, 0);
-        mMapView.setRotation(rotation);
-    }
-
-    @Override
-    public List<Coord2D> projectPathIntoMap(List<Coord2D> pathPoints) {
-        final List<Coord2D> coords = new ArrayList<Coord2D>();
-
-        Projection projection = mMapView.getProjection();
-        for (Coord2D point : pathPoints) {
-            ILatLng coord = projection.fromPixels((float) point.getX(), (float) point.getY());
-            coords.add(DroneHelper.ILatLngToCoord(coord));
-        }
-        return coords;
-    }
-
-    @Override
-    public void saveCameraPosition() {
-        SharedPreferences.Editor editor = mPrefs.prefs.edit();
-        final ILatLng mapCenter = mMapView.getCenter();
-        editor.putFloat(PREF_LAT, (float) mapCenter.getLatitude())
-                .putFloat(PREF_LNG, (float) mapCenter.getLongitude())
-                .putFloat(PREF_BEA, mMapView.getRotation())
-                .putFloat(PREF_ZOOM, mMapView.getZoomLevel())
-                .apply();
-    }
-
-    @Override
-    public void selectAutoPanMode(AutoPanMode target) {
-        final AutoPanMode currentMode = mPanMode.get();
-        if (currentMode == target)
-            return;
-
-        setAutoPanMode(currentMode, target);
-    }
-
-    private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
-        if (mPanMode.compareAndSet(current, update)) {
-            switch (current) {
-                case DRONE:
-                    mDrone.removeDroneListener(this);
-                    break;
-
-                case USER:
-                    mUserLocationTrackingMode = TrackingMode.NONE;
-                    final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-                    if (userLocation != null) {
-                        userLocation.disableFollowLocation();
-                    }
-                    break;
-
-                case DISABLED:
-                default:
-                    break;
-            }
-
-            switch (update) {
-                case DRONE:
-                    mDrone.addDroneListener(this);
-                    break;
-
-                case USER:
-                    mUserLocationTrackingMode = TrackingMode.FOLLOW;
-                    final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
-                    if (userLocation != null) {
-                        userLocation.enableFollowLocation();
-                    }
-                    break;
-
-                case DISABLED:
-                default:
-                    break;
-            }
-        }
-    }
-
-    @Override
-    public void setMapPadding(int left, int top, int right, int bottom) {
-    }
-
-    @Override
-    public void setOnMapClickListener(OnMapClickListener listener) {
-        mMapClickListener = listener;
-    }
-
-    @Override
-    public void setOnMapLongClickListener(OnMapLongClickListener listener) {
-        mMapLongClickListener = listener;
-    }
-
-    @Override
-    public void setOnMarkerClickListener(OnMarkerClickListener listener) {
-        mMarkerClickListener = listener;
-    }
-
-    @Override
-    public void setOnMarkerDragListener(OnMarkerDragListener listener) {
-        mMarkerDragListener = listener;
-    }
-
-    @Override
-    public void updateCamera(Coord2D coord, float zoomLevel) {
-        MapController mapController = mMapView.getController();
-        if (mapController != null) {
-            mapController.setZoomAnimated(zoomLevel, DroneHelper.CoordToLatLng(coord), true, false);
-        }
-    }
-
-    @Override
-    public void updateDroneLeashPath(PathSource pathSource) {
-        final List<Coord2D> pathCoords = pathSource.getPathPoints();
-
-        if (mDroneLeashPath == null) {
-            mDroneLeashPath = new PathOverlay(DRONE_LEASH_DEFAULT_COLOR, DRONE_LEASH_DEFAULT_WIDTH);
-            mMapView.getOverlays().add(mDroneLeashPath);
-        }
-
-        mDroneLeashPath.clearPath();
-        for (Coord2D coord : pathCoords) {
-            mDroneLeashPath.addPoint(DroneHelper.CoordToLatLng(coord));
-        }
-    }
-
-    @Override
-    public void updateMarker(MarkerInfo markerInfo) {
-        updateMarker(markerInfo, markerInfo.isDraggable());
-    }
-
-    @Override
-    public void updateMarker(MarkerInfo markerInfo, boolean isDraggable) {
-        final LatLng position = DroneHelper.CoordToLatLng(markerInfo.getPosition());
-        Marker marker = mMarkers.get(markerInfo);
-        if (marker == null) {
-            marker = new Marker(mMapView, markerInfo.getTitle(), markerInfo.getSnippet(), position);
-            mMarkersOverlay.addItem(marker);
-            mMarkers.put(markerInfo, marker);
-        } else {
-            marker.setTitle(markerInfo.getTitle());
-            marker.setDescription(markerInfo.getSnippet());
-            marker.setPoint(position);
-        }
-
-        //Update the marker
-        final Resources res = getResources();
-        Bitmap markerIcon = markerInfo.getIcon(res);
-        if (markerIcon == null) {
-            markerIcon = BitmapFactory.decodeResource(res, R.drawable.ic_action_location);
-        }
-
-        marker.setIcon(new Icon(new BitmapDrawable(res, markerIcon)));
-
-        marker.setAnchor(new PointF(markerInfo.getAnchorU(), markerInfo.getAnchorV()));
-        marker.invalidate();
-        mMapView.invalidate();
-    }
-
-    @Override
-    public void updateMarkers(List<MarkerInfo> markersInfos) {
-        for (MarkerInfo info : markersInfos) {
-            updateMarker(info);
-        }
-    }
-
-    @Override
-    public void updateMarkers(List<MarkerInfo> markersInfos, boolean isDraggable) {
-        for (MarkerInfo info : markersInfos) {
-            updateMarker(info, isDraggable);
-        }
-    }
-
-    @Override
-    public void updateMissionPath(PathSource pathSource) {
-        final List<Coord2D> pathCoords = pathSource.getPathPoints();
-
-        if (mMissionPath == null) {
-            mMissionPath = new PathOverlay(MISSION_PATH_DEFAULT_COLOR, MISSION_PATH_DEFAULT_WIDTH);
-            mMapView.getOverlays().add(mMissionPath);
-        }
-
-        mMissionPath.clearPath();
-        for (Coord2D coord : pathCoords) {
-            mMissionPath.addPoint(DroneHelper.CoordToLatLng(coord));
-        }
-    }
-
-    @Override
-    public void zoomToFit(List<Coord2D> coords) {
-        if(coords.isEmpty()){
-            return;
-        }
-
-        final ArrayList<LatLng> boxCoords = new ArrayList<LatLng>(coords.size());
-        for(Coord2D coord: coords){
-            boxCoords.add(DroneHelper.CoordToLatLng(coord));
-        }
-
-        final BoundingBox enclosingBounds = BoundingBox.fromLatLngs(boxCoords);
-        mMapView.zoomToBoundingBox(enclosingBounds, true, true, true);
-    }
-
-    @Override
-    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
-        switch (event) {
-            case GPS:
-                if (mPanMode.get() == AutoPanMode.DRONE) {
-                    final float currentZoomLevel = getMapZoomLevel();
-                    final Coord2D droneLocation = drone.getGps().getPosition();
-                    updateCamera(droneLocation, currentZoomLevel);
-                }
-                break;
-
-            default:
-                break;
-        }
-    }
+	private final HashBiMap<MarkerInfo, Marker> mMarkers = HashBiMap.create();
+
+	private final ItemizedDraggableIconOverlay.OnMarkerDragListener mMarkerDragHandler = new ItemizedDraggableIconOverlay.OnMarkerDragListener() {
+		@Override
+		public void onMarkerDrag(Marker marker) {
+			if (mMarkerDragListener != null) {
+				final MarkerInfo markerInfo = getMarkerInfo(marker);
+				markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
+				mMarkerDragListener.onMarkerDrag(markerInfo);
+			}
+		}
+
+		@Override
+		public void onMarkerDragEnd(Marker marker) {
+			if (mMarkerDragListener != null) {
+				final MarkerInfo markerInfo = getMarkerInfo(marker);
+				markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
+				mMarkerDragListener.onMarkerDragEnd(markerInfo);
+			}
+		}
+
+		@Override
+		public void onMarkerDragStart(Marker marker) {
+			if (mMarkerDragListener != null) {
+				final MarkerInfo markerInfo = getMarkerInfo(marker);
+				markerInfo.setPosition(DroneHelper.ILatLngToCoord(marker.getPoint()));
+				mMarkerDragListener.onMarkerDragStart(markerInfo);
+			}
+		}
+	};
+
+	private final MapViewListener mMapViewListener = new MapViewListener() {
+		@Override
+		public void onShowMarker(MapView pMapView, Marker pMarker) {
+		}
+
+		@Override
+		public void onHidemarker(MapView pMapView, Marker pMarker) {
+		}
+
+		@Override
+		public void onTapMarker(MapView pMapView, final Marker pMarker) {
+			if (mMarkerClickListener != null) {
+				mMarkerClickListener.onMarkerClick(getMarkerInfo(pMarker));
+			}
+		}
+
+		@Override
+		public void onLongPressMarker(MapView pMapView, Marker pMarker) {
+		}
+
+		@Override
+		public void onTapMap(MapView pMapView, final ILatLng pPosition) {
+			if (mMapClickListener != null) {
+				mMapClickListener.onMapClick(DroneHelper.ILatLngToCoord(pPosition));
+			}
+		}
+
+		@Override
+		public void onLongPressMap(MapView pMapView, final ILatLng pPosition) {
+			if (mMapLongClickListener != null) {
+				mMapLongClickListener.onMapLongClick(DroneHelper.ILatLngToCoord(pPosition));
+			}
+		}
+	};
+
+	private Drone mDrone;
+	private DroidPlannerPrefs mPrefs;
+
+	private final AtomicReference<AutoPanMode> mPanMode = new AtomicReference<AutoPanMode>(
+			AutoPanMode.DISABLED);
+
+	/**
+	 * Mapbox map view handle
+	 */
+	private MapView mMapView;
+	private TrackingMode mUserLocationTrackingMode = TrackingMode.NONE;
+	private ItemizedDraggableIconOverlay mMarkersOverlay;
+
+	private PathOverlay mFlightPath;
+	private PathOverlay mMissionPath;
+	private PathOverlay mDroneLeashPath;
+
+	/**
+	 * Listeners
+	 */
+	private OnMapClickListener mMapClickListener;
+	private OnMapLongClickListener mMapLongClickListener;
+	private OnMarkerDragListener mMarkerDragListener;
+	private OnMarkerClickListener mMarkerClickListener;
+
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+		return inflater.inflate(R.layout.fragment_mapbox, container, false);
+	}
+
+	@Override
+	public void onViewCreated(View view, Bundle savedInstanceState) {
+		super.onViewCreated(view, savedInstanceState);
+
+		final Activity activity = getActivity();
+		mDrone = ((DroidPlannerApp) activity.getApplication()).getDrone();
+		mPrefs = new DroidPlannerPrefs(activity.getApplicationContext());
+		mMapView = (MapView) view.findViewById(R.id.mapbox_mapview);
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		setupMap();
+
+		mMapView.setUserLocationEnabled(true);
+		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
+		if (userLocation != null) {
+			userLocation.setDrawAccuracyEnabled(true);
+
+			if (mUserLocationTrackingMode == TrackingMode.NONE) {
+				userLocation.disableFollowLocation();
+			} else {
+				userLocation.enableFollowLocation();
+			}
+		}
+	}
+
+	private void setupMap() {
+		// TODO complete
+		mMapView.setMapViewListener(mMapViewListener);
+
+		final RotationGestureOverlay rotationOverlay = new RotationGestureOverlay(mMapView);
+		rotationOverlay.setEnabled(false);
+
+		mMapView.getOverlays().add(rotationOverlay);
+		resetMarkersOverlay();
+	}
+
+	private void resetMarkersOverlay() {
+		if (mMarkersOverlay != null) {
+			mMarkersOverlay.removeAllItems();
+			mMapView.removeOverlay(mMarkersOverlay);
+		}
+
+		mMarkersOverlay = new ItemizedDraggableIconOverlay(getActivity().getApplicationContext(),
+				new ArrayList<Marker>(), new ItemizedIconOverlay.OnItemGestureListener<Marker>() {
+					@Override
+					public boolean onItemSingleTapUp(int index, Marker item) {
+						mMapView.selectMarker(item);
+						return true;
+					}
+
+					@Override
+					public boolean onItemLongPress(int index, Marker item) {
+						mMapViewListener.onLongPressMarker(mMapView, item);
+						return true;
+					}
+				});
+		mMarkersOverlay.setMarkerDragListener(mMarkerDragHandler);
+		mMapView.addItemizedOverlay(mMarkersOverlay);
+	}
+
+	@Override
+	public void onStop() {
+		super.onStop();
+
+		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
+		if (userLocation != null) {
+			userLocation.disableFollowLocation();
+		}
+
+		mMapView.setUserLocationEnabled(false);
+	}
+
+	/**
+	 * Used to retrieve the info for the given marker.
+	 * 
+	 * @param marker
+	 *            marker whose info to retrieve
+	 * @return marker's info
+	 */
+	private MarkerInfo getMarkerInfo(Marker marker) {
+		return mMarkers.inverse().get(marker);
+	}
+
+	@Override
+	public void addFlightPathPoint(Coord2D coord) {
+		if (mFlightPath == null) {
+			mFlightPath = new PathOverlay(FLIGHT_PATH_DEFAULT_COLOR, FLIGHT_PATH_DEFAULT_WIDTH);
+			mMapView.getOverlays().add(mFlightPath);
+		}
+
+		mFlightPath.addPoint(DroneHelper.CoordToLatLng(coord));
+	}
+
+	@Override
+	public void cleanMarkers() {
+		resetMarkersOverlay();
+		mMarkers.clear();
+		mMapView.invalidate();
+	}
+
+	@Override
+	public void clearFlightPath() {
+		if (mFlightPath != null) {
+			mFlightPath.clearPath();
+		}
+	}
+
+	@Override
+	public Coord2D getMapCenter() {
+		return DroneHelper.ILatLngToCoord(mMapView.getCenter());
+	}
+
+	@Override
+	public float getMapZoomLevel() {
+		return mMapView.getZoomLevel();
+	}
+
+	@Override
+	public float getMaxZoomLevel() {
+		return mMapView.getMaxZoomLevel();
+	}
+
+	@Override
+	public float getMinZoomLevel() {
+		return mMapView.getMinZoomLevel();
+	}
+
+	@Override
+	public DPMapProvider getProvider() {
+		return DPMapProvider.MAPBOX;
+	}
+
+	@Override
+	public void goToDroneLocation() {
+		final float currentZoomLevel = getMapZoomLevel();
+		final Coord2D droneLocation = mDrone.getGps().getPosition();
+		updateCamera(droneLocation, currentZoomLevel);
+	}
+
+	@Override
+	public void goToMyLocation() {
+		final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
+		if (userLocation != null) {
+			userLocation.goToMyPosition(true);
+		}
+	}
+
+	@Override
+	public void loadCameraPosition() {
+		final float centerLat = mPrefs.prefs.getFloat(PREF_LAT, 0);
+		final float centerLng = mPrefs.prefs.getFloat(PREF_LNG, 0);
+		mMapView.setCenter(new LatLng(centerLat, centerLng));
+
+		final float zoom = mPrefs.prefs.getFloat(PREF_ZOOM, 0);
+		mMapView.setZoom(zoom);
+
+		final float rotation = mPrefs.prefs.getFloat(PREF_BEA, 0);
+		mMapView.setRotation(rotation);
+	}
+
+	@Override
+	public List<Coord2D> projectPathIntoMap(List<Coord2D> pathPoints) {
+		final List<Coord2D> coords = new ArrayList<Coord2D>();
+
+		Projection projection = mMapView.getProjection();
+		for (Coord2D point : pathPoints) {
+			ILatLng coord = projection.fromPixels((float) point.getX(), (float) point.getY());
+			coords.add(DroneHelper.ILatLngToCoord(coord));
+		}
+		return coords;
+	}
+
+	@Override
+	public void saveCameraPosition() {
+		SharedPreferences.Editor editor = mPrefs.prefs.edit();
+		final ILatLng mapCenter = mMapView.getCenter();
+		editor.putFloat(PREF_LAT, (float) mapCenter.getLatitude())
+				.putFloat(PREF_LNG, (float) mapCenter.getLongitude())
+				.putFloat(PREF_BEA, mMapView.getRotation())
+				.putFloat(PREF_ZOOM, mMapView.getZoomLevel()).apply();
+	}
+
+	@Override
+	public void selectAutoPanMode(AutoPanMode target) {
+		final AutoPanMode currentMode = mPanMode.get();
+		if (currentMode == target)
+			return;
+
+		setAutoPanMode(currentMode, target);
+	}
+
+	private void setAutoPanMode(AutoPanMode current, AutoPanMode update) {
+		if (mPanMode.compareAndSet(current, update)) {
+			switch (current) {
+			case DRONE:
+				mDrone.removeDroneListener(this);
+				break;
+
+			case USER:
+				mUserLocationTrackingMode = TrackingMode.NONE;
+				final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
+				if (userLocation != null) {
+					userLocation.disableFollowLocation();
+				}
+				break;
+
+			case DISABLED:
+			default:
+				break;
+			}
+
+			switch (update) {
+			case DRONE:
+				mDrone.addDroneListener(this);
+				break;
+
+			case USER:
+				mUserLocationTrackingMode = TrackingMode.FOLLOW;
+				final UserLocationOverlay userLocation = mMapView.getUserLocationOverlay();
+				if (userLocation != null) {
+					userLocation.enableFollowLocation();
+				}
+				break;
+
+			case DISABLED:
+			default:
+				break;
+			}
+		}
+	}
+
+	@Override
+	public void setMapPadding(int left, int top, int right, int bottom) {
+	}
+
+	@Override
+	public void setOnMapClickListener(OnMapClickListener listener) {
+		mMapClickListener = listener;
+	}
+
+	@Override
+	public void setOnMapLongClickListener(OnMapLongClickListener listener) {
+		mMapLongClickListener = listener;
+	}
+
+	@Override
+	public void setOnMarkerClickListener(OnMarkerClickListener listener) {
+		mMarkerClickListener = listener;
+	}
+
+	@Override
+	public void setOnMarkerDragListener(OnMarkerDragListener listener) {
+		mMarkerDragListener = listener;
+	}
+
+	@Override
+	public void updateCamera(Coord2D coord, float zoomLevel) {
+		MapController mapController = mMapView.getController();
+		if (mapController != null) {
+			mapController.setZoomAnimated(zoomLevel, DroneHelper.CoordToLatLng(coord), true, false);
+		}
+	}
+
+	@Override
+	public void updateDroneLeashPath(PathSource pathSource) {
+		final List<Coord2D> pathCoords = pathSource.getPathPoints();
+
+		if (mDroneLeashPath == null) {
+			mDroneLeashPath = new PathOverlay(DRONE_LEASH_DEFAULT_COLOR, DRONE_LEASH_DEFAULT_WIDTH);
+			mMapView.getOverlays().add(mDroneLeashPath);
+		}
+
+		mDroneLeashPath.clearPath();
+		for (Coord2D coord : pathCoords) {
+			mDroneLeashPath.addPoint(DroneHelper.CoordToLatLng(coord));
+		}
+	}
+
+	@Override
+	public void updateMarker(MarkerInfo markerInfo) {
+		updateMarker(markerInfo, markerInfo.isDraggable());
+	}
+
+	@Override
+	public void updateMarker(MarkerInfo markerInfo, boolean isDraggable) {
+		final LatLng position = DroneHelper.CoordToLatLng(markerInfo.getPosition());
+		Marker marker = mMarkers.get(markerInfo);
+		if (marker == null) {
+			marker = new Marker(mMapView, markerInfo.getTitle(), markerInfo.getSnippet(), position);
+			mMarkersOverlay.addItem(marker);
+			mMarkers.put(markerInfo, marker);
+		} else {
+			marker.setTitle(markerInfo.getTitle());
+			marker.setDescription(markerInfo.getSnippet());
+			marker.setPoint(position);
+		}
+
+		// Update the marker
+		final Resources res = getResources();
+		Bitmap markerIcon = markerInfo.getIcon(res);
+		if (markerIcon == null) {
+			markerIcon = BitmapFactory.decodeResource(res, R.drawable.ic_action_location);
+		}
+
+		marker.setIcon(new Icon(new BitmapDrawable(res, markerIcon)));
+
+		marker.setAnchor(new PointF(markerInfo.getAnchorU(), markerInfo.getAnchorV()));
+		marker.invalidate();
+		mMapView.invalidate();
+	}
+
+	@Override
+	public void updateMarkers(List<MarkerInfo> markersInfos) {
+		for (MarkerInfo info : markersInfos) {
+			updateMarker(info);
+		}
+	}
+
+	@Override
+	public void updateMarkers(List<MarkerInfo> markersInfos, boolean isDraggable) {
+		for (MarkerInfo info : markersInfos) {
+			updateMarker(info, isDraggable);
+		}
+	}
+
+	@Override
+	public void updateMissionPath(PathSource pathSource) {
+		final List<Coord2D> pathCoords = pathSource.getPathPoints();
+
+		if (mMissionPath == null) {
+			mMissionPath = new PathOverlay(MISSION_PATH_DEFAULT_COLOR, MISSION_PATH_DEFAULT_WIDTH);
+			mMapView.getOverlays().add(mMissionPath);
+		}
+
+		mMissionPath.clearPath();
+		for (Coord2D coord : pathCoords) {
+			mMissionPath.addPoint(DroneHelper.CoordToLatLng(coord));
+		}
+	}
+
+	@Override
+	public void zoomToFit(List<Coord2D> coords) {
+		if (coords.isEmpty()) {
+			return;
+		}
+
+		final ArrayList<LatLng> boxCoords = new ArrayList<LatLng>(coords.size());
+		for (Coord2D coord : coords) {
+			boxCoords.add(DroneHelper.CoordToLatLng(coord));
+		}
+
+		final BoundingBox enclosingBounds = BoundingBox.fromLatLngs(boxCoords);
+		mMapView.zoomToBoundingBox(enclosingBounds, true, true, true);
+	}
+
+	@Override
+	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+		switch (event) {
+		case GPS:
+			if (mPanMode.get() == AutoPanMode.DRONE) {
+				final float currentZoomLevel = getMapZoomLevel();
+				final Coord2D droneLocation = drone.getGps().getPosition();
+				updateCamera(droneLocation, currentZoomLevel);
+			}
+			break;
+
+		default:
+			break;
+		}
+	}
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxProviderPreferences.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxProviderPreferences.java
index 13af4e86a5..417f229fd0 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxProviderPreferences.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxProviderPreferences.java
@@ -1,24 +1,24 @@
 package org.droidplanner.android.maps.providers.mapbox;
 
-import android.os.Bundle;
-
 import org.droidplanner.R;
 import org.droidplanner.android.maps.providers.DPMapProvider;
 import org.droidplanner.android.maps.providers.MapProviderPreferences;
 
+import android.os.Bundle;
+
 /**
  * Provides access to the mapbox map preferences.
  */
 public class MapBoxProviderPreferences extends MapProviderPreferences {
 
-    @Override
-    public void onCreate(Bundle savedInstanceState){
-        super.onCreate(savedInstanceState);
-        addPreferencesFromResource(R.xml.preferences_mapbox);
-    }
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		addPreferencesFromResource(R.xml.preferences_mapbox);
+	}
 
-    @Override
-    public DPMapProvider getMapProvider() {
-        return DPMapProvider.MAPBOX;
-    }
+	@Override
+	public DPMapProvider getMapProvider() {
+		return DPMapProvider.MAPBOX;
+	}
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureDetector.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureDetector.java
index a25e8d2db5..ee955e3ded 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureDetector.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureDetector.java
@@ -34,7 +34,7 @@ public boolean onTouch(MotionEvent e) {
 		float delta = rotation - mRotation;
 		mRotation += delta;
 		mListener.onRotate(delta);
-        return true;
+		return true;
 	}
 
 }
diff --git a/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureOverlay.java b/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureOverlay.java
index 827937f48c..0b5c473c13 100644
--- a/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureOverlay.java
+++ b/Android/src/org/droidplanner/android/maps/providers/mapbox/RotationGestureOverlay.java
@@ -7,33 +7,32 @@
 import com.mapbox.mapboxsdk.views.safecanvas.ISafeCanvas;
 
 public class RotationGestureOverlay extends SafeDrawOverlay implements
-        RotationGestureDetector.RotationListener {
-
-    private final RotationGestureDetector mRotationDetector;
-    private MapView mMapView;
-
-    public RotationGestureOverlay(MapView mapView) {
-        mMapView = mapView;
-        mRotationDetector = new RotationGestureDetector(this);
-    }
-
-    @Override
-    protected void drawSafe(ISafeCanvas canvas, MapView mapView, boolean shadow) {
-        // No drawing necessary
-    }
-
-    @Override
-    public boolean onTouchEvent(MotionEvent event, MapView mapView) {
-        if (this.isEnabled()) {
-            return mRotationDetector.onTouch(event);
-        }
-        return super.onTouchEvent(event, mapView);
-    }
-
-    @Override
-    public void onRotate(float deltaAngle) {
-        mMapView.setMapOrientation(mMapView.getMapOrientation() + deltaAngle);
-    }
-
+		RotationGestureDetector.RotationListener {
+
+	private final RotationGestureDetector mRotationDetector;
+	private MapView mMapView;
+
+	public RotationGestureOverlay(MapView mapView) {
+		mMapView = mapView;
+		mRotationDetector = new RotationGestureDetector(this);
+	}
+
+	@Override
+	protected void drawSafe(ISafeCanvas canvas, MapView mapView, boolean shadow) {
+		// No drawing necessary
+	}
+
+	@Override
+	public boolean onTouchEvent(MotionEvent event, MapView mapView) {
+		if (this.isEnabled()) {
+			return mRotationDetector.onTouch(event);
+		}
+		return super.onTouchEvent(event, mapView);
+	}
+
+	@Override
+	public void onRotate(float deltaAngle) {
+		mMapView.setMapOrientation(mMapView.getMapOrientation() + deltaAngle);
+	}
 
 }
diff --git a/Android/src/org/droidplanner/android/notifications/NotificationHandler.java b/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
index b6a109c992..d07a674711 100644
--- a/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
+++ b/Android/src/org/droidplanner/android/notifications/NotificationHandler.java
@@ -1,8 +1,9 @@
 package org.droidplanner.android.notifications;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
+import org.droidplanner.core.model.Drone;
+
 import android.content.Context;
 
 /**
@@ -19,7 +20,6 @@ interface NotificationProvider extends DroneInterfaces.OnDroneListener {
 		void quickNotify(String feedback);
 	}
 
-
 	/**
 	 * Handles Droidplanner's audible notifications.
 	 */
@@ -51,7 +51,7 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 	/**
 	 * Sends a quick notification to the user. Uses toasts for written
 	 * notification, and speech if voice notification is enabled.
-	 *
+	 * 
 	 * @param feedback
 	 *            short message to show the user.
 	 */
diff --git a/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
index aa4a476ce5..6c6cb59d1d 100644
--- a/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
@@ -3,10 +3,10 @@
 import java.util.UUID;
 
 import org.droidplanner.android.DroidPlannerApp;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.gcs.follow.FollowAlgorithm.FollowModes;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.widget.Toast;
@@ -111,8 +111,11 @@ else if (((DroidPlannerApp) applicationContext).followMe.isEnabled() && mode ==
 		} else
 			data.addString(KEY_FOLLOW_TYPE, "none");
 
-		String bat = "Bat:" + Double.toString(roundToOneDecimal(drone.getBattery().getBattVolt())) + "V";
-		String speed = "Speed: " + Double.toString(roundToOneDecimal(drone.getSpeed().getAirSpeed().valueInMetersPerSecond()));
+		String bat = "Bat:" + Double.toString(roundToOneDecimal(drone.getBattery().getBattVolt()))
+				+ "V";
+		String speed = "Speed: "
+				+ Double.toString(roundToOneDecimal(drone.getSpeed().getAirSpeed()
+						.valueInMetersPerSecond()));
 		String altitude = "Alt: "
 				+ Double.toString(roundToOneDecimal(drone.getAltitude().getAltitude()));
 		String telem = bat + "\n" + altitude + "\n" + speed;
@@ -144,54 +147,54 @@ public void receiveData(Context context, int transactionId, PebbleDictionary dat
 			Follow followMe = ((DroidPlannerApp) applicationContext).followMe;
 			PebbleKit.sendAckToPebble(applicationContext, transactionId);
 			int request = (data.getInteger(KEY_PEBBLE_REQUEST).intValue());
-            switch (request) {
-
-                case KEY_REQUEST_MODE_FOLLOW:
-                    final int result = followMe.toggleFollowMeState();
-                    String eventLabel = null;
-                    switch (result) {
-                        case Follow.FOLLOW_START:
-                            eventLabel = "FollowMe enabled";
-                            break;
-
-                        case Follow.FOLLOW_END:
-                            eventLabel = "FollowMe disabled";
-                            break;
-
-                        case Follow.FOLLOW_INVALID_STATE:
-                            eventLabel = "FollowMe error: invalid state";
-                            break;
-
-                        case Follow.FOLLOW_DRONE_DISCONNECTED:
-                            eventLabel = "FollowMe error: drone not connected";
-                            break;
-
-                        case Follow.FOLLOW_DRONE_NOT_ARMED:
-                            eventLabel = "FollowMe error: drone not armed";
-                            break;
-                    }
-
-                    if (eventLabel != null) {
-                        Toast.makeText(applicationContext, eventLabel, Toast.LENGTH_SHORT).show();
-                    }
-                    break;
-
-                case KEY_REQUEST_CYCLE_FOLLOW_TYPE:
-                    followMe.cycleType();
-                    break;
-
-                case KEY_REQUEST_MODE_LOITER:
-                    ((DroidPlannerApp) applicationContext).getDrone().getState()
-                            .changeFlightMode(ApmModes.ROTOR_LOITER);
-                    break;
-
-                case KEY_REQUEST_MODE_RTL:
-                    ((DroidPlannerApp) applicationContext).getDrone().getState()
-                            .changeFlightMode(ApmModes.ROTOR_RTL);
-                    break;
-            }
-        }
-    }
+			switch (request) {
+
+			case KEY_REQUEST_MODE_FOLLOW:
+				final int result = followMe.toggleFollowMeState();
+				String eventLabel = null;
+				switch (result) {
+				case Follow.FOLLOW_START:
+					eventLabel = "FollowMe enabled";
+					break;
+
+				case Follow.FOLLOW_END:
+					eventLabel = "FollowMe disabled";
+					break;
+
+				case Follow.FOLLOW_INVALID_STATE:
+					eventLabel = "FollowMe error: invalid state";
+					break;
+
+				case Follow.FOLLOW_DRONE_DISCONNECTED:
+					eventLabel = "FollowMe error: drone not connected";
+					break;
+
+				case Follow.FOLLOW_DRONE_NOT_ARMED:
+					eventLabel = "FollowMe error: drone not armed";
+					break;
+				}
+
+				if (eventLabel != null) {
+					Toast.makeText(applicationContext, eventLabel, Toast.LENGTH_SHORT).show();
+				}
+				break;
+
+			case KEY_REQUEST_CYCLE_FOLLOW_TYPE:
+				followMe.cycleType();
+				break;
+
+			case KEY_REQUEST_MODE_LOITER:
+				((DroidPlannerApp) applicationContext).getDrone().getState()
+						.changeFlightMode(ApmModes.ROTOR_LOITER);
+				break;
+
+			case KEY_REQUEST_MODE_RTL:
+				((DroidPlannerApp) applicationContext).getDrone().getState()
+						.changeFlightMode(ApmModes.ROTOR_RTL);
+				break;
+			}
+		}
+	}
 
 	@Override
 	public void quickNotify(String feedback) {
diff --git a/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
index 78cbc68309..44d69714b4 100644
--- a/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/StatusBarNotificationProvider.java
@@ -5,8 +5,8 @@
 import org.droidplanner.android.activities.helpers.SuperUI;
 import org.droidplanner.android.utils.TextUtils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
+import org.droidplanner.core.model.Drone;
 
 import android.app.PendingIntent;
 import android.content.Context;
@@ -91,97 +91,95 @@ public void run() {
 				FlightActivity.class), 0);
 
 		mToggleConnectionIntent = PendingIntent.getActivity(mContext, 0, new Intent(mContext,
-                FlightActivity.class).setAction(SuperUI.ACTION_TOGGLE_DRONE_CONNECTION), 0);
+				FlightActivity.class).setAction(SuperUI.ACTION_TOGGLE_DRONE_CONNECTION), 0);
 	}
 
-    @Override
-    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
-        boolean showNotification = true;
-
-        switch (event) {
-            case CONNECTED:
-                // Cancel the notification dismissal
-                mHandler.removeCallbacks(mDismissNotification);
-
-                final String summaryText = mContext.getString(R.string.connected);
-
-                mInboxBuilder = new InboxStyleBuilder().setSummary(summaryText);
-                mNotificationBuilder = new NotificationCompat.Builder(mContext)
-                        .addAction(R.drawable.ic_action_io, mContext.getText(R.string.menu_disconnect),
-                                mToggleConnectionIntent).setContentIntent(mNotificationIntent)
-                        .setContentText(summaryText).setOngoing(mAppPrefs.isNotificationPermanent())
-                        .setSmallIcon(R.drawable.ic_launcher);
-
-                updateFlightMode(drone);
-                updateDroneState(drone);
-                updateBattery(drone);
-                updateGps(drone);
-                updateHome(drone);
-                updateRadio(drone);
-                break;
-
-            case BATTERY:
-                updateBattery(drone);
-                break;
-
-            case GPS_FIX:
-            case GPS_COUNT:
-                updateGps(drone);
-                break;
-
-            case GPS:
-            case HOME:
-                updateHome(drone);
-                break;
-
-            case RADIO:
-                updateRadio(drone);
-                break;
-
-            case STATE:
-                updateDroneState(drone);
-                break;
-
-            case MODE:
-            case TYPE:
-                updateFlightMode(drone);
-                break;
-
-            case DISCONNECTED:
-                mInboxBuilder = null;
-
-                if (mNotificationBuilder != null) {
-                    mNotificationBuilder = new NotificationCompat.Builder(mContext)
-                            .addAction(R.drawable.ic_action_io,
-                                    mContext.getText(R.string.menu_connect), mToggleConnectionIntent)
-                            .setContentIntent(mNotificationIntent)
-                            .setContentTitle(mContext.getString(R.string.disconnected))
-                            .setOngoing(false).setContentText("")
-                            .setSmallIcon(R.drawable.ic_launcher_bw);
-
-                    // Schedule the notification dismissal
-                    mHandler.postDelayed(mDismissNotification, COUNTDOWN_TO_DISMISSAL);
-                }
-                break;
-
-            default:
-                showNotification = false;
-                break;
-        }
-
-        if (showNotification) {
-            showNotification();
-        }
-    }
+	@Override
+	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+		boolean showNotification = true;
+
+		switch (event) {
+		case CONNECTED:
+			// Cancel the notification dismissal
+			mHandler.removeCallbacks(mDismissNotification);
+
+			final String summaryText = mContext.getString(R.string.connected);
+
+			mInboxBuilder = new InboxStyleBuilder().setSummary(summaryText);
+			mNotificationBuilder = new NotificationCompat.Builder(mContext)
+					.addAction(R.drawable.ic_action_io, mContext.getText(R.string.menu_disconnect),
+							mToggleConnectionIntent).setContentIntent(mNotificationIntent)
+					.setContentText(summaryText).setOngoing(mAppPrefs.isNotificationPermanent())
+					.setSmallIcon(R.drawable.ic_launcher);
+
+			updateFlightMode(drone);
+			updateDroneState(drone);
+			updateBattery(drone);
+			updateGps(drone);
+			updateHome(drone);
+			updateRadio(drone);
+			break;
+
+		case BATTERY:
+			updateBattery(drone);
+			break;
+
+		case GPS_FIX:
+		case GPS_COUNT:
+			updateGps(drone);
+			break;
+
+		case GPS:
+		case HOME:
+			updateHome(drone);
+			break;
+
+		case RADIO:
+			updateRadio(drone);
+			break;
+
+		case STATE:
+			updateDroneState(drone);
+			break;
+
+		case MODE:
+		case TYPE:
+			updateFlightMode(drone);
+			break;
+
+		case DISCONNECTED:
+			mInboxBuilder = null;
+
+			if (mNotificationBuilder != null) {
+				mNotificationBuilder = new NotificationCompat.Builder(mContext)
+						.addAction(R.drawable.ic_action_io,
+								mContext.getText(R.string.menu_connect), mToggleConnectionIntent)
+						.setContentIntent(mNotificationIntent)
+						.setContentTitle(mContext.getString(R.string.disconnected))
+						.setOngoing(false).setContentText("")
+						.setSmallIcon(R.drawable.ic_launcher_bw);
+
+				// Schedule the notification dismissal
+				mHandler.postDelayed(mDismissNotification, COUNTDOWN_TO_DISMISSAL);
+			}
+			break;
+
+		default:
+			showNotification = false;
+			break;
+		}
+
+		if (showNotification) {
+			showNotification();
+		}
+	}
 
 	private void updateRadio(Drone drone) {
 		if (mInboxBuilder == null)
 			return;
 
-		mInboxBuilder.setLine(
-				4,
-				TextUtils.normal("Signal:   ",
-						TextUtils.bold(String.format("%d%%", drone.getRadio().getSignalStrength()))));
+		mInboxBuilder.setLine(4, TextUtils.normal("Signal:   ",
+				TextUtils.bold(String.format("%d%%", drone.getRadio().getSignalStrength()))));
 	}
 
 	private void updateHome(Drone drone) {
@@ -198,24 +196,17 @@ private void updateGps(Drone drone) {
 		if (mInboxBuilder == null)
 			return;
 
-		mInboxBuilder.setLine(
-				1,
-				TextUtils.normal(
-						"Satellite:   ",
-						TextUtils.bold(String.format("%d, %s", drone.getGps().getSatCount(),
-								drone.getGps().getFixType()))));
+		mInboxBuilder.setLine(1, TextUtils.normal("Satellite:   ", TextUtils.bold(String.format(
+				"%d, %s", drone.getGps().getSatCount(), drone.getGps().getFixType()))));
 	}
 
 	private void updateBattery(Drone drone) {
 		if (mInboxBuilder == null)
 			return;
 
-		mInboxBuilder.setLine(
-				3,
-				TextUtils.normal(
-						"Battery:   ",
-						TextUtils.bold(String.format("%2.1fv (%2.0f%%)",
-								drone.getBattery().getBattVolt(), drone.getBattery().getBattRemain()))));
+		mInboxBuilder.setLine(3, TextUtils.normal("Battery:   ", TextUtils.bold(String.format(
+				"%2.1fv (%2.0f%%)", drone.getBattery().getBattVolt(), drone.getBattery()
+						.getBattRemain()))));
 	}
 
 	private void updateDroneState(Drone drone) {
diff --git a/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java b/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
index 5c55833bb2..8f878c50d7 100644
--- a/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
+++ b/Android/src/org/droidplanner/android/notifications/TTSNotificationProvider.java
@@ -4,12 +4,11 @@
 import java.util.Map;
 
 import org.droidplanner.R;
-import org.droidplanner.android.DroidPlannerApp;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
-import org.droidplanner.core.drone.variables.Calibration;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
+import org.droidplanner.core.drone.variables.Calibration;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.content.SharedPreferences;
@@ -28,7 +27,7 @@
 public class TTSNotificationProvider implements OnInitListener,
 		NotificationHandler.NotificationProvider {
 
-    private static final String TAG = TTSNotificationProvider.class.getSimpleName();
+	private static final String TAG = TTSNotificationProvider.class.getSimpleName();
 
 	private static final double BATTERY_DISCHARGE_NOTIFICATION_EVERY_PERCENT = 10;
 
@@ -39,16 +38,19 @@ public class TTSNotificationProvider implements OnInitListener,
 	private Context context;
 	private Handler handler;
 	private int statusInterval;
-	private class Watchdog implements Runnable{
+
+	private class Watchdog implements Runnable {
 		private Drone drone;
+
 		public void run() {
 			speakPeriodic(drone);
 		}
 
-		public void setDrone(Drone drone){
+		public void setDrone(Drone drone) {
 			this.drone = drone;
 		}
 	}
+
 	public Watchdog watchdogCallback = new Watchdog();
 
 	TTSNotificationProvider(Context context, Handler handler) {
@@ -60,39 +62,39 @@ public void setDrone(Drone drone){
 
 	@Override
 	public void onInit(int status) {
-        if(status == TextToSpeech.SUCCESS) {
-            //TODO: check if the language is available
-            Locale ttsLanguage;
-            if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN_MR2) {
-                ttsLanguage = tts.getDefaultLanguage();
-            }
-            else{
-                ttsLanguage = tts.getLanguage();
-            }
+		if (status == TextToSpeech.SUCCESS) {
+			// TODO: check if the language is available
+			Locale ttsLanguage;
+			if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN_MR2) {
+				ttsLanguage = tts.getDefaultLanguage();
+			} else {
+				ttsLanguage = tts.getLanguage();
+			}
 
-            if(ttsLanguage == null){
-                ttsLanguage = Locale.US;
-            }
+			if (ttsLanguage == null) {
+				ttsLanguage = Locale.US;
+			}
 
-            int supportStatus = tts.setLanguage(ttsLanguage);
-            switch(supportStatus){
-                case TextToSpeech.LANG_MISSING_DATA:
-                case TextToSpeech.LANG_NOT_SUPPORTED:
-                    tts.shutdown();
-                    tts = null;
+			int supportStatus = tts.setLanguage(ttsLanguage);
+			switch (supportStatus) {
+			case TextToSpeech.LANG_MISSING_DATA:
+			case TextToSpeech.LANG_NOT_SUPPORTED:
+				tts.shutdown();
+				tts = null;
 
-                    Log.e(TAG, "TTS Language data is not available.");
-                    Toast.makeText(context, "Unable to set 'Text to Speech' language!",
-                            Toast.LENGTH_LONG).show();
-                    break;
-            }
-        }
-        else{
-            //Notify the user that the tts engine is not available.
-            Log.e(TAG, "TextToSpeech initialization failed.");
-            Toast.makeText(context, "Please make sure 'Text to Speech' is enabled in the " +
-                            "system accessibility settings.", Toast.LENGTH_LONG).show();
-        }
+				Log.e(TAG, "TTS Language data is not available.");
+				Toast.makeText(context, "Unable to set 'Text to Speech' language!",
+						Toast.LENGTH_LONG).show();
+				break;
+			}
+		} else {
+			// Notify the user that the tts engine is not available.
+			Log.e(TAG, "TextToSpeech initialization failed.");
+			Toast.makeText(
+					context,
+					"Please make sure 'Text to Speech' is enabled in the "
+							+ "system accessibility settings.", Toast.LENGTH_LONG).show();
+		}
 	}
 
 	private void speak(String string) {
@@ -167,7 +169,7 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 				break;
 			case FAILSAFE:
 				String failsafe = drone.getState().getWarning();
-				if(drone.getState().isWarning()){
+				if (drone.getState().isWarning()) {
 					speak(failsafe);
 				}
 			default:
@@ -235,38 +237,41 @@ private void speakGpsMode(int fix) {
 		}
 	}
 
-	private void speakPeriodic(Drone drone){
+	private void speakPeriodic(Drone drone) {
 		DroidPlannerPrefs preferences = new DroidPlannerPrefs(context);
-		Map<String,Boolean> speechPrefs = preferences.getPeriodicSpeechPrefs();
+		Map<String, Boolean> speechPrefs = preferences.getPeriodicSpeechPrefs();
 		StringBuilder message = new StringBuilder();
-		if(speechPrefs.get("battery voltage")){
+		if (speechPrefs.get("battery voltage")) {
 			message.append("battery " + drone.getBattery().getBattVolt() + " volts. ");
 		}
-		if(speechPrefs.get("altitude")){
-			message.append("altitude, " + (int)(drone.getAltitude().getAltitude()*10.0)/10.0 + " meters. ");
+		if (speechPrefs.get("altitude")) {
+			message.append("altitude, " + (int) (drone.getAltitude().getAltitude() * 10.0) / 10.0
+					+ " meters. ");
 		}
-		if(speechPrefs.get("airspeed")){
-			message.append("airspeed, " + (int)(drone.getSpeed().getAirSpeed().valueInMetersPerSecond()*10.0)/10.0 + " meters per second. ");
+		if (speechPrefs.get("airspeed")) {
+			message.append("airspeed, "
+					+ (int) (drone.getSpeed().getAirSpeed().valueInMetersPerSecond() * 10.0) / 10.0
+					+ " meters per second. ");
 		}
-		if(speechPrefs.get("rssi")){
+		if (speechPrefs.get("rssi")) {
 			message.append("r s s i, " + drone.getRadio().getRssi() + " decibels");
 		}
 		speak(message.toString());
-		if(preferences.getSpokenStatusInterval() != 0) {
+		if (preferences.getSpokenStatusInterval() != 0) {
 			handler.postDelayed(watchdogCallback, statusInterval * 1000);
-		}else{
+		} else {
 			handler.removeCallbacks(watchdogCallback);
 		}
 	}
 
-	public void setupPeriodicSpeechOutput(int interval, Drone drone){
+	public void setupPeriodicSpeechOutput(int interval, Drone drone) {
 		watchdogCallback.setDrone(drone);
-		if(interval == 0){
+		if (interval == 0) {
 			handler.removeCallbacks(watchdogCallback);
-		}else{
+		} else {
 			statusInterval = interval;
 			handler.removeCallbacks(watchdogCallback);
-			handler.postDelayed(watchdogCallback,interval*1000);
+			handler.postDelayed(watchdogCallback, interval * 1000);
 		}
 	}
 
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
index c4c5549da8..2e9364efad 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionCircleFragment.java
@@ -16,7 +16,7 @@ public class MissionCircleFragment extends MissionDetailFragment implements
 
 	private SeekBarWithText altitudeSeekBar;
 	private SeekBarWithText loiterTurnSeekBar;
-	//private CheckBox loiterCCW;
+	// private CheckBox loiterCCW;
 	private CheckBox checkBoxAdvanced;
 	private SeekBarWithText altitudeStepSeekBar;
 	private SeekBarWithText numberStepSeekBar;
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
index 8653adefef..21d659a530 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java
@@ -123,12 +123,13 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 		super.onViewCreated(view, savedInstanceState);
 		mMissionProxy = itemRender.getMissionProxy();
 
-		List<MissionItemType> list = new LinkedList<MissionItemType>(Arrays.asList(MissionItemType.values()));
-		if (mMissionProxy.getItems().indexOf(itemRender) != 0){
+		List<MissionItemType> list = new LinkedList<MissionItemType>(Arrays.asList(MissionItemType
+				.values()));
+		if (mMissionProxy.getItems().indexOf(itemRender) != 0) {
 			list.remove(MissionItemType.TAKEOFF);
 		}
-		
-		if (mMissionProxy.getItems().indexOf(itemRender) != (mMissionProxy.getItems().size() - 1)){
+
+		if (mMissionProxy.getItems().indexOf(itemRender) != (mMissionProxy.getItems().size() - 1)) {
 			list.remove(MissionItemType.LAND);
 			list.remove(MissionItemType.RTL);
 		}
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionLandFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionLandFragment.java
index d85006dde0..ebc8f91610 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionLandFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionLandFragment.java
@@ -6,7 +6,7 @@
 import android.os.Bundle;
 import android.view.View;
 
-public class MissionLandFragment extends MissionDetailFragment{
+public class MissionLandFragment extends MissionDetailFragment {
 
 	@Override
 	protected int getResource() {
@@ -19,6 +19,4 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 		typeSpinner.setSelection(commandAdapter.getPosition(MissionItemType.LAND));
 	}
 
-	
-
 }
diff --git a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionSurveyFragment.java b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionSurveyFragment.java
index 418442358f..80f5c1bd1f 100644
--- a/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionSurveyFragment.java
+++ b/Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionSurveyFragment.java
@@ -6,11 +6,11 @@
 import org.droidplanner.android.proxy.mission.item.adapters.CamerasAdapter;
 import org.droidplanner.android.widgets.SeekBarWithText.SeekBarWithText;
 import org.droidplanner.android.widgets.spinners.SpinnerSelfSelect;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.mission.MissionItemType;
 import org.droidplanner.core.mission.survey.Survey;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.graphics.Color;
diff --git a/Android/src/org/droidplanner/android/utils/DroneHelper.java b/Android/src/org/droidplanner/android/utils/DroneHelper.java
index b09d85b0fc..7c1f9721e7 100644
--- a/Android/src/org/droidplanner/android/utils/DroneHelper.java
+++ b/Android/src/org/droidplanner/android/utils/DroneHelper.java
@@ -13,17 +13,17 @@ static public LatLng CoordToLatLang(Coord2D coord) {
 		return new LatLng(coord.getLat(), coord.getLng());
 	}
 
-    public static com.mapbox.mapboxsdk.geometry.LatLng CoordToLatLng(Coord2D coord){
-        return new com.mapbox.mapboxsdk.geometry.LatLng(coord.getLat(), coord.getLng());
-    }
+	public static com.mapbox.mapboxsdk.geometry.LatLng CoordToLatLng(Coord2D coord) {
+		return new com.mapbox.mapboxsdk.geometry.LatLng(coord.getLat(), coord.getLng());
+	}
 
 	public static Coord2D LatLngToCoord(LatLng point) {
 		return new Coord2D(point.latitude, point.longitude);
 	}
 
-    public static Coord2D ILatLngToCoord(ILatLng point){
-        return new Coord2D(point.getLatitude(), point.getLongitude());
-    }
+	public static Coord2D ILatLngToCoord(ILatLng point) {
+		return new Coord2D(point.getLatitude(), point.getLongitude());
+	}
 
 	public static Coord2D LocationToCoord(Location location) {
 		return new Coord2D(location.getLatitude(), location.getLongitude());
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java b/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
index 60156dac79..cfb30643ec 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/MissionReader.java
@@ -1,12 +1,5 @@
 package org.droidplanner.android.utils.file.IO;
 
-import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
-
-import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
-import org.droidplanner.android.utils.file.DirectoryPath;
-import org.droidplanner.android.utils.file.FileList;
-import org.droidplanner.android.utils.file.FileManager;
-
 import java.io.BufferedReader;
 import java.io.FileInputStream;
 import java.io.IOException;
@@ -14,6 +7,13 @@
 import java.util.ArrayList;
 import java.util.List;
 
+import org.droidplanner.android.dialogs.openfile.OpenFileDialog;
+import org.droidplanner.android.utils.file.DirectoryPath;
+import org.droidplanner.android.utils.file.FileList;
+import org.droidplanner.android.utils.file.FileManager;
+
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+
 /**
  * Read msg_mission_item list as...
  * 
diff --git a/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java b/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
index 076f37cbd6..5c5c645591 100644
--- a/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
+++ b/Android/src/org/droidplanner/android/utils/file/IO/MissionWriter.java
@@ -1,15 +1,15 @@
 package org.droidplanner.android.utils.file.IO;
 
-import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
-
-import org.droidplanner.android.utils.file.FileManager;
-import org.droidplanner.android.utils.file.FileStream;
-
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.util.List;
 import java.util.Locale;
 
+import org.droidplanner.android.utils.file.FileManager;
+import org.droidplanner.android.utils.file.FileStream;
+
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+
 /**
  * Write msg_mission_item list as...
  * 
@@ -54,7 +54,8 @@ private static void writeMissionItems(FileOutputStream out,
 
 			// write msg (TAB delimited)
 			out.write(String.format(Locale.ENGLISH,
-					"%d\t%d\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\n", i,
+					"%d\t%d\t%d\t%d\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%d\n",
+					i,
 					i == 0 ? 1 : 0, // set CURRENT_WP = 1 for 'home' - msg[0], 0
 									// for all others
 					msg.frame, msg.command, msg.param1, msg.param2, msg.param3, msg.param4, msg.x,
diff --git a/Android/src/org/droidplanner/android/utils/prefs/DroidPlannerPrefs.java b/Android/src/org/droidplanner/android/utils/prefs/DroidPlannerPrefs.java
index 7c5447c7cc..333d0fae4d 100644
--- a/Android/src/org/droidplanner/android/utils/prefs/DroidPlannerPrefs.java
+++ b/Android/src/org/droidplanner/android/utils/prefs/DroidPlannerPrefs.java
@@ -60,7 +60,7 @@ public String getDroneshareLogin() {
 
 	public void setDroneshareLogin(String b) {
 		prefs.edit().putString(context.getString(R.string.pref_dshare_username_key), b.trim())
-                .apply();
+				.apply();
 	}
 
 	public String getDroneshareEmail() {
@@ -77,7 +77,7 @@ public String getDronesharePassword() {
 
 	public void setDronesharePassword(String b) {
 		prefs.edit().putString(context.getString(R.string.pref_dshare_password_key), b.trim())
-                .apply();
+				.apply();
 	}
 
 	public boolean getDroneshareEnabled() {
@@ -258,18 +258,22 @@ public String getMapProviderName() {
 		return prefs.getString(context.getString(R.string.pref_maps_providers_key), null);
 	}
 
-	public Map<String,Boolean> getPeriodicSpeechPrefs(){
-		Map<String,Boolean> speechPrefs = new HashMap<String, Boolean>();
-		speechPrefs.put("battery voltage", prefs.getBoolean(context.getString(R.string.pref_tts_periodic_bat_volt_key),true));
-		speechPrefs.put("altitude", prefs.getBoolean(context.getString(R.string.pref_tts_periodic_alt_key),true));
-		speechPrefs.put("airspeed", prefs.getBoolean(context.getString(R.string.pref_tts_periodic_airspeed_key),true));
-		speechPrefs.put("rssi", prefs.getBoolean(context.getString(R.string.pref_tts_periodic_rssi_key),true));
+	public Map<String, Boolean> getPeriodicSpeechPrefs() {
+		Map<String, Boolean> speechPrefs = new HashMap<String, Boolean>();
+		speechPrefs.put("battery voltage",
+				prefs.getBoolean(context.getString(R.string.pref_tts_periodic_bat_volt_key), true));
+		speechPrefs.put("altitude",
+				prefs.getBoolean(context.getString(R.string.pref_tts_periodic_alt_key), true));
+		speechPrefs.put("airspeed",
+				prefs.getBoolean(context.getString(R.string.pref_tts_periodic_airspeed_key), true));
+		speechPrefs.put("rssi",
+				prefs.getBoolean(context.getString(R.string.pref_tts_periodic_rssi_key), true));
 		return speechPrefs;
 	}
 
-	public int getSpokenStatusInterval(){
-		return Integer.parseInt(prefs.getString(context.getString(R.string.pref_tts_periodic_period_key), null));
+	public int getSpokenStatusInterval() {
+		return Integer.parseInt(prefs.getString(
+				context.getString(R.string.pref_tts_periodic_period_key), null));
 	}
 
-
 }
diff --git a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarActionProvider.java b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarActionProvider.java
index b7ce24dfa9..2c7558bf23 100644
--- a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarActionProvider.java
+++ b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarActionProvider.java
@@ -8,9 +8,9 @@
 import org.droidplanner.android.widgets.actionProviders.InfoBarItem.HomeInfo;
 import org.droidplanner.android.widgets.actionProviders.InfoBarItem.PhoneExtraInfo;
 import org.droidplanner.android.widgets.actionProviders.InfoBarItem.SignalInfo;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.model.Drone;
 
 import android.content.Context;
 import android.view.ActionProvider;
@@ -77,65 +77,65 @@ public void setDrone(Drone drone) {
 		mDrone = drone;
 	}
 
-    @Override
-    public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
-        setDrone(drone);
-
-        boolean updateExtra = true;
-        switch (event) {
-            case BATTERY:
-                if (mBatteryInfo != null)
-                    mBatteryInfo.updateItemView(mContext, mDrone);
-                break;
-
-            case CONNECTED:
-                updateInfoBar();
-                updateExtra = false;
-                break;
-
-            case DISCONNECTED:
-                setDrone(null);
-                updateInfoBar();
-                updateExtra = false;
-                break;
-
-            case GPS_FIX:
-            case GPS_COUNT:
-                if (mGpsInfo != null)
-                    mGpsInfo.updateItemView(mContext, mDrone);
-                break;
-
-            case GPS:
-            case HOME:
-                if (mHomeInfo != null)
-                    mHomeInfo.updateItemView(mContext, mDrone);
-                break;
-
-            case RADIO:
-                if (mSignalInfo != null)
-                    mSignalInfo.updateItemView(mContext, mDrone);
-                break;
-
-            case STATE:
-                if (mFlightTimeInfo != null)
-                    mFlightTimeInfo.updateItemView(mContext, mDrone);
-                break;
-
-            case MODE:
-            case TYPE:
-                if (mFlightModesInfo != null)
-                    mFlightModesInfo.updateItemView(mContext, mDrone);
-                break;
-
-            default:
-                updateExtra = false;
-                break;
-        }
-
-        if (mPhoneExtraInfo != null && updateExtra) {
-            mPhoneExtraInfo.updateItemView(mContext, mDrone);
-        }
-    }
+	@Override
+	public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
+		setDrone(drone);
+
+		boolean updateExtra = true;
+		switch (event) {
+		case BATTERY:
+			if (mBatteryInfo != null)
+				mBatteryInfo.updateItemView(mContext, mDrone);
+			break;
+
+		case CONNECTED:
+			updateInfoBar();
+			updateExtra = false;
+			break;
+
+		case DISCONNECTED:
+			setDrone(null);
+			updateInfoBar();
+			updateExtra = false;
+			break;
+
+		case GPS_FIX:
+		case GPS_COUNT:
+			if (mGpsInfo != null)
+				mGpsInfo.updateItemView(mContext, mDrone);
+			break;
+
+		case GPS:
+		case HOME:
+			if (mHomeInfo != null)
+				mHomeInfo.updateItemView(mContext, mDrone);
+			break;
+
+		case RADIO:
+			if (mSignalInfo != null)
+				mSignalInfo.updateItemView(mContext, mDrone);
+			break;
+
+		case STATE:
+			if (mFlightTimeInfo != null)
+				mFlightTimeInfo.updateItemView(mContext, mDrone);
+			break;
+
+		case MODE:
+		case TYPE:
+			if (mFlightModesInfo != null)
+				mFlightModesInfo.updateItemView(mContext, mDrone);
+			break;
+
+		default:
+			updateExtra = false;
+			break;
+		}
+
+		if (mPhoneExtraInfo != null && updateExtra) {
+			mPhoneExtraInfo.updateItemView(mContext, mDrone);
+		}
+	}
 
 	/**
 	 * Go through the list of action bar item, and initialize their view.
diff --git a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
index 5b49ae2816..7152eca908 100644
--- a/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
+++ b/Android/src/org/droidplanner/android/widgets/actionProviders/InfoBarItem.java
@@ -133,11 +133,11 @@ public void updateItemView(final Context context, final Drone drone) {
 				if (drone == null) {
 					update = "--";
 				} else if (mAppPrefs.shouldGpsHdopBeDisplayed()) {
-					update = String.format(Locale.ENGLISH, "Satellite\n%d, %.1f",
-							drone.getGps().getSatCount(), drone.getGps().getGpsEPH());
+					update = String.format(Locale.ENGLISH, "Satellite\n%d, %.1f", drone.getGps()
+							.getSatCount(), drone.getGps().getGpsEPH());
 				} else {
-					update = String.format(Locale.ENGLISH, "Satellite\n%d, %s",
-							drone.getGps().getSatCount(), drone.getGps().getFixType());
+					update = String.format(Locale.ENGLISH, "Satellite\n%d, %s", drone.getGps()
+							.getSatCount(), drone.getGps().getFixType());
 				}
 
 				((TextView) mItemView).setText(update);
@@ -267,8 +267,8 @@ public BatteryInfo(Context context, View parentView, Drone drone) {
 		public void updateItemView(Context context, Drone drone) {
 			if (mItemView != null) {
 				String update = drone == null ? "--" : String.format(Locale.ENGLISH,
-						"%2.1fv\n%2.0f%%", drone.getBattery().getBattVolt(),
-						drone.getBattery().getBattRemain());
+						"%2.1fv\n%2.0f%%", drone.getBattery().getBattVolt(), drone.getBattery()
+								.getBattRemain());
 
 				((TextView) mItemView).setText(update);
 			}
@@ -352,13 +352,14 @@ public void updateItemView(Context context, final Drone drone) {
 				infoUpdate = String.format("%d%%", drone.getRadio().getSignalStrength());
 
 				mRssiView.setText(String.format("RSSI %2.0f dB", drone.getRadio().getRssi()));
-				mRemRssiView.setText(String.format("RemRSSI %2.0f dB", drone.getRadio().getRemRssi()));
+				mRemRssiView.setText(String.format("RemRSSI %2.0f dB", drone.getRadio()
+						.getRemRssi()));
 				mNoiseView.setText(String.format("Noise %2.0f dB", drone.getRadio().getNoise()));
-				mRemNoiseView
-						.setText(String.format("RemNoise %2.0f dB", drone.getRadio().getRemNoise()));
+				mRemNoiseView.setText(String.format("RemNoise %2.0f dB", drone.getRadio()
+						.getRemNoise()));
 				mFadeView.setText(String.format("Fade %2.0f dB", drone.getRadio().getFadeMargin()));
-				mRemFadeView.setText(String.format("RemFade %2.0f dB",
-						drone.getRadio().getRemFadeMargin()));
+				mRemFadeView.setText(String.format("RemFade %2.0f dB", drone.getRadio()
+						.getRemFadeMargin()));
 			}
 
 			mPopup.update();
@@ -438,7 +439,8 @@ public void updateItemView(final Context context, final Drone drone) {
 			}
 
 			if (mDrone != null)
-				modesSpinner.forcedSetSelection(mModeAdapter.getPosition(mDrone.getState().getMode()));
+				modesSpinner.forcedSetSelection(mModeAdapter.getPosition(mDrone.getState()
+						.getMode()));
 		}
 	}
 
diff --git a/Android/src/org/droidplanner/android/widgets/adapterViews/ParamsAdapter.java b/Android/src/org/droidplanner/android/widgets/adapterViews/ParamsAdapter.java
index 1a9bf88634..1d40b435a0 100644
--- a/Android/src/org/droidplanner/android/widgets/adapterViews/ParamsAdapter.java
+++ b/Android/src/org/droidplanner/android/widgets/adapterViews/ParamsAdapter.java
@@ -8,8 +8,8 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.utils.file.IO.ParameterMetadataMapReader;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.profiles.VehicleProfile;
+import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.parameters.Parameter;
 import org.droidplanner.core.parameters.ParameterMetadata;
 
@@ -134,13 +134,13 @@ public void loadParameters(Drone drone, List<Parameter> parameters) {
 
 	private void addParameter(Parameter parameter) {
 		try {
-            Parameter.checkParameterName(parameter.name);
+			Parameter.checkParameterName(parameter.name);
 
-            // paramters from AC 3.2 may contain duplicates - add only if unique
-            if(!containsParameterWithName(parameter.name))
-                add(new ParamsAdapterItem(parameter, getMetadata(parameter.name)));
+			// paramters from AC 3.2 may contain duplicates - add only if unique
+			if (!containsParameterWithName(parameter.name))
+				add(new ParamsAdapterItem(parameter, getMetadata(parameter.name)));
 
-        } catch (Exception ex) {
+		} catch (Exception ex) {
 			// eat it
 		}
 	}
@@ -155,15 +155,14 @@ public void loadMetadata(Drone drone) {
 		notifyDataSetChanged();
 	}
 
-    private boolean containsParameterWithName(String name)
-    {
-        final int count = getCount();
-        for(int i = 0; i < count; i++) {
-            if (name.equals(getItem(i).getParameter().name))
-                return true;
-        }
-        return false;
-    }
+	private boolean containsParameterWithName(String name) {
+		final int count = getCount();
+		for (int i = 0; i < count; i++) {
+			if (name.equals(getItem(i).getParameter().name))
+				return true;
+		}
+		return false;
+	}
 
 	private void loadMetadataInternal(Drone drone) {
 		metadataMap = null;
diff --git a/Android/src/org/droidplanner/android/widgets/checklist/CheckListSysLink.java b/Android/src/org/droidplanner/android/widgets/checklist/CheckListSysLink.java
index 5b5c59fff7..f7bf8446cb 100644
--- a/Android/src/org/droidplanner/android/widgets/checklist/CheckListSysLink.java
+++ b/Android/src/org/droidplanner/android/widgets/checklist/CheckListSysLink.java
@@ -1,9 +1,9 @@
 package org.droidplanner.android.widgets.checklist;
 
 import org.droidplanner.core.MAVLink.MavLinkArm;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.model.Drone;
 
 public class CheckListSysLink {
 	private Drone drone;
diff --git a/Android/src/org/droidplanner/android/widgets/viewPager/TabPageIndicator.java b/Android/src/org/droidplanner/android/widgets/viewPager/TabPageIndicator.java
index 21c5a30fc9..bf8244d221 100644
--- a/Android/src/org/droidplanner/android/widgets/viewPager/TabPageIndicator.java
+++ b/Android/src/org/droidplanner/android/widgets/viewPager/TabPageIndicator.java
@@ -85,7 +85,8 @@ public TabPageIndicator(Context context, AttributeSet attrs) {
 		setHorizontalScrollBarEnabled(false);
 
 		mTabLayout = new LinearLayout(getContext());
-		addView(mTabLayout, new ViewGroup.LayoutParams(WRAP_CONTENT, ViewGroup.LayoutParams.MATCH_PARENT));
+		addView(mTabLayout, new ViewGroup.LayoutParams(WRAP_CONTENT,
+				ViewGroup.LayoutParams.MATCH_PARENT));
 	}
 
 	public void setOnTabReselectedListener(OnTabReselectedListener listener) {
@@ -160,7 +161,8 @@ private void addTab(CharSequence text, int index) {
 		tabView.setOnClickListener(mTabClickListener);
 		tabView.setText(text);
 
-		mTabLayout.addView(tabView, new LinearLayout.LayoutParams(0, ViewGroup.LayoutParams.MATCH_PARENT, 1));
+		mTabLayout.addView(tabView, new LinearLayout.LayoutParams(0,
+				ViewGroup.LayoutParams.MATCH_PARENT, 1));
 	}
 
 	@Override
diff --git a/ChangeLog.md b/ChangeLog.md
index 120018a1fa..4f30fbc2fa 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -9,6 +9,10 @@ All the changes are logged below (preferable with the pull request numbers in pa
 
 # Releases
 
+## Droidplanner v2.7.1
+* Fix sporadic bug on logging code (#1000)
+* Fix problem on settings screen (#998)
+
 ## Droidplanner v2.7.0
 * Development of a desktop App (#982)
 * Periodic voice notifications (#996)
diff --git a/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java b/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
index 4b13870f72..5e1ba357f6 100644
--- a/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
+++ b/Core/src/org/droidplanner/core/MAVLink/MavLinkMsgHandler.java
@@ -1,7 +1,7 @@
 package org.droidplanner.core.MAVLink;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ApmModes;
 import com.MAVLink.Messages.MAVLinkMessage;
@@ -39,8 +39,8 @@ public void receiveData(MAVLinkMessage msg) {
 		switch (msg.msgid) {
 		case msg_attitude.MAVLINK_MSG_ID_ATTITUDE:
 			msg_attitude m_att = (msg_attitude) msg;
-			drone.getOrientation().setRollPitchYaw(m_att.roll * 180.0 / Math.PI, m_att.pitch * 180.0
-                    / Math.PI, m_att.yaw * 180.0 / Math.PI);
+			drone.getOrientation().setRollPitchYaw(m_att.roll * 180.0 / Math.PI,
+					m_att.pitch * 180.0 / Math.PI, m_att.yaw * 180.0 / Math.PI);
 			break;
 		case msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD:
 			msg_vfr_hud m_hud = (msg_vfr_hud) msg;
@@ -53,13 +53,15 @@ public void receiveData(MAVLinkMessage msg) {
 		case msg_nav_controller_output.MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
 			msg_nav_controller_output m_nav = (msg_nav_controller_output) msg;
 			drone.setDisttowpAndSpeedAltErrors(m_nav.wp_dist, m_nav.alt_error, m_nav.aspd_error);
-			drone.getNavigation().setNavPitchRollYaw(m_nav.nav_pitch, m_nav.nav_roll, m_nav.nav_bearing);
+			drone.getNavigation().setNavPitchRollYaw(m_nav.nav_pitch, m_nav.nav_roll,
+					m_nav.nav_bearing);
 			break;
 
 		case msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT:
 			msg_heartbeat msg_heart = (msg_heartbeat) msg;
 			drone.setType(msg_heart.type);
-			drone.getState().setIsFlying(((msg_heartbeat) msg).system_status==MAV_STATE.MAV_STATE_ACTIVE);
+			drone.getState().setIsFlying(
+					((msg_heartbeat) msg).system_status == MAV_STATE.MAV_STATE_ACTIVE);
 			processState(msg_heart);
 			ApmModes newMode = ApmModes.getMode(msg_heart.custom_mode, drone.getType());
 			drone.getState().setMode(newMode);
@@ -67,22 +69,23 @@ public void receiveData(MAVLinkMessage msg) {
 			break;
 
 		case msg_global_position_int.MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
-			drone.getGps().setPosition(new Coord2D(((msg_global_position_int) msg).lat / 1E7,
-                    ((msg_global_position_int) msg).lon / 1E7));
+			drone.getGps().setPosition(
+					new Coord2D(((msg_global_position_int) msg).lat / 1E7,
+							((msg_global_position_int) msg).lon / 1E7));
 			break;
 		case msg_sys_status.MAVLINK_MSG_ID_SYS_STATUS:
 			msg_sys_status m_sys = (msg_sys_status) msg;
-			drone.getBattery().setBatteryState(m_sys.voltage_battery / 1000.0, m_sys.battery_remaining,
-                    m_sys.current_battery / 100.0);
+			drone.getBattery().setBatteryState(m_sys.voltage_battery / 1000.0,
+					m_sys.battery_remaining, m_sys.current_battery / 100.0);
 			break;
 		case msg_radio.MAVLINK_MSG_ID_RADIO:
 			msg_radio m_radio = (msg_radio) msg;
 			drone.getRadio().setRadioState(m_radio.rxerrors, m_radio.fixed, m_radio.rssi,
-                    m_radio.remrssi, m_radio.txbuf, m_radio.noise, m_radio.remnoise);
+					m_radio.remrssi, m_radio.txbuf, m_radio.noise, m_radio.remnoise);
 			break;
 		case msg_gps_raw_int.MAVLINK_MSG_ID_GPS_RAW_INT:
 			drone.getGps().setGpsState(((msg_gps_raw_int) msg).fix_type,
-                    ((msg_gps_raw_int) msg).satellites_visible, ((msg_gps_raw_int) msg).eph);
+					((msg_gps_raw_int) msg).satellites_visible, ((msg_gps_raw_int) msg).eph);
 			break;
 		case msg_rc_channels_raw.MAVLINK_MSG_ID_RC_CHANNELS_RAW:
 			drone.getRC().setRcInputValues((msg_rc_channels_raw) msg);
@@ -91,10 +94,11 @@ public void receiveData(MAVLinkMessage msg) {
 			drone.getRC().setRcOutputValues((msg_servo_output_raw) msg);
 			break;
 		case msg_statustext.MAVLINK_MSG_ID_STATUSTEXT:
-			msg_statustext msg_statustext = (msg_statustext)msg;
+			msg_statustext msg_statustext = (msg_statustext) msg;
 			String message = msg_statustext.getText();
-			if(message.length()>7){
-				if(message.substring(0,7).equals("PreArm:")||message.substring(0,4).equals("Arm:")){
+			if (message.length() > 7) {
+				if (message.substring(0, 7).equals("PreArm:")
+						|| message.substring(0, 4).equals("Arm:")) {
 					drone.getState().setWarning(message);
 				}
 			}
@@ -109,13 +113,14 @@ public void processState(msg_heartbeat msg_heart) {
 
 	private void checkFailsafe(msg_heartbeat msg_heart) {
 		boolean failsafe2 = msg_heart.system_status == (byte) MAV_STATE.MAV_STATE_CRITICAL;
-		if(failsafe2){
+		if (failsafe2) {
 			drone.getState().setWarning("Failsafe");
 		}
 	}
 
 	private void checkArmState(msg_heartbeat msg_heart) {
 		drone.getState()
-				.setArmed((msg_heart.base_mode & (byte) MAV_MODE_FLAG.MAV_MODE_FLAG_SAFETY_ARMED) == (byte) MAV_MODE_FLAG.MAV_MODE_FLAG_SAFETY_ARMED);
+				.setArmed(
+						(msg_heart.base_mode & (byte) MAV_MODE_FLAG.MAV_MODE_FLAG_SAFETY_ARMED) == (byte) MAV_MODE_FLAG.MAV_MODE_FLAG_SAFETY_ARMED);
 	}
 }
diff --git a/Core/src/org/droidplanner/core/MAVLink/MavLinkParameters.java b/Core/src/org/droidplanner/core/MAVLink/MavLinkParameters.java
index 7ff4e93155..f7e686d46f 100644
--- a/Core/src/org/droidplanner/core/MAVLink/MavLinkParameters.java
+++ b/Core/src/org/droidplanner/core/MAVLink/MavLinkParameters.java
@@ -32,8 +32,8 @@ public static void readParameter(Drone drone, String name) {
 		msg.target_component = 1;
 		msg.setParam_Id(name);
 		drone.getMavClient().sendMavPacket(msg.pack());
-	}	
-	
+	}
+
 	public static void readParameter(Drone drone, int index) {
 		msg_param_request_read msg = new msg_param_request_read();
 		msg.target_system = 1;
diff --git a/Core/src/org/droidplanner/core/MAVLink/MavLinkROI.java b/Core/src/org/droidplanner/core/MAVLink/MavLinkROI.java
index 79e1d902a0..d7bb9a6eb4 100644
--- a/Core/src/org/droidplanner/core/MAVLink/MavLinkROI.java
+++ b/Core/src/org/droidplanner/core/MAVLink/MavLinkROI.java
@@ -1,7 +1,7 @@
 package org.droidplanner.core.MAVLink;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.helpers.coordinates.Coord3D;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ardupilotmega.msg_command_long;
 import com.MAVLink.Messages.enums.MAV_CMD;
diff --git a/Core/src/org/droidplanner/core/MAVLink/WaypointManager.java b/Core/src/org/droidplanner/core/MAVLink/WaypointManager.java
index 8777ddbb23..3d2f33e5ab 100644
--- a/Core/src/org/droidplanner/core/MAVLink/WaypointManager.java
+++ b/Core/src/org/droidplanner/core/MAVLink/WaypointManager.java
@@ -5,10 +5,10 @@
 import java.util.Timer;
 import java.util.TimerTask;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.OnTimeout;
 import org.droidplanner.core.drone.DroneInterfaces.OnWaypointManagerListener;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.MAVLinkMessage;
 import com.MAVLink.Messages.ardupilotmega.msg_mission_ack;
diff --git a/Core/src/org/droidplanner/core/drone/DroneImpl.java b/Core/src/org/droidplanner/core/drone/DroneImpl.java
index c84abadc2d..f2ae4a5f80 100644
--- a/Core/src/org/droidplanner/core/drone/DroneImpl.java
+++ b/Core/src/org/droidplanner/core/drone/DroneImpl.java
@@ -1,7 +1,5 @@
 package org.droidplanner.core.drone;
 
-import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
-
 import org.droidplanner.core.MAVLink.MAVLinkStreams;
 import org.droidplanner.core.MAVLink.WaypointManager;
 import org.droidplanner.core.drone.profiles.Parameters;
@@ -26,206 +24,208 @@
 import org.droidplanner.core.mission.Mission;
 import org.droidplanner.core.model.Drone;
 
+import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
+
 /**
  * Created by fhuya on 8/20/14.
  */
 public class DroneImpl implements Drone {
 
-    private final DroneEvents events = new DroneEvents(this);
-    private final Type type = new Type(this);
-    private VehicleProfile profile;
-    private final org.droidplanner.core.drone.variables.GPS GPS = new GPS(this);
-
-    private final org.droidplanner.core.drone.variables.RC RC = new RC(this);
-    private final Speed speed = new Speed(this);
-    private final Battery battery = new Battery(this);
-    private final Radio radio = new Radio(this);
-    private final Home home = new Home(this);
-    private final Mission mission = new Mission(this);
-    private final MissionStats missionStats = new MissionStats(this);
-    private final StreamRates streamRates = new StreamRates(this);
-    private final Altitude altitude = new Altitude(this);
-    private final Orientation orientation = new Orientation(this);
-    private final Navigation navigation = new Navigation(this);
-    private final GuidedPoint guidedPoint = new GuidedPoint(this);
-    private final Calibration calibrationSetup = new Calibration(this);
-    private final WaypointManager waypointManager = new WaypointManager(this);
-
-    private final State state;
-    private final HeartBeat heartbeat;
-    private final Parameters parameters;
-
-    private final MAVLinkStreams.MAVLinkOutputStream MavClient;
-    private final Preferences preferences;
-
-    public DroneImpl(MAVLinkStreams.MAVLinkOutputStream mavClient, DroneInterfaces.Clock clock,
-                  DroneInterfaces.Handler handler, Preferences pref) {
-        this.MavClient = mavClient;
-        this.preferences = pref;
-        state = new State(this, clock, handler);
-        heartbeat = new HeartBeat(this, handler);
-        parameters = new Parameters(this, handler);
-        loadVehicleProfile();
-    }
-
-    @Override
-    public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, double airSpeed,
-                                              double climb) {
-        this.altitude.setAltitude(altitude);
-        speed.setGroundAndAirSpeeds(groundSpeed, airSpeed, climb);
-        events.notifyDroneEvent(DroneInterfaces.DroneEventsType.SPEED);
-    }
-
-    @Override
-    public void setDisttowpAndSpeedAltErrors(double disttowp, double alt_error, double aspd_error) {
-        missionStats.setDistanceToWp(disttowp);
-        altitude.setAltitudeError(alt_error);
-        speed.setSpeedError(aspd_error);
-        events.notifyDroneEvent(DroneInterfaces.DroneEventsType.ORIENTATION);
-    }
-
-    @Override
-    public void addDroneListener(DroneInterfaces.OnDroneListener listener) {
-        events.addDroneListener(listener);
-    }
-
-    @Override
-    public void removeDroneListener(DroneInterfaces.OnDroneListener listener) {
-        events.removeDroneListener(listener);
-    }
-
-    @Override
-    public void notifyDroneEvent(DroneInterfaces.DroneEventsType event) {
-        events.notifyDroneEvent(event);
-    }
-
-    @Override
-    public GPS getGps() {
-        return GPS;
-    }
-
-    @Override
-    public int getMavlinkVersion() {
-        return heartbeat.getMavlinkVersion();
-    }
-
-    @Override
-    public void onHeartbeat(msg_heartbeat msg) {
-        heartbeat.onHeartbeat(msg);
-    }
-
-    @Override
-    public State getState() {
-        return state;
-    }
-
-    @Override
-    public Parameters getParameters() {
-        return parameters;
-    }
-
-    @Override
-    public void setType(int type) {
-        this.type.setType(type);
-    }
-
-    @Override
-    public int getType() {
-        return type.getType();
-    }
-
-    @Override
-    public FirmwareType getFirmwareType() {
-        return type.getFirmwareType();
-    }
-
-    @Override
-    public void loadVehicleProfile() {
-        preferences.loadVehicleProfile(getFirmwareType());
-    }
-
-    @Override
-    public VehicleProfile getVehicleProfile() {
-        return profile;
-    }
-
-    @Override
-    public MAVLinkStreams.MAVLinkOutputStream getMavClient() {
-        return MavClient;
-    }
-
-    @Override
-    public Preferences getPreferences() {
-        return preferences;
-    }
-
-    @Override
-    public WaypointManager getWaypointManager() {
-        return waypointManager;
-    }
-
-    @Override
-    public RC getRC() {
-        return RC;
-    }
-
-    @Override
-    public Speed getSpeed() {
-        return speed;
-    }
-
-    @Override
-    public Battery getBattery() {
-        return battery;
-    }
-
-    @Override
-    public Radio getRadio() {
-        return radio;
-    }
-
-    @Override
-    public Home getHome() {
-        return home;
-    }
-
-    @Override
-    public Mission getMission() {
-        return mission;
-    }
-
-    @Override
-    public MissionStats getMissionStats() {
-        return missionStats;
-    }
-
-    @Override
-    public StreamRates getStreamRates() {
-        return streamRates;
-    }
-
-    @Override
-    public Altitude getAltitude() {
-        return altitude;
-    }
-
-    @Override
-    public Orientation getOrientation() {
-        return orientation;
-    }
-
-    @Override
-    public Navigation getNavigation() {
-        return navigation;
-    }
-
-    @Override
-    public GuidedPoint getGuidedPoint() {
-        return guidedPoint;
-    }
-
-    @Override
-    public Calibration getCalibrationSetup() {
-        return calibrationSetup;
-    }
+	private final DroneEvents events = new DroneEvents(this);
+	private final Type type = new Type(this);
+	private VehicleProfile profile;
+	private final org.droidplanner.core.drone.variables.GPS GPS = new GPS(this);
+
+	private final org.droidplanner.core.drone.variables.RC RC = new RC(this);
+	private final Speed speed = new Speed(this);
+	private final Battery battery = new Battery(this);
+	private final Radio radio = new Radio(this);
+	private final Home home = new Home(this);
+	private final Mission mission = new Mission(this);
+	private final MissionStats missionStats = new MissionStats(this);
+	private final StreamRates streamRates = new StreamRates(this);
+	private final Altitude altitude = new Altitude(this);
+	private final Orientation orientation = new Orientation(this);
+	private final Navigation navigation = new Navigation(this);
+	private final GuidedPoint guidedPoint = new GuidedPoint(this);
+	private final Calibration calibrationSetup = new Calibration(this);
+	private final WaypointManager waypointManager = new WaypointManager(this);
+
+	private final State state;
+	private final HeartBeat heartbeat;
+	private final Parameters parameters;
+
+	private final MAVLinkStreams.MAVLinkOutputStream MavClient;
+	private final Preferences preferences;
+
+	public DroneImpl(MAVLinkStreams.MAVLinkOutputStream mavClient, DroneInterfaces.Clock clock,
+			DroneInterfaces.Handler handler, Preferences pref) {
+		this.MavClient = mavClient;
+		this.preferences = pref;
+		state = new State(this, clock, handler);
+		heartbeat = new HeartBeat(this, handler);
+		parameters = new Parameters(this, handler);
+		loadVehicleProfile();
+	}
+
+	@Override
+	public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, double airSpeed,
+			double climb) {
+		this.altitude.setAltitude(altitude);
+		speed.setGroundAndAirSpeeds(groundSpeed, airSpeed, climb);
+		events.notifyDroneEvent(DroneInterfaces.DroneEventsType.SPEED);
+	}
+
+	@Override
+	public void setDisttowpAndSpeedAltErrors(double disttowp, double alt_error, double aspd_error) {
+		missionStats.setDistanceToWp(disttowp);
+		altitude.setAltitudeError(alt_error);
+		speed.setSpeedError(aspd_error);
+		events.notifyDroneEvent(DroneInterfaces.DroneEventsType.ORIENTATION);
+	}
+
+	@Override
+	public void addDroneListener(DroneInterfaces.OnDroneListener listener) {
+		events.addDroneListener(listener);
+	}
+
+	@Override
+	public void removeDroneListener(DroneInterfaces.OnDroneListener listener) {
+		events.removeDroneListener(listener);
+	}
+
+	@Override
+	public void notifyDroneEvent(DroneInterfaces.DroneEventsType event) {
+		events.notifyDroneEvent(event);
+	}
+
+	@Override
+	public GPS getGps() {
+		return GPS;
+	}
+
+	@Override
+	public int getMavlinkVersion() {
+		return heartbeat.getMavlinkVersion();
+	}
+
+	@Override
+	public void onHeartbeat(msg_heartbeat msg) {
+		heartbeat.onHeartbeat(msg);
+	}
+
+	@Override
+	public State getState() {
+		return state;
+	}
+
+	@Override
+	public Parameters getParameters() {
+		return parameters;
+	}
+
+	@Override
+	public void setType(int type) {
+		this.type.setType(type);
+	}
+
+	@Override
+	public int getType() {
+		return type.getType();
+	}
+
+	@Override
+	public FirmwareType getFirmwareType() {
+		return type.getFirmwareType();
+	}
+
+	@Override
+	public void loadVehicleProfile() {
+		preferences.loadVehicleProfile(getFirmwareType());
+	}
+
+	@Override
+	public VehicleProfile getVehicleProfile() {
+		return profile;
+	}
+
+	@Override
+	public MAVLinkStreams.MAVLinkOutputStream getMavClient() {
+		return MavClient;
+	}
+
+	@Override
+	public Preferences getPreferences() {
+		return preferences;
+	}
+
+	@Override
+	public WaypointManager getWaypointManager() {
+		return waypointManager;
+	}
+
+	@Override
+	public RC getRC() {
+		return RC;
+	}
+
+	@Override
+	public Speed getSpeed() {
+		return speed;
+	}
+
+	@Override
+	public Battery getBattery() {
+		return battery;
+	}
+
+	@Override
+	public Radio getRadio() {
+		return radio;
+	}
+
+	@Override
+	public Home getHome() {
+		return home;
+	}
+
+	@Override
+	public Mission getMission() {
+		return mission;
+	}
+
+	@Override
+	public MissionStats getMissionStats() {
+		return missionStats;
+	}
+
+	@Override
+	public StreamRates getStreamRates() {
+		return streamRates;
+	}
+
+	@Override
+	public Altitude getAltitude() {
+		return altitude;
+	}
+
+	@Override
+	public Orientation getOrientation() {
+		return orientation;
+	}
+
+	@Override
+	public Navigation getNavigation() {
+		return navigation;
+	}
+
+	@Override
+	public GuidedPoint getGuidedPoint() {
+		return guidedPoint;
+	}
+
+	@Override
+	public Calibration getCalibrationSetup() {
+		return calibrationSetup;
+	}
 }
diff --git a/Core/src/org/droidplanner/core/drone/DroneInterfaces.java b/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
index 02b6075e3e..aa65d1c3d3 100644
--- a/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
+++ b/Core/src/org/droidplanner/core/drone/DroneInterfaces.java
@@ -98,8 +98,8 @@ public enum DroneEventsType {
 		HOME,
 
 		/**
-         * Broadcast to notify of updates to the drone's gps location.
-         */
+		 * Broadcast to notify of updates to the drone's gps location.
+		 */
 		GPS,
 
 		/**
@@ -173,14 +173,14 @@ public enum DroneEventsType {
 		MISSION_WP_UPDATE,
 
 		/**
-         * 'Follow' mode has been enabled.
-         */
+		 * 'Follow' mode has been enabled.
+		 */
 		FOLLOW_START,
 
-        /**
-         * 'Follow' mode has been disabled.
-         */
-        FOLLOW_STOP,
+		/**
+		 * 'Follow' mode has been disabled.
+		 */
+		FOLLOW_STOP,
 
 		/**
          * 
diff --git a/Core/src/org/droidplanner/core/drone/profiles/Parameters.java b/Core/src/org/droidplanner/core/drone/profiles/Parameters.java
index 33d83be598..61fe36cec9 100644
--- a/Core/src/org/droidplanner/core/drone/profiles/Parameters.java
+++ b/Core/src/org/droidplanner/core/drone/profiles/Parameters.java
@@ -5,12 +5,12 @@
 import java.util.List;
 
 import org.droidplanner.core.MAVLink.MavLinkParameters;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.parameters.Parameter;
 
 import com.MAVLink.Messages.MAVLinkMessage;
@@ -149,23 +149,23 @@ private void killWatchdog() {
 
 	@Override
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch(event){
+		switch (event) {
 		case HEARTBEAT_FIRST:
 			if (drone.getState().isFlying() == false) {
-				getAllParameters();				
+				getAllParameters();
 			}
-			break;		
+			break;
 		case DISCONNECTED:
 		case HEARTBEAT_TIMEOUT:
 			killWatchdog();
 			break;
 		default:
 			break;
-		
+
 		}
 	}
 
-    public void setParameterListener(DroneInterfaces.OnParameterManagerListener parameterListener) {
-        this.parameterListener = parameterListener;
-    }
+	public void setParameterListener(DroneInterfaces.OnParameterManagerListener parameterListener) {
+		this.parameterListener = parameterListener;
+	}
 }
diff --git a/Core/src/org/droidplanner/core/drone/variables/Altitude.java b/Core/src/org/droidplanner/core/drone/variables/Altitude.java
index 3fcc4bb409..98fa579237 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Altitude.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Altitude.java
@@ -1,7 +1,7 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 public class Altitude extends DroneVariable {
 	private double altitude = 0;
diff --git a/Core/src/org/droidplanner/core/drone/variables/Battery.java b/Core/src/org/droidplanner/core/drone/variables/Battery.java
index 553be30607..c2e2f17c61 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Battery.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Battery.java
@@ -1,8 +1,8 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 public class Battery extends DroneVariable {
 	private double battVolt = -1;
diff --git a/Core/src/org/droidplanner/core/drone/variables/Calibration.java b/Core/src/org/droidplanner/core/drone/variables/Calibration.java
index eebfdcb2c6..90dcc52a30 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Calibration.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Calibration.java
@@ -1,9 +1,9 @@
 package org.droidplanner.core.drone.variables;
 
 import org.droidplanner.core.MAVLink.MavLinkCalibration;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.MAVLinkMessage;
 import com.MAVLink.Messages.ardupilotmega.msg_statustext;
diff --git a/Core/src/org/droidplanner/core/drone/variables/GPS.java b/Core/src/org/droidplanner/core/drone/variables/GPS.java
index e270fe1be2..e0e5177566 100644
--- a/Core/src/org/droidplanner/core/drone/variables/GPS.java
+++ b/Core/src/org/droidplanner/core/drone/variables/GPS.java
@@ -1,9 +1,9 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.model.Drone;
 
 public class GPS extends DroneVariable {
 	public final static int LOCK_2D = 2;
diff --git a/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java b/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
index b9aacbc54e..287827fe1f 100644
--- a/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
+++ b/Core/src/org/droidplanner/core/drone/variables/GuidedPoint.java
@@ -1,12 +1,12 @@
 package org.droidplanner.core.drone.variables;
 
 import org.droidplanner.core.MAVLink.MavLinkModes;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ApmModes;
 
@@ -20,7 +20,7 @@ private enum GuidedStates {
 		UNINITIALIZED, IDLE, ACTIVE
 	}
 
-    public GuidedPoint(Drone myDrone) {
+	public GuidedPoint(Drone myDrone) {
 		super(myDrone);
 		myDrone.addDroneListener(this);
 	}
diff --git a/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java b/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
index c1251094e0..27649394af 100644
--- a/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
+++ b/Core/src/org/droidplanner/core/drone/variables/HeartBeat.java
@@ -1,10 +1,10 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
 
@@ -16,7 +16,7 @@ public class HeartBeat extends DroneVariable implements OnDroneListener {
 	public static final int INVALID_MAVLINK_VERSION = -1;
 
 	public HeartbeatState heartbeatState = HeartbeatState.FIRST_HEARTBEAT;
-    public int droneID = 1;
+	public int droneID = 1;
 
 	/**
 	 * Stores the version of the mavlink protocol.
diff --git a/Core/src/org/droidplanner/core/drone/variables/Home.java b/Core/src/org/droidplanner/core/drone/variables/Home.java
index 86d25bc637..e1a075eff8 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Home.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Home.java
@@ -1,12 +1,12 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.geoTools.GeoTools;
 import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
 import com.MAVLink.Messages.enums.MAV_CMD;
diff --git a/Core/src/org/droidplanner/core/drone/variables/MissionStats.java b/Core/src/org/droidplanner/core/drone/variables/MissionStats.java
index c16ca1d2ec..1dfcd3292b 100644
--- a/Core/src/org/droidplanner/core/drone/variables/MissionStats.java
+++ b/Core/src/org/droidplanner/core/drone/variables/MissionStats.java
@@ -1,9 +1,9 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 public class MissionStats extends DroneVariable {
 	private double distanceToWp = 0;
diff --git a/Core/src/org/droidplanner/core/drone/variables/Navigation.java b/Core/src/org/droidplanner/core/drone/variables/Navigation.java
index 83f4dae6e1..b2f527e6f3 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Navigation.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Navigation.java
@@ -1,8 +1,8 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 public class Navigation extends DroneVariable {
 
diff --git a/Core/src/org/droidplanner/core/drone/variables/Orientation.java b/Core/src/org/droidplanner/core/drone/variables/Orientation.java
index ec0259e2a0..20b82ea0c1 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Orientation.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Orientation.java
@@ -1,8 +1,8 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 public class Orientation extends DroneVariable {
 	private double roll = 0;
diff --git a/Core/src/org/droidplanner/core/drone/variables/RC.java b/Core/src/org/droidplanner/core/drone/variables/RC.java
index 77b6767b04..2d02e50621 100644
--- a/Core/src/org/droidplanner/core/drone/variables/RC.java
+++ b/Core/src/org/droidplanner/core/drone/variables/RC.java
@@ -1,8 +1,8 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ardupilotmega.msg_rc_channels_raw;
 import com.MAVLink.Messages.ardupilotmega.msg_servo_output_raw;
diff --git a/Core/src/org/droidplanner/core/drone/variables/Radio.java b/Core/src/org/droidplanner/core/drone/variables/Radio.java
index f4f6e97dcf..784cda7552 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Radio.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Radio.java
@@ -1,9 +1,9 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.math.MathUtil;
+import org.droidplanner.core.model.Drone;
 
 public class Radio extends DroneVariable {
 	private static final int MAX_FADE_MARGIN = 50;
diff --git a/Core/src/org/droidplanner/core/drone/variables/Speed.java b/Core/src/org/droidplanner/core/drone/variables/Speed.java
index 9583a9ccf3..fc53699561 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Speed.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Speed.java
@@ -1,13 +1,17 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 public class Speed extends DroneVariable {
-	private org.droidplanner.core.helpers.units.Speed verticalSpeed = new org.droidplanner.core.helpers.units.Speed(0);;
-	private org.droidplanner.core.helpers.units.Speed groundSpeed = new org.droidplanner.core.helpers.units.Speed(0);;
-	private org.droidplanner.core.helpers.units.Speed airSpeed = new org.droidplanner.core.helpers.units.Speed(0);;
-	private org.droidplanner.core.helpers.units.Speed targetSpeed = new org.droidplanner.core.helpers.units.Speed(0);
+	private org.droidplanner.core.helpers.units.Speed verticalSpeed = new org.droidplanner.core.helpers.units.Speed(
+			0);;
+	private org.droidplanner.core.helpers.units.Speed groundSpeed = new org.droidplanner.core.helpers.units.Speed(
+			0);;
+	private org.droidplanner.core.helpers.units.Speed airSpeed = new org.droidplanner.core.helpers.units.Speed(
+			0);;
+	private org.droidplanner.core.helpers.units.Speed targetSpeed = new org.droidplanner.core.helpers.units.Speed(
+			0);
 
 	public Speed(Drone myDrone) {
 		super(myDrone);
@@ -30,7 +34,8 @@ public org.droidplanner.core.helpers.units.Speed getTargetSpeed() {
 	}
 
 	public void setSpeedError(double aspd_error) {
-		targetSpeed = new org.droidplanner.core.helpers.units.Speed(aspd_error + airSpeed.valueInMetersPerSecond());
+		targetSpeed = new org.droidplanner.core.helpers.units.Speed(aspd_error
+				+ airSpeed.valueInMetersPerSecond());
 	}
 
 	public void setGroundAndAirSpeeds(double groundSpeed, double airSpeed, double climb) {
diff --git a/Core/src/org/droidplanner/core/drone/variables/State.java b/Core/src/org/droidplanner/core/drone/variables/State.java
index 5f9cae911f..2aa1d7be02 100644
--- a/Core/src/org/droidplanner/core/drone/variables/State.java
+++ b/Core/src/org/droidplanner/core/drone/variables/State.java
@@ -1,11 +1,11 @@
 package org.droidplanner.core.drone.variables;
 
 import org.droidplanner.core.MAVLink.MavLinkModes;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.Clock;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.DroneVariable;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ApmModes;
 
@@ -21,7 +21,7 @@ public class State extends DroneVariable {
 	private long startTime = 0;
 	private long elapsedFlightTime = 0;
 	private Clock clock;
-	
+
 	public Handler watchdog;
 	public Runnable watchdogCallback = new Runnable() {
 		@Override
@@ -33,11 +33,10 @@ public void run() {
 	public State(Drone myDrone, Clock clock, Handler handler) {
 		super(myDrone);
 		this.clock = clock;
-		this.watchdog=handler;
+		this.watchdog = handler;
 		resetFlightTimer();
 	}
 
-
 	public boolean isWarning() {
 		return !warning.equals("");
 	}
@@ -53,8 +52,8 @@ public boolean isFlying() {
 	public ApmModes getMode() {
 		return mode;
 	}
-	
-	public String getWarning(){
+
+	public String getWarning() {
 		return warning;
 	}
 
@@ -101,7 +100,7 @@ public void changeFlightMode(ApmModes mode) {
 			MavLinkModes.changeFlightMode(myDrone, mode);
 		}
 	}
-	
+
 	protected void removeWarning() {
 		setWarning("");
 	}
diff --git a/Core/src/org/droidplanner/core/drone/variables/StreamRates.java b/Core/src/org/droidplanner/core/drone/variables/StreamRates.java
index 391357445c..9f571f8fda 100644
--- a/Core/src/org/droidplanner/core/drone/variables/StreamRates.java
+++ b/Core/src/org/droidplanner/core/drone/variables/StreamRates.java
@@ -1,11 +1,11 @@
 package org.droidplanner.core.drone.variables;
 
 import org.droidplanner.core.MAVLink.MavLinkStreamRates;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.drone.Preferences.Rates;
+import org.droidplanner.core.model.Drone;
 
 public class StreamRates extends DroneVariable implements OnDroneListener {
 
@@ -29,9 +29,9 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 	public void setupStreamRatesFromPref() {
 		Rates rates = myDrone.getPreferences().getRates();
 
-		MavLinkStreamRates.setupStreamRates(myDrone.getMavClient(), rates.extendedStatus, rates.extra1,
-				rates.extra2, rates.extra3, rates.position, rates.rcChannels, rates.rawSensors,
-				rates.rawController);
+		MavLinkStreamRates.setupStreamRates(myDrone.getMavClient(), rates.extendedStatus,
+				rates.extra1, rates.extra2, rates.extra3, rates.position, rates.rcChannels,
+				rates.rawSensors, rates.rawController);
 	}
 
 }
diff --git a/Core/src/org/droidplanner/core/drone/variables/Type.java b/Core/src/org/droidplanner/core/drone/variables/Type.java
index 035cbfa718..a6a7ceacd5 100644
--- a/Core/src/org/droidplanner/core/drone/variables/Type.java
+++ b/Core/src/org/droidplanner/core/drone/variables/Type.java
@@ -1,9 +1,9 @@
 package org.droidplanner.core.drone.variables;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.firmware.FirmwareType;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.enums.MAV_TYPE;
 
@@ -27,31 +27,32 @@ public int getType() {
 		return type;
 	}
 
-    public FirmwareType getFirmwareType() {
-        if (myDrone.getMavClient().isConnected()) {
-            switch (this.type) {
-
-                case MAV_TYPE.MAV_TYPE_FIXED_WING:
-                    return FirmwareType.ARDU_PLANE;
-
-                case MAV_TYPE.MAV_TYPE_GENERIC:
-                case MAV_TYPE.MAV_TYPE_QUADROTOR:
-                case MAV_TYPE.MAV_TYPE_COAXIAL:
-                case MAV_TYPE.MAV_TYPE_HELICOPTER:
-                case MAV_TYPE.MAV_TYPE_HEXAROTOR:
-                case MAV_TYPE.MAV_TYPE_OCTOROTOR:
-                case MAV_TYPE.MAV_TYPE_TRICOPTER:
-                    return FirmwareType.ARDU_COPTER;
-
-                case MAV_TYPE.MAV_TYPE_GROUND_ROVER:
-                case MAV_TYPE.MAV_TYPE_SURFACE_BOAT:
-                    return FirmwareType.ARDU_ROVER;
-
-                default:
-                    // unsupported - fall thru to offline condition
-            }
-        }
-        return myDrone.getPreferences().getVehicleType(); // offline or unsupported
-    }
+	public FirmwareType getFirmwareType() {
+		if (myDrone.getMavClient().isConnected()) {
+			switch (this.type) {
+
+			case MAV_TYPE.MAV_TYPE_FIXED_WING:
+				return FirmwareType.ARDU_PLANE;
+
+			case MAV_TYPE.MAV_TYPE_GENERIC:
+			case MAV_TYPE.MAV_TYPE_QUADROTOR:
+			case MAV_TYPE.MAV_TYPE_COAXIAL:
+			case MAV_TYPE.MAV_TYPE_HELICOPTER:
+			case MAV_TYPE.MAV_TYPE_HEXAROTOR:
+			case MAV_TYPE.MAV_TYPE_OCTOROTOR:
+			case MAV_TYPE.MAV_TYPE_TRICOPTER:
+				return FirmwareType.ARDU_COPTER;
+
+			case MAV_TYPE.MAV_TYPE_GROUND_ROVER:
+			case MAV_TYPE.MAV_TYPE_SURFACE_BOAT:
+				return FirmwareType.ARDU_ROVER;
+
+			default:
+				// unsupported - fall thru to offline condition
+			}
+		}
+		return myDrone.getPreferences().getVehicleType(); // offline or
+															// unsupported
+	}
 
 }
\ No newline at end of file
diff --git a/Core/src/org/droidplanner/core/firmware/FirmwareType.java b/Core/src/org/droidplanner/core/firmware/FirmwareType.java
index 2ac45113ae..fed222c4ab 100644
--- a/Core/src/org/droidplanner/core/firmware/FirmwareType.java
+++ b/Core/src/org/droidplanner/core/firmware/FirmwareType.java
@@ -1,30 +1,28 @@
 package org.droidplanner.core.firmware;
 
 public enum FirmwareType {
-    ARDU_PLANE("ArduPlane"),
-    ARDU_COPTER("ArduCopter"),
-    ARDU_ROVER("ArduRover");
+	ARDU_PLANE("ArduPlane"), ARDU_COPTER("ArduCopter"), ARDU_ROVER("ArduRover");
 
-    private final String type;
+	private final String type;
 
-    FirmwareType(String type) {
-        this.type = type;
-    }
+	FirmwareType(String type) {
+		this.type = type;
+	}
 
-    @Override
-    public String toString() {
-        return type;
-    }
+	@Override
+	public String toString() {
+		return type;
+	}
 
-    public static FirmwareType firmwareFromString(String str) {
-        if (str.equalsIgnoreCase(ARDU_PLANE.type)) {
-            return ARDU_PLANE;
-        }
+	public static FirmwareType firmwareFromString(String str) {
+		if (str.equalsIgnoreCase(ARDU_PLANE.type)) {
+			return ARDU_PLANE;
+		}
 
-        if (str.equalsIgnoreCase(ARDU_ROVER.type)) {
-            return ARDU_ROVER;
-        } else {
-            return ARDU_COPTER;
-        }
-    }
+		if (str.equalsIgnoreCase(ARDU_ROVER.type)) {
+			return ARDU_ROVER;
+		} else {
+			return ARDU_COPTER;
+		}
+	}
 }
diff --git a/Core/src/org/droidplanner/core/gcs/follow/Follow.java b/Core/src/org/droidplanner/core/gcs/follow/Follow.java
index 02772aba1d..76382a3ca6 100644
--- a/Core/src/org/droidplanner/core/gcs/follow/Follow.java
+++ b/Core/src/org/droidplanner/core/gcs/follow/Follow.java
@@ -1,27 +1,27 @@
 package org.droidplanner.core.gcs.follow;
 
-import org.droidplanner.core.drone.variables.State;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
+import org.droidplanner.core.drone.variables.State;
 import org.droidplanner.core.gcs.follow.FollowAlgorithm.FollowModes;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.gcs.location.Location.LocationFinder;
 import org.droidplanner.core.gcs.location.Location.LocationReceiver;
 import org.droidplanner.core.gcs.roi.ROIEstimator;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ApmModes;
 
 public class Follow implements OnDroneListener, LocationReceiver {
 
-    //Set of return value for the 'toggleFollowMeState' method.
-    public static final int FOLLOW_INVALID_STATE = -1;
-    public static final int FOLLOW_DRONE_NOT_ARMED = -2;
-    public static final int FOLLOW_DRONE_DISCONNECTED = -3;
-    public static final int FOLLOW_START = 0;
-    public static final int FOLLOW_END = 1;
+	// Set of return value for the 'toggleFollowMeState' method.
+	public static final int FOLLOW_INVALID_STATE = -1;
+	public static final int FOLLOW_DRONE_NOT_ARMED = -2;
+	public static final int FOLLOW_DRONE_DISCONNECTED = -3;
+	public static final int FOLLOW_START = 0;
+	public static final int FOLLOW_END = 1;
 
 	private boolean followMeEnabled = false;
 	private Drone drone;
@@ -40,29 +40,26 @@ public Follow(Drone drone, Handler handler, LocationFinder locationFinder) {
 	}
 
 	public int toggleFollowMeState() {
-        final State droneState = drone.getState();
-        if(droneState == null){
-            return FOLLOW_INVALID_STATE;
-        }
+		final State droneState = drone.getState();
+		if (droneState == null) {
+			return FOLLOW_INVALID_STATE;
+		}
 
 		if (isEnabled()) {
 			disableFollowMe();
 			drone.getState().changeFlightMode(ApmModes.ROTOR_LOITER);
-            return FOLLOW_END;
-		}
-        else {
+			return FOLLOW_END;
+		} else {
 			if (drone.getMavClient().isConnected()) {
 				if (drone.getState().isArmed()) {
 					drone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
 					enableFollowMe();
-                    return FOLLOW_START;
+					return FOLLOW_START;
+				} else {
+					return FOLLOW_DRONE_NOT_ARMED;
 				}
-                else {
-                    return FOLLOW_DRONE_NOT_ARMED;
-				}
-			}
-            else {
-                return FOLLOW_DRONE_DISCONNECTED;
+			} else {
+				return FOLLOW_DRONE_DISCONNECTED;
 			}
 		}
 	}
@@ -70,14 +67,14 @@ public int toggleFollowMeState() {
 	private void enableFollowMe() {
 		locationFinder.enableLocationUpdates();
 		followMeEnabled = true;
-        drone.notifyDroneEvent(DroneEventsType.FOLLOW_START);
+		drone.notifyDroneEvent(DroneEventsType.FOLLOW_START);
 	}
 
 	private void disableFollowMe() {
-        locationFinder.disableLocationUpdates();
+		locationFinder.disableLocationUpdates();
 		if (followMeEnabled) {
 			followMeEnabled = false;
-            drone.notifyDroneEvent(DroneEventsType.FOLLOW_STOP);
+			drone.notifyDroneEvent(DroneEventsType.FOLLOW_STOP);
 		}
 	}
 
@@ -106,7 +103,7 @@ public Length getRadius() {
 
 	@Override
 	public void onLocationChanged(Location location) {
-		if(location.getAccuracy()<10.0){
+		if (location.getAccuracy() < 10.0) {
 			followAlgorithm.processNewLocation(location);
 		}
 		roiEstimator.onLocationChanged(location);
diff --git a/Core/src/org/droidplanner/core/gcs/follow/FollowAbove.java b/Core/src/org/droidplanner/core/gcs/follow/FollowAbove.java
index 965024db1c..89e457ea42 100644
--- a/Core/src/org/droidplanner/core/gcs/follow/FollowAbove.java
+++ b/Core/src/org/droidplanner/core/gcs/follow/FollowAbove.java
@@ -17,7 +17,7 @@ public FollowModes getType() {
 
 	@Override
 	public void processNewLocation(Location location) {
-			drone.getGuidedPoint().newGuidedCoord(location.getCoord());
+		drone.getGuidedPoint().newGuidedCoord(location.getCoord());
 	}
 
 }
diff --git a/Core/src/org/droidplanner/core/gcs/follow/FollowAlgorithm.java b/Core/src/org/droidplanner/core/gcs/follow/FollowAlgorithm.java
index ad2f9be8e6..3f60e27077 100644
--- a/Core/src/org/droidplanner/core/gcs/follow/FollowAlgorithm.java
+++ b/Core/src/org/droidplanner/core/gcs/follow/FollowAlgorithm.java
@@ -1,8 +1,8 @@
 package org.droidplanner.core.gcs.follow;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 public abstract class FollowAlgorithm {
 	public abstract void processNewLocation(Location location);
diff --git a/Core/src/org/droidplanner/core/gcs/follow/FollowLeash.java b/Core/src/org/droidplanner/core/gcs/follow/FollowLeash.java
index bb549d734c..7e25b94faf 100644
--- a/Core/src/org/droidplanner/core/gcs/follow/FollowLeash.java
+++ b/Core/src/org/droidplanner/core/gcs/follow/FollowLeash.java
@@ -1,10 +1,10 @@
 package org.droidplanner.core.gcs.follow;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.helpers.geoTools.GeoTools;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.model.Drone;
 
 public class FollowLeash extends FollowAlgorithm {
 
@@ -19,13 +19,12 @@ public FollowModes getType() {
 
 	@Override
 	public void processNewLocation(Location location) {
-		if (GeoTools.getDistance(location.getCoord(), drone.getGps().getPosition()).valueInMeters() >
-                radius
+		if (GeoTools.getDistance(location.getCoord(), drone.getGps().getPosition()).valueInMeters() > radius
 				.valueInMeters()) {
 			double headingGCStoDrone = GeoTools.getHeadingFromCoordinates(location.getCoord(),
 					drone.getGps().getPosition());
-			Coord2D goCoord = GeoTools.newCoordFromBearingAndDistance(location.getCoord(), headingGCStoDrone,
-					radius.valueInMeters());
+			Coord2D goCoord = GeoTools.newCoordFromBearingAndDistance(location.getCoord(),
+					headingGCStoDrone, radius.valueInMeters());
 			drone.getGuidedPoint().newGuidedCoord(goCoord);
 		}
 	}
diff --git a/Core/src/org/droidplanner/core/gcs/location/Location.java b/Core/src/org/droidplanner/core/gcs/location/Location.java
index d7662430dc..d00b4c57a7 100644
--- a/Core/src/org/droidplanner/core/gcs/location/Location.java
+++ b/Core/src/org/droidplanner/core/gcs/location/Location.java
@@ -2,8 +2,7 @@
 
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 
-
-public class Location{
+public class Location {
 
 	public interface LocationReceiver {
 		public void onLocationChanged(Location location);
@@ -11,17 +10,20 @@ public interface LocationReceiver {
 
 	public interface LocationFinder {
 		public void enableLocationUpdates();
+
 		public void disableLocationUpdates();
+
 		public void setLocationListner(LocationReceiver receiver);
 	}
-	
+
 	private Coord2D coordinate;
 	private double accuracy = 0.0;
-	
+
 	public Location(Coord2D coord2d) {
 		coordinate = coord2d;
 	}
-	public Location(Coord2D coord2d, double accuracy){
+
+	public Location(Coord2D coord2d, double accuracy) {
 		coordinate = coord2d;
 		this.accuracy = accuracy;
 	}
@@ -29,6 +31,9 @@ public Location(Coord2D coord2d, double accuracy){
 	public Coord2D getCoord() {
 		return coordinate;
 	}
-	public double getAccuracy() { return accuracy; }
+
+	public double getAccuracy() {
+		return accuracy;
+	}
 
 }
diff --git a/Core/src/org/droidplanner/core/gcs/roi/ROIEstimator.java b/Core/src/org/droidplanner/core/gcs/roi/ROIEstimator.java
index 56af2b3005..649e85bccc 100644
--- a/Core/src/org/droidplanner/core/gcs/roi/ROIEstimator.java
+++ b/Core/src/org/droidplanner/core/gcs/roi/ROIEstimator.java
@@ -1,13 +1,12 @@
 package org.droidplanner.core.gcs.roi;
 
 import org.droidplanner.core.MAVLink.MavLinkROI;
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.gcs.location.Location.LocationReceiver;
 import org.droidplanner.core.helpers.coordinates.Coord3D;
 import org.droidplanner.core.helpers.units.Altitude;
-
+import org.droidplanner.core.model.Drone;
 
 public class ROIEstimator implements LocationReceiver {
 	private Drone drone;
diff --git a/Core/src/org/droidplanner/core/helpers/coordinates/Coord2D.java b/Core/src/org/droidplanner/core/helpers/coordinates/Coord2D.java
index 09a958bb87..e1c2e50af7 100644
--- a/Core/src/org/droidplanner/core/helpers/coordinates/Coord2D.java
+++ b/Core/src/org/droidplanner/core/helpers/coordinates/Coord2D.java
@@ -37,9 +37,9 @@ public double getLat() {
 		return latitude;
 	}
 
-    public boolean isEmpty() {
-        return latitude == 0 || longitude == 0;
-    }
+	public boolean isEmpty() {
+		return latitude == 0 || longitude == 0;
+	}
 
 	@Override
 	public String toString() {
diff --git a/Core/src/org/droidplanner/core/helpers/geoTools/GeoTools.java b/Core/src/org/droidplanner/core/helpers/geoTools/GeoTools.java
index a1b6e78e70..76d1a8a0b8 100644
--- a/Core/src/org/droidplanner/core/helpers/geoTools/GeoTools.java
+++ b/Core/src/org/droidplanner/core/helpers/geoTools/GeoTools.java
@@ -109,7 +109,6 @@ public static Length get3DDistance(Coord3D end, Coord3D start) {
 		return MathUtil.hypot(horizontalDistance, altitudeDiff);
 	}
 
-
 	/**
 	 * Computes the heading between two coordinates
 	 * 
diff --git a/Core/src/org/droidplanner/core/helpers/geoTools/spline/SplinePath.java b/Core/src/org/droidplanner/core/helpers/geoTools/spline/SplinePath.java
index a20e4fe80b..bec524fbb0 100644
--- a/Core/src/org/droidplanner/core/helpers/geoTools/spline/SplinePath.java
+++ b/Core/src/org/droidplanner/core/helpers/geoTools/spline/SplinePath.java
@@ -22,8 +22,7 @@ public class SplinePath {
 	 * describing the spline path.
 	 * 
 	 * @param points
-	 *            map coordinates
-	 *            decimation factor
+	 *            map coordinates decimation factor
 	 * @return set of coordinates describing the spline path
 	 */
 	public static List<Coord2D> process(List<Coord2D> points) {
diff --git a/Core/src/org/droidplanner/core/helpers/math/MathUtil.java b/Core/src/org/droidplanner/core/helpers/math/MathUtil.java
index 46af40efe3..d2f4918bd7 100644
--- a/Core/src/org/droidplanner/core/helpers/math/MathUtil.java
+++ b/Core/src/org/droidplanner/core/helpers/math/MathUtil.java
@@ -35,6 +35,6 @@ public static double bisectAngle(double a, double b, double alpha) {
 	}
 
 	public static Length hypot(Length altDelta, Length distDelta) {
-		return new Length(Math.hypot(altDelta.valueInMeters(),distDelta.valueInMeters()));
+		return new Length(Math.hypot(altDelta.valueInMeters(), distDelta.valueInMeters()));
 	}
 }
diff --git a/Core/src/org/droidplanner/core/helpers/units/Speed.java b/Core/src/org/droidplanner/core/helpers/units/Speed.java
index 5c64ca7891..0bbebc8f90 100644
--- a/Core/src/org/droidplanner/core/helpers/units/Speed.java
+++ b/Core/src/org/droidplanner/core/helpers/units/Speed.java
@@ -18,7 +18,7 @@ public void set(double speedInMetersPerSecond) {
 	}
 
 	public String toStringInMetersPerSecond() {
-		return String.format(Locale.US, "%2.1f m/s", speedInMetersPerSecond);		
+		return String.format(Locale.US, "%2.1f m/s", speedInMetersPerSecond);
 	}
 
 	@Override
@@ -40,5 +40,4 @@ public boolean equals(Object o) {
 		return false;
 	}
 
-
 }
diff --git a/Core/src/org/droidplanner/core/mission/Mission.java b/Core/src/org/droidplanner/core/mission/Mission.java
index 29ab5b08c4..d4d235f7bf 100644
--- a/Core/src/org/droidplanner/core/mission/Mission.java
+++ b/Core/src/org/droidplanner/core/mission/Mission.java
@@ -4,7 +4,6 @@
 import java.util.Collections;
 import java.util.List;
 
-import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
 import org.droidplanner.core.helpers.geoTools.GeoTools;
@@ -18,6 +17,7 @@
 import org.droidplanner.core.mission.waypoints.SpatialCoordItem;
 import org.droidplanner.core.mission.waypoints.SplineWaypoint;
 import org.droidplanner.core.mission.waypoints.Waypoint;
+import org.droidplanner.core.model.Drone;
 
 import com.MAVLink.Messages.ardupilotmega.msg_mission_ack;
 import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
@@ -200,16 +200,16 @@ public void onMissionReceived(List<msg_mission_item> msgs) {
 		}
 	}
 
-    public void onMissionLoaded(List<msg_mission_item> msgs) {
-        if (msgs != null) {
-            myDrone.getHome().setHome(msgs.get(0));
-            msgs.remove(0); // Remove Home waypoint
-            items.clear();
-            items.addAll(processMavLinkMessages(msgs));
-            myDrone.notifyDroneEvent(DroneEventsType.MISSION_RECEIVED);
-            notifyMissionUpdate();
-        }
-    }
+	public void onMissionLoaded(List<msg_mission_item> msgs) {
+		if (msgs != null) {
+			myDrone.getHome().setHome(msgs.get(0));
+			msgs.remove(0); // Remove Home waypoint
+			items.clear();
+			items.addAll(processMavLinkMessages(msgs));
+			myDrone.notifyDroneEvent(DroneEventsType.MISSION_RECEIVED);
+			notifyMissionUpdate();
+		}
+	}
 
 	private List<MissionItem> processMavLinkMessages(List<msg_mission_item> msgs) {
 		List<MissionItem> received = new ArrayList<MissionItem>();
@@ -249,15 +249,15 @@ private List<MissionItem> processMavLinkMessages(List<msg_mission_item> msgs) {
 	 * Sends the mission to the drone using the mavlink protocol.
 	 */
 	public void sendMissionToAPM() {
-        myDrone.getWaypointManager().writeWaypoints(getMsgMissionItems());
+		myDrone.getWaypointManager().writeWaypoints(getMsgMissionItems());
 	}
 
-    public List<msg_mission_item> getMsgMissionItems() {
-        final List<msg_mission_item> data = new ArrayList<msg_mission_item>();
-        data.add(myDrone.getHome().packMavlink());
-        for (MissionItem item : items) {
-            data.addAll(item.packMissionItem());
-        }
-        return data;
-    }
+	public List<msg_mission_item> getMsgMissionItems() {
+		final List<msg_mission_item> data = new ArrayList<msg_mission_item>();
+		data.add(myDrone.getHome().packMavlink());
+		for (MissionItem item : items) {
+			data.addAll(item.packMissionItem());
+		}
+		return data;
+	}
 }
diff --git a/Core/src/org/droidplanner/core/mission/waypoints/Circle.java b/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
index fbb81328a2..0e6068663f 100644
--- a/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
+++ b/Core/src/org/droidplanner/core/mission/waypoints/Circle.java
@@ -36,7 +36,6 @@ public Circle(msg_mission_item msg, Mission mission) {
 	public void setTurns(int turns) {
 		this.turns = Math.abs(turns);
 	}
-	
 
 	public void setRadius(double radius) {
 		this.radius = Math.abs(radius);
diff --git a/Core/src/org/droidplanner/core/model/Drone.java b/Core/src/org/droidplanner/core/model/Drone.java
index 05d3c5d0c3..ccb7512a92 100644
--- a/Core/src/org/droidplanner/core/model/Drone.java
+++ b/Core/src/org/droidplanner/core/model/Drone.java
@@ -1,7 +1,5 @@
 package org.droidplanner.core.model;
 
-import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
-
 import org.droidplanner.core.MAVLink.MAVLinkStreams;
 import org.droidplanner.core.MAVLink.WaypointManager;
 import org.droidplanner.core.drone.DroneInterfaces;
@@ -25,68 +23,70 @@
 import org.droidplanner.core.firmware.FirmwareType;
 import org.droidplanner.core.mission.Mission;
 
+import com.MAVLink.Messages.ardupilotmega.msg_heartbeat;
+
 public interface Drone {
 
-    public void addDroneListener(DroneInterfaces.OnDroneListener listener);
+	public void addDroneListener(DroneInterfaces.OnDroneListener listener);
 
-    public void removeDroneListener(DroneInterfaces.OnDroneListener listener);
+	public void removeDroneListener(DroneInterfaces.OnDroneListener listener);
 
-    public void notifyDroneEvent(DroneInterfaces.DroneEventsType event);
+	public void notifyDroneEvent(DroneInterfaces.DroneEventsType event);
 
-    public GPS getGps();
+	public GPS getGps();
 
-    public int getMavlinkVersion();
+	public int getMavlinkVersion();
 
-    public void onHeartbeat(msg_heartbeat msg);
+	public void onHeartbeat(msg_heartbeat msg);
 
-    public State getState();
+	public State getState();
 
-    public Parameters getParameters();
+	public Parameters getParameters();
 
-    public void setType(int type);
+	public void setType(int type);
 
-    public int getType();
+	public int getType();
 
-    public FirmwareType getFirmwareType();
+	public FirmwareType getFirmwareType();
 
-    public void loadVehicleProfile();
+	public void loadVehicleProfile();
 
-    public VehicleProfile getVehicleProfile();
+	public VehicleProfile getVehicleProfile();
 
-    public MAVLinkStreams.MAVLinkOutputStream getMavClient();
+	public MAVLinkStreams.MAVLinkOutputStream getMavClient();
 
-    public Preferences getPreferences();
+	public Preferences getPreferences();
 
-    public WaypointManager getWaypointManager();
+	public WaypointManager getWaypointManager();
 
-    public Speed getSpeed();
+	public Speed getSpeed();
 
-    public Battery getBattery();
+	public Battery getBattery();
 
-    public Radio getRadio();
+	public Radio getRadio();
 
-    public Home getHome();
+	public Home getHome();
 
-    public Altitude getAltitude();
+	public Altitude getAltitude();
 
-    public Orientation getOrientation();
+	public Orientation getOrientation();
 
-    public Navigation getNavigation();
+	public Navigation getNavigation();
 
-    public Mission getMission();
+	public Mission getMission();
 
-    public StreamRates getStreamRates();
+	public StreamRates getStreamRates();
 
-    public MissionStats getMissionStats();
+	public MissionStats getMissionStats();
 
-    public GuidedPoint getGuidedPoint();
+	public GuidedPoint getGuidedPoint();
 
-    public Calibration getCalibrationSetup();
+	public Calibration getCalibrationSetup();
 
-    public RC getRC();
+	public RC getRC();
 
-    public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, double airSpeed,
-                                              double climb);
+	public void setAltitudeGroundAndAirSpeeds(double altitude, double groundSpeed, double airSpeed,
+			double climb);
 
-    public void setDisttowpAndSpeedAltErrors(double disttowp, double alt_error, double aspd_error);
+	public void setDisttowpAndSpeedAltErrors(double disttowp, double alt_error, double aspd_error);
 }
diff --git a/Core/src/org/droidplanner/core/parameters/Parameter.java b/Core/src/org/droidplanner/core/parameters/Parameter.java
index 77cdf01d83..b35d11f554 100644
--- a/Core/src/org/droidplanner/core/parameters/Parameter.java
+++ b/Core/src/org/droidplanner/core/parameters/Parameter.java
@@ -4,7 +4,7 @@
 
 import com.MAVLink.Messages.ardupilotmega.msg_param_value;
 
-public class Parameter{
+public class Parameter {
 
 	public String name;
 	public double value;
@@ -61,7 +61,7 @@ public static void checkParameterName(String name) throws Exception {
 		} else if (name.contains("FORMAT_VERSION")) {
 			throw new Exception("ExludedName");
 		} else {
-        }
+		}
 	}
 
 	public static DecimalFormat getFormat() {
diff --git a/Core/src/org/droidplanner/core/parameters/ParameterMetadata.java b/Core/src/org/droidplanner/core/parameters/ParameterMetadata.java
index 75b346b18a..2c4d78d5cb 100644
--- a/Core/src/org/droidplanner/core/parameters/ParameterMetadata.java
+++ b/Core/src/org/droidplanner/core/parameters/ParameterMetadata.java
@@ -5,7 +5,7 @@
 import java.util.LinkedHashMap;
 import java.util.Map;
 
-public class ParameterMetadata{
+public class ParameterMetadata {
 	public static final int RANGE_LOW = 0;
 	public static final int RANGE_HIGH = 1;
 
diff --git a/Core/src/org/droidplanner/core/polygon/Polygon.java b/Core/src/org/droidplanner/core/polygon/Polygon.java
index d77c9cfb9a..6384cde966 100644
--- a/Core/src/org/droidplanner/core/polygon/Polygon.java
+++ b/Core/src/org/droidplanner/core/polygon/Polygon.java
@@ -58,7 +58,7 @@ public void checkIfValid() throws Exception {
 		if (points.size() < 3) {
 			throw new InvalidPolygon(points.size());
 		} else {
-        }
+		}
 	}
 
 	public class InvalidPolygon extends Exception {
diff --git a/Core/test/org/droidplanner/core/helpers/geoTools/GeoToolsTest.java b/Core/test/org/droidplanner/core/helpers/geoTools/GeoToolsTest.java
index 903b25acf6..f624abef7a 100644
--- a/Core/test/org/droidplanner/core/helpers/geoTools/GeoToolsTest.java
+++ b/Core/test/org/droidplanner/core/helpers/geoTools/GeoToolsTest.java
@@ -20,7 +20,7 @@ public void testGetDistance() {
 		assertEquals(dist2DP1toP2, GeoTools.getDistance(p1, p2).valueInMeters(), tolerance);
 		assertEquals(dist2DP1toP2, GeoTools.getDistance(p2, p1).valueInMeters(), tolerance);
 	}
-	
+
 	public void testGet3DDistance() {
 		double tolerance = dist2DP1toP2 * 0.0005;
 		assertEquals(dist3DP1toP2, GeoTools.get3DDistance(p1, p2).valueInMeters(), tolerance);
diff --git a/Desktop/src/org/droidplanner/desktop/Application.java b/Desktop/src/org/droidplanner/desktop/Application.java
index fa57ad06a0..f4ee1c98b8 100644
--- a/Desktop/src/org/droidplanner/desktop/Application.java
+++ b/Desktop/src/org/droidplanner/desktop/Application.java
@@ -1,8 +1,8 @@
 package org.droidplanner.desktop;
 
 import org.droidplanner.desktop.logic.Logic;
-import org.droidplanner.desktop.ui.UI;
 import org.droidplanner.desktop.ui.Menu;
+import org.droidplanner.desktop.ui.UI;
 
 public class Application {
 
diff --git a/Desktop/src/org/droidplanner/desktop/communication/Connection.java b/Desktop/src/org/droidplanner/desktop/communication/Connection.java
index 3cbfa8d142..7dc5e70687 100644
--- a/Desktop/src/org/droidplanner/desktop/communication/Connection.java
+++ b/Desktop/src/org/droidplanner/desktop/communication/Connection.java
@@ -26,8 +26,7 @@ public Connection(int port) {
 	}
 
 	public byte[] readDataBlock() throws IOException {
-		DatagramPacket receivePacket = new DatagramPacket(receiveData,
-				receiveData.length);
+		DatagramPacket receivePacket = new DatagramPacket(receiveData, receiveData.length);
 		socket.receive(receivePacket);
 		length = receivePacket.getLength();
 		hostAdd = receivePacket.getAddress();
@@ -44,8 +43,8 @@ public void getUdpStream() throws SocketException {
 	public void sendBuffer(byte[] buffer) {
 		try {
 			if (hostAdd != null) {
-				DatagramPacket udpPacket = new DatagramPacket(buffer,
-						buffer.length, hostAdd, hostPort);
+				DatagramPacket udpPacket = new DatagramPacket(buffer, buffer.length, hostAdd,
+						hostPort);
 				socket.send(udpPacket);
 			}
 		} catch (IOException e) {
@@ -53,7 +52,6 @@ public void sendBuffer(byte[] buffer) {
 		}
 	}
 
-	
 	@Override
 	public void toggleConnectionState() {
 		// TODO Auto-generated method stub
@@ -71,6 +69,6 @@ public void queryConnectionState() {
 
 	@Override
 	public boolean isConnected() {
-		return hostAdd!=null;
+		return hostAdd != null;
 	}
 }
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java b/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
index d4fd2d5746..000ecfb797 100644
--- a/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
+++ b/Desktop/src/org/droidplanner/desktop/location/FakeLocation.java
@@ -29,11 +29,11 @@ public void enableLocationUpdates() {
 			@Override
 			public void run() {
 				long now = System.currentTimeMillis();
-				double dt = (now - lastTime)/1000.0;
+				double dt = (now - lastTime) / 1000.0;
 				lastTime = now;
-				if (((now/(90*1000))%2)==0) {
+				if (((now / (90 * 1000)) % 2) == 0) {
 					loc = GeoTools.newCoordFromBearingAndDistance(loc, 90, SPEED * dt);
-				}else{
+				} else {
 					loc = GeoTools.newCoordFromBearingAndDistance(loc, 90, -SPEED * dt);
 				}
 				receiver.onLocationChanged(new Location(loc));
diff --git a/Desktop/src/org/droidplanner/desktop/ui/Graph.java b/Desktop/src/org/droidplanner/desktop/ui/Graph.java
index a5b0368bc0..9f2aef47d8 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/Graph.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/Graph.java
@@ -11,7 +11,7 @@
 import org.droidplanner.core.model.Drone;
 import org.droidplanner.desktop.ui.widgets.GraphPanel;
 
-public class Graph implements OnDroneListener{
+public class Graph implements OnDroneListener {
 	public List<Double> data = new ArrayList<Double>();
 	public GraphPanel graph;
 
@@ -26,14 +26,14 @@ public Graph(String title) {
 
 	@Override
 	public void onDroneEvent(DroneEventsType event, Drone drone) {
-		switch (event) {		
+		switch (event) {
 		case SPEED:
 			data.add(drone.getSpeed().getGroundSpeed().valueInMetersPerSecond());
 			graph.repaint();
 			break;
 		default:
 			break;
-		}	
+		}
 	}
 
 	static void createGraph(org.droidplanner.core.model.Drone drone) {
@@ -41,5 +41,4 @@ static void createGraph(org.droidplanner.core.model.Drone drone) {
 		drone.addDroneListener(mGraph);
 	}
 
-	
 }
\ No newline at end of file
diff --git a/Desktop/src/org/droidplanner/desktop/ui/Map.java b/Desktop/src/org/droidplanner/desktop/ui/Map.java
index d47d09579b..4d890b2e72 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/Map.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/Map.java
@@ -38,7 +38,7 @@ public Map() {
 	}
 
 	@Override
-	public void onDroneEvent(DroneEventsType event, org.droidplanner.core.model.Drone  drone) {
+	public void onDroneEvent(DroneEventsType event, org.droidplanner.core.model.Drone drone) {
 		Coord2D position = drone.getGps().getPosition();
 		switch (event) {
 		case GPS:
@@ -69,9 +69,9 @@ public void onDroneEvent(DroneEventsType event, org.droidplanner.core.model.Dron
 			break;
 		default:
 			break;
-		}	
+		}
 	}
-	
+
 	static Map createMap(org.droidplanner.core.model.Drone drone) {
 		Map mMap = new Map();
 		drone.addDroneListener(mMap);
diff --git a/Desktop/src/org/droidplanner/desktop/ui/ParametersDialog.java b/Desktop/src/org/droidplanner/desktop/ui/ParametersDialog.java
index da3e3d6a13..df38bd8ac6 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/ParametersDialog.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/ParametersDialog.java
@@ -37,12 +37,11 @@ public ParametersDialog(ArrayList<Parameter> parameterList) {
 		frame.pack();
 		frame.setVisible(true);
 
-		if (parameterList!=null) {
-			
-		for (Parameter parameter : parameterList) {
-			tableModel.addRow(new String[] { parameter.name,
-					parameter.getValue() });
-		}
+		if (parameterList != null) {
+
+			for (Parameter parameter : parameterList) {
+				tableModel.addRow(new String[] { parameter.name, parameter.getValue() });
+			}
 		}
 	}
 }
diff --git a/Desktop/src/org/droidplanner/desktop/ui/TelemetryPanel.java b/Desktop/src/org/droidplanner/desktop/ui/TelemetryPanel.java
index 8ebe4475ed..c07d0db3e1 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/TelemetryPanel.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/TelemetryPanel.java
@@ -53,9 +53,9 @@ public void onDroneEvent(DroneEventsType event, org.droidplanner.core.model.Dron
 			labelLongitude.setText(LONGITUDE + position.getLng());
 			break;
 		case SPEED:
-			labelSpeed.setText(SPEED + drone.getSpeed().getGroundSpeed().toStringInMetersPerSecond());
-			labelAltitude.setText(ALTITUDE
-					+ new Length(drone.getAltitude().getAltitude()));
+			labelSpeed.setText(SPEED
+					+ drone.getSpeed().getGroundSpeed().toStringInMetersPerSecond());
+			labelAltitude.setText(ALTITUDE + new Length(drone.getAltitude().getAltitude()));
 			break;
 		case MODE:
 			labelMode.setText(MODE + drone.getState().getMode().toString());
diff --git a/Desktop/src/org/droidplanner/desktop/ui/UI.java b/Desktop/src/org/droidplanner/desktop/ui/UI.java
index 4fb8433d59..3e88c587b7 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/UI.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/UI.java
@@ -17,8 +17,8 @@ public UI(org.droidplanner.core.model.Drone drone) {
 		super("Map");
 		setSize(800, 600);
 		setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-		setLayout(new BorderLayout());		
-		
+		setLayout(new BorderLayout());
+
 		telemetryData = TelemetryPanel.createTelemetryPanel(drone);
 		telemetryData.setPreferredSize(new Dimension(200, 0));
 		add(telemetryData, BorderLayout.WEST);
diff --git a/Desktop/src/org/droidplanner/desktop/ui/widgets/GraphPanel.java b/Desktop/src/org/droidplanner/desktop/ui/widgets/GraphPanel.java
index bd9de9d06d..be5bd5f8ce 100644
--- a/Desktop/src/org/droidplanner/desktop/ui/widgets/GraphPanel.java
+++ b/Desktop/src/org/droidplanner/desktop/ui/widgets/GraphPanel.java
@@ -22,166 +22,176 @@
  * and open the template in the editor.
  */
 /**
- *
+ * 
  * @author Rodrigo
  */
 public class GraphPanel extends JPanel {
 	private static final long serialVersionUID = -1482667735083881060L;
-	
-    private int padding = 25;
-    private int labelPadding = 25;
-    private Color lineColor = new Color(44, 102, 230, 180);
-    private Color pointColor = new Color(100, 100, 100, 180);
-    private Color gridColor = new Color(200, 200, 200, 200);
-    private static final Stroke GRAPH_STROKE = new BasicStroke(2f);
-    private int pointWidth = 4;
-    private int numberYDivisions = 10;
-    private List<Double> scores;
-
-    public GraphPanel(List<Double> scores) {
-        this.scores = scores;
-    }
-
-    @Override
-    protected void paintComponent(Graphics g) {
-        super.paintComponent(g);
-        Graphics2D g2 = (Graphics2D) g;
-        g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
-
-        double xScale = ((double) getWidth() - (2 * padding) - labelPadding) / (scores.size() - 1);
-        double yScale = ((double) getHeight() - 2 * padding - labelPadding) / (getMaxScore() - getMinScore());
-
-        List<Point> graphPoints = new ArrayList<>();
-        for (int i = 0; i < scores.size(); i++) {
-            int x1 = (int) (i * xScale + padding + labelPadding);
-            int y1 = (int) ((getMaxScore() - scores.get(i)) * yScale + padding);
-            graphPoints.add(new Point(x1, y1));
-        }
-
-        // draw white background
-        g2.setColor(Color.WHITE);
-        g2.fillRect(padding + labelPadding, padding, getWidth() - (2 * padding) - labelPadding, getHeight() - 2 * padding - labelPadding);
-        g2.setColor(Color.BLACK);
-
-        // create hatch marks and grid lines for y axis.
-        for (int i = 0; i < numberYDivisions + 1; i++) {
-            int x0 = padding + labelPadding;
-            int x1 = pointWidth + padding + labelPadding;
-            int y0 = getHeight() - ((i * (getHeight() - padding * 2 - labelPadding)) / numberYDivisions + padding + labelPadding);
-            int y1 = y0;
-            if (scores.size() > 0) {
-                g2.setColor(gridColor);
-                g2.drawLine(padding + labelPadding + 1 + pointWidth, y0, getWidth() - padding, y1);
-                g2.setColor(Color.BLACK);
-                String yLabel = ((int) ((getMinScore() + (getMaxScore() - getMinScore()) * ((i * 1.0) / numberYDivisions)) * 100)) / 100.0 + "";
-                FontMetrics metrics = g2.getFontMetrics();
-                int labelWidth = metrics.stringWidth(yLabel);
-                g2.drawString(yLabel, x0 - labelWidth - 5, y0 + (metrics.getHeight() / 2) - 3);
-            }
-            g2.drawLine(x0, y0, x1, y1);
-        }
-
-        // and for x axis
-        for (int i = 0; i < scores.size(); i++) {
-            if (scores.size() > 1) {
-                int x0 = i * (getWidth() - padding * 2 - labelPadding) / (scores.size() - 1) + padding + labelPadding;
-                int x1 = x0;
-                int y0 = getHeight() - padding - labelPadding;
-                int y1 = y0 - pointWidth;
-                if ((i % ((int) ((scores.size() / 20.0)) + 1)) == 0) {
-                    g2.setColor(gridColor);
-                    g2.drawLine(x0, getHeight() - padding - labelPadding - 1 - pointWidth, x1, padding);
-                    g2.setColor(Color.BLACK);
-                    String xLabel = i + "";
-                    FontMetrics metrics = g2.getFontMetrics();
-                    int labelWidth = metrics.stringWidth(xLabel);
-                    g2.drawString(xLabel, x0 - labelWidth / 2, y0 + metrics.getHeight() + 3);
-                }
-                g2.drawLine(x0, y0, x1, y1);
-            }
-        }
-
-        // create x and y axes 
-        g2.drawLine(padding + labelPadding, getHeight() - padding - labelPadding, padding + labelPadding, padding);
-        g2.drawLine(padding + labelPadding, getHeight() - padding - labelPadding, getWidth() - padding, getHeight() - padding - labelPadding);
-
-        Stroke oldStroke = g2.getStroke();
-        g2.setColor(lineColor);
-        g2.setStroke(GRAPH_STROKE);
-        for (int i = 0; i < graphPoints.size() - 1; i++) {
-            int x1 = graphPoints.get(i).x;
-            int y1 = graphPoints.get(i).y;
-            int x2 = graphPoints.get(i + 1).x;
-            int y2 = graphPoints.get(i + 1).y;
-            g2.drawLine(x1, y1, x2, y2);
-        }
-
-        g2.setStroke(oldStroke);
-        g2.setColor(pointColor);
-        for (int i = 0; i < graphPoints.size(); i++) {
-            int x = graphPoints.get(i).x - pointWidth / 2;
-            int y = graphPoints.get(i).y - pointWidth / 2;
-            int ovalW = pointWidth;
-            int ovalH = pointWidth;
-            g2.fillOval(x, y, ovalW, ovalH);
-        }
-    }
-
-//    @Override
-//    public Dimension getPreferredSize() {
-//        return new Dimension(width, heigth);
-//    }
-
-    private double getMinScore() {
-        double minScore = Double.MAX_VALUE;
-        for (Double score : scores) {
-            minScore = Math.min(minScore, score);
-        }
-        return minScore;
-    }
-
-    private double getMaxScore() {
-        double maxScore = Double.MIN_VALUE;
-        for (Double score : scores) {
-            maxScore = Math.max(maxScore, score);
-        }
-        return maxScore;
-    }
-
-    public void setScores(List<Double> scores) {
-        this.scores = scores;
-        invalidate();
-        this.repaint();
-    }
-
-    public List<Double> getScores() {
-        return scores;
-    }
-    
-    private static void createAndShowGui() {
-        List<Double> scores = new ArrayList<>();
-        Random random = new Random();
-        int maxDataPoints = 40;
-        int maxScore = 10;
-        for (int i = 0; i < maxDataPoints; i++) {
-            scores.add((double) random.nextDouble() * maxScore);
-//            scores.add((double) i);
-        }
-        GraphPanel mainPanel = new GraphPanel(scores);
-        mainPanel.setPreferredSize(new Dimension(800, 600));
-        JFrame frame = new JFrame("DrawGraph");
-        frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
-        frame.getContentPane().add(mainPanel);
-        frame.pack();
-        frame.setLocationRelativeTo(null);
-        frame.setVisible(true);
-    }
-    
-    public static void main(String[] args) {
-      SwingUtilities.invokeLater(new Runnable() {
-         public void run() {
-            createAndShowGui();
-         }
-      });
-   }
+
+	private int padding = 25;
+	private int labelPadding = 25;
+	private Color lineColor = new Color(44, 102, 230, 180);
+	private Color pointColor = new Color(100, 100, 100, 180);
+	private Color gridColor = new Color(200, 200, 200, 200);
+	private static final Stroke GRAPH_STROKE = new BasicStroke(2f);
+	private int pointWidth = 4;
+	private int numberYDivisions = 10;
+	private List<Double> scores;
+
+	public GraphPanel(List<Double> scores) {
+		this.scores = scores;
+	}
+
+	@Override
+	protected void paintComponent(Graphics g) {
+		super.paintComponent(g);
+		Graphics2D g2 = (Graphics2D) g;
+		g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
+
+		double xScale = ((double) getWidth() - (2 * padding) - labelPadding) / (scores.size() - 1);
+		double yScale = ((double) getHeight() - 2 * padding - labelPadding)
+				/ (getMaxScore() - getMinScore());
+
+		List<Point> graphPoints = new ArrayList<>();
+		for (int i = 0; i < scores.size(); i++) {
+			int x1 = (int) (i * xScale + padding + labelPadding);
+			int y1 = (int) ((getMaxScore() - scores.get(i)) * yScale + padding);
+			graphPoints.add(new Point(x1, y1));
+		}
+
+		// draw white background
+		g2.setColor(Color.WHITE);
+		g2.fillRect(padding + labelPadding, padding, getWidth() - (2 * padding) - labelPadding,
+				getHeight() - 2 * padding - labelPadding);
+		g2.setColor(Color.BLACK);
+
+		// create hatch marks and grid lines for y axis.
+		for (int i = 0; i < numberYDivisions + 1; i++) {
+			int x0 = padding + labelPadding;
+			int x1 = pointWidth + padding + labelPadding;
+			int y0 = getHeight()
+					- ((i * (getHeight() - padding * 2 - labelPadding)) / numberYDivisions
+							+ padding + labelPadding);
+			int y1 = y0;
+			if (scores.size() > 0) {
+				g2.setColor(gridColor);
+				g2.drawLine(padding + labelPadding + 1 + pointWidth, y0, getWidth() - padding, y1);
+				g2.setColor(Color.BLACK);
+				String yLabel = ((int) ((getMinScore() + (getMaxScore() - getMinScore())
+						* ((i * 1.0) / numberYDivisions)) * 100))
+						/ 100.0 + "";
+				FontMetrics metrics = g2.getFontMetrics();
+				int labelWidth = metrics.stringWidth(yLabel);
+				g2.drawString(yLabel, x0 - labelWidth - 5, y0 + (metrics.getHeight() / 2) - 3);
+			}
+			g2.drawLine(x0, y0, x1, y1);
+		}
+
+		// and for x axis
+		for (int i = 0; i < scores.size(); i++) {
+			if (scores.size() > 1) {
+				int x0 = i * (getWidth() - padding * 2 - labelPadding) / (scores.size() - 1)
+						+ padding + labelPadding;
+				int x1 = x0;
+				int y0 = getHeight() - padding - labelPadding;
+				int y1 = y0 - pointWidth;
+				if ((i % ((int) ((scores.size() / 20.0)) + 1)) == 0) {
+					g2.setColor(gridColor);
+					g2.drawLine(x0, getHeight() - padding - labelPadding - 1 - pointWidth, x1,
+							padding);
+					g2.setColor(Color.BLACK);
+					String xLabel = i + "";
+					FontMetrics metrics = g2.getFontMetrics();
+					int labelWidth = metrics.stringWidth(xLabel);
+					g2.drawString(xLabel, x0 - labelWidth / 2, y0 + metrics.getHeight() + 3);
+				}
+				g2.drawLine(x0, y0, x1, y1);
+			}
+		}
+
+		// create x and y axes
+		g2.drawLine(padding + labelPadding, getHeight() - padding - labelPadding, padding
+				+ labelPadding, padding);
+		g2.drawLine(padding + labelPadding, getHeight() - padding - labelPadding, getWidth()
+				- padding, getHeight() - padding - labelPadding);
+
+		Stroke oldStroke = g2.getStroke();
+		g2.setColor(lineColor);
+		g2.setStroke(GRAPH_STROKE);
+		for (int i = 0; i < graphPoints.size() - 1; i++) {
+			int x1 = graphPoints.get(i).x;
+			int y1 = graphPoints.get(i).y;
+			int x2 = graphPoints.get(i + 1).x;
+			int y2 = graphPoints.get(i + 1).y;
+			g2.drawLine(x1, y1, x2, y2);
+		}
+
+		g2.setStroke(oldStroke);
+		g2.setColor(pointColor);
+		for (int i = 0; i < graphPoints.size(); i++) {
+			int x = graphPoints.get(i).x - pointWidth / 2;
+			int y = graphPoints.get(i).y - pointWidth / 2;
+			int ovalW = pointWidth;
+			int ovalH = pointWidth;
+			g2.fillOval(x, y, ovalW, ovalH);
+		}
+	}
+
+	// @Override
+	// public Dimension getPreferredSize() {
+	// return new Dimension(width, heigth);
+	// }
+
+	private double getMinScore() {
+		double minScore = Double.MAX_VALUE;
+		for (Double score : scores) {
+			minScore = Math.min(minScore, score);
+		}
+		return minScore;
+	}
+
+	private double getMaxScore() {
+		double maxScore = Double.MIN_VALUE;
+		for (Double score : scores) {
+			maxScore = Math.max(maxScore, score);
+		}
+		return maxScore;
+	}
+
+	public void setScores(List<Double> scores) {
+		this.scores = scores;
+		invalidate();
+		this.repaint();
+	}
+
+	public List<Double> getScores() {
+		return scores;
+	}
+
+	private static void createAndShowGui() {
+		List<Double> scores = new ArrayList<>();
+		Random random = new Random();
+		int maxDataPoints = 40;
+		int maxScore = 10;
+		for (int i = 0; i < maxDataPoints; i++) {
+			scores.add((double) random.nextDouble() * maxScore);
+			// scores.add((double) i);
+		}
+		GraphPanel mainPanel = new GraphPanel(scores);
+		mainPanel.setPreferredSize(new Dimension(800, 600));
+		JFrame frame = new JFrame("DrawGraph");
+		frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+		frame.getContentPane().add(mainPanel);
+		frame.pack();
+		frame.setLocationRelativeTo(null);
+		frame.setVisible(true);
+	}
+
+	public static void main(String[] args) {
+		SwingUtilities.invokeLater(new Runnable() {
+			public void run() {
+				createAndShowGui();
+			}
+		});
+	}
 }