diff --git a/Modules/CommandPad/commandpadmodule.ui b/Modules/CommandPad/commandpadmodule.ui
index 047d4fe9f757a618b539d8ca3cc064f67ed16c37..22df552507e82400f9cef6d186a5c3087f5bee24 100644
--- a/Modules/CommandPad/commandpadmodule.ui
+++ b/Modules/CommandPad/commandpadmodule.ui
@@ -6,628 +6,650 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>405</width>
+    <width>457</width>
     <height>980</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3" stretch="1,1,0,0,0,2,2,2,2">
+  <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
    <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string/>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="horizontalScrollBarPolicy">
+      <enum>Qt::ScrollBarAsNeeded</enum>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_5">
-      <item>
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string/>
-        </property>
-        <property name="pixmap">
-         <pixmap>:/img/logo.png</pixmap>
-        </property>
-        <property name="scaledContents">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QLabel" name="label">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>14</pointsize>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Ground Station</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string/>
-        </property>
-        <property name="pixmap">
-         <pixmap>:/img/hermes_patch.png</pixmap>
-        </property>
-        <property name="scaledContents">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_4">
-     <property name="title">
-      <string>Log</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_4">
-      <item>
-       <layout class="QHBoxLayout" name="toggle_button_layout">
-        <item>
-         <widget class="QLabel" name="label_4">
-          <property name="text">
-           <string>Start/Stop</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_4">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <widget class="QPushButton" name="closeLog_button">
-        <property name="text">
-         <string>CLOSE LOG</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_7">
-     <property name="title">
-      <string>Deployment</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <item row="1" column="1">
-       <widget class="QPushButton" name="boardReset_button">
-        <property name="text">
-         <string>BOARD RESET</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="resetDPLServo_button">
-        <property name="text">
-         <string>RESET DPL SERVO</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0">
-       <widget class="QPushButton" name="wiggleDPLServo_button">
-        <property name="text">
-         <string>WIGGLE DPL SERVO</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QPushButton" name="testMode_button">
-        <property name="text">
-         <string>TEST MODE</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_9">
-     <property name="title">
-      <string>Cutter</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <item row="1" column="0">
-       <widget class="QPushButton" name="testBackupCut_button">
-        <property name="text">
-         <string>TEST BACKUP CUT</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="testPrimaryCut_button">
-        <property name="text">
-         <string>TEST PRIMARY CUT</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QPushButton" name="primaryCut_button">
-        <property name="text">
-         <string>CUT PRIMARY</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QPushButton" name="backupCut_button">
-        <property name="text">
-         <string>CUT BACKUP</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_5">
-     <property name="title">
-      <string>Aerobrakes</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_5">
-      <item row="0" column="0">
-       <widget class="QPushButton" name="testAerobrakest_button">
-        <property name="text">
-         <string>TEST</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QPushButton" name="wiggleARBServo_button">
-        <property name="text">
-         <string>WIGGLE ARB SERVO</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="disableAerobrakes_button">
-        <property name="text">
-         <string>Disable</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QPushButton" name="resetARBServo_button">
-        <property name="text">
-         <string>RESET ARB SERVO</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="title">
-      <string>Calibration</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
+     <property name="widgetResizable">
+      <bool>true</bool>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <item>
-         <widget class="QLabel" name="label_5">
-          <property name="text">
-           <string>Deployment Altitude      </string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="deploymentAltitude_spinBox">
-          <property name="maximum">
-           <double>99999.990000000005239</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="deployAltitudeSet_button">
-          <property name="text">
-           <string>Set</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <item>
-         <widget class="QLabel" name="label_6">
-          <property name="text">
-           <string>Reference Temperature</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_2">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="refTemperature_spinBox">
-          <property name="maximum">
-           <double>99999.990000000005239</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="tempeatureSet_button">
-          <property name="text">
-           <string>Set</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
-        <item>
-         <widget class="QLabel" name="label_7">
-          <property name="text">
-           <string>Reference Altitude        </string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="referenceAltitude_spinBox">
-          <property name="maximum">
-           <double>99999.990000000005239</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="referenceAltitudeSet_button">
-          <property name="text">
-           <string>Set</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_6">
-        <item>
-         <widget class="QLabel" name="label_10">
-          <property name="text">
-           <string>Aerobrake Angle           </string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_5">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QDoubleSpinBox" name="aerobrakeAngle_spinBox">
-          <property name="maximum">
-           <double>99999.990000000005239</double>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="aerobrakeAngleSet_button">
-          <property name="text">
-           <string>Set</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QVBoxLayout" name="verticalLayout_4">
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_10">
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>435</width>
+        <height>958</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,1,1,1,3,1,1,1">
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string/>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
           <item>
-           <widget class="QPushButton" name="calibrateSensors_button">
+           <widget class="QLabel" name="label_2">
             <property name="text">
-             <string>SENSORS</string>
+             <string/>
+            </property>
+            <property name="pixmap">
+             <pixmap>:/img/logo.png</pixmap>
+            </property>
+            <property name="scaledContents">
+             <bool>true</bool>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="initialOrientationSet_pushButton">
+           <widget class="QLabel" name="label">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>14</pointsize>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
             <property name="text">
-             <string>Set initial orientation</string>
+             <string>Ground Station</string>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QPushButton" name="calibrateAlgos_button">
+           <widget class="QLabel" name="label_3">
             <property name="text">
-             <string>ALGOS</string>
+             <string/>
+            </property>
+            <property name="pixmap">
+             <pixmap>:/img/hermes_patch.png</pixmap>
+            </property>
+            <property name="scaledContents">
+             <bool>true</bool>
             </property>
            </widget>
           </item>
          </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_8">
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_4">
+         <property name="title">
+          <string>Log</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_4">
+          <item>
+           <layout class="QHBoxLayout" name="toggle_button_layout">
+            <item>
+             <widget class="QLabel" name="label_4">
+              <property name="text">
+               <string>Start/Stop</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_4">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+           </layout>
+          </item>
           <item>
-           <widget class="QLabel" name="label_12">
+           <widget class="QPushButton" name="closeLog_button">
+            <property name="text">
+             <string>CLOSE LOG</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_7">
+         <property name="title">
+          <string>Deployment</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="1" column="1">
+           <widget class="QPushButton" name="boardReset_button">
             <property name="text">
-             <string>Yaw</string>
+             <string>BOARD RESET</string>
             </property>
-            <property name="alignment">
-             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QPushButton" name="resetDPLServo_button">
+            <property name="text">
+             <string>RESET DPL SERVO</string>
             </property>
            </widget>
           </item>
-          <item>
-           <widget class="QDoubleSpinBox" name="initialOrientationYaw_spinBox">
-            <property name="maximum">
-             <double>99999.990000000005239</double>
+          <item row="0" column="0">
+           <widget class="QPushButton" name="wiggleDPLServo_button">
+            <property name="text">
+             <string>WIGGLE DPL SERVO</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="testMode_button">
+            <property name="text">
+             <string>TEST MODE</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_9">
+         <property name="title">
+          <string>Cutter</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="1" column="0">
+           <widget class="QPushButton" name="testBackupCut_button">
+            <property name="text">
+             <string>TEST BACKUP CUT</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QPushButton" name="testPrimaryCut_button">
+            <property name="text">
+             <string>TEST PRIMARY CUT</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="primaryCut_button">
+            <property name="text">
+             <string>CUT PRIMARY</string>
             </property>
            </widget>
           </item>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="backupCut_button">
+            <property name="text">
+             <string>CUT BACKUP</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>Aerobrakes</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_5">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="testAerobrakest_button">
+            <property name="text">
+             <string>TEST</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="wiggleARBServo_button">
+            <property name="text">
+             <string>WIGGLE ARB SERVO</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QPushButton" name="disableAerobrakes_button">
+            <property name="text">
+             <string>Disable</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QPushButton" name="resetARBServo_button">
+            <property name="text">
+             <string>RESET ARB SERVO</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_3">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="title">
+          <string>Calibration</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout">
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout">
+            <item>
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Deployment Altitude      </string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QDoubleSpinBox" name="deploymentAltitude_spinBox">
+              <property name="maximum">
+               <double>99999.990000000005239</double>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="deployAltitudeSet_button">
+              <property name="text">
+               <string>Set</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
           <item>
-           <widget class="QLabel" name="label_13">
+           <layout class="QHBoxLayout" name="horizontalLayout_2">
+            <item>
+             <widget class="QLabel" name="label_6">
+              <property name="text">
+               <string>Reference Temperature</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QDoubleSpinBox" name="refTemperature_spinBox">
+              <property name="maximum">
+               <double>99999.990000000005239</double>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="tempeatureSet_button">
+              <property name="text">
+               <string>Set</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <item>
+             <widget class="QLabel" name="label_7">
+              <property name="text">
+               <string>Reference Altitude        </string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_3">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QDoubleSpinBox" name="referenceAltitude_spinBox">
+              <property name="maximum">
+               <double>99999.990000000005239</double>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="referenceAltitudeSet_button">
+              <property name="text">
+               <string>Set</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_6">
+            <item>
+             <widget class="QLabel" name="label_10">
+              <property name="text">
+               <string>Aerobrake Angle           </string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <spacer name="horizontalSpacer_5">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>40</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item>
+             <widget class="QDoubleSpinBox" name="aerobrakeAngle_spinBox">
+              <property name="maximum">
+               <double>99999.990000000005239</double>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="aerobrakeAngleSet_button">
+              <property name="text">
+               <string>Set</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_4">
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_10">
+              <item>
+               <widget class="QPushButton" name="calibrateSensors_button">
+                <property name="text">
+                 <string>SENSORS</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="initialOrientationSet_pushButton">
+                <property name="text">
+                 <string>Set initial orientation</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="calibrateAlgos_button">
+                <property name="text">
+                 <string>ALGOS</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+            <item>
+             <layout class="QHBoxLayout" name="horizontalLayout_8">
+              <item>
+               <widget class="QLabel" name="label_12">
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="initialOrientationYaw_spinBox">
+                <property name="maximum">
+                 <double>99999.990000000005239</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_13">
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="initialOrientationPitch_spinBox">
+                <property name="maximum">
+                 <double>99999.990000000005239</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_14">
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="initialOrientationRoll_spinBox">
+                <property name="maximum">
+                 <double>99999.990000000005239</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_8">
+         <property name="title">
+          <string>Launch Control</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_4">
+          <item row="0" column="0">
+           <widget class="QPushButton" name="arm_button">
+            <property name="text">
+             <string>ARM</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QPushButton" name="forceInit_button">
+            <property name="text">
+             <string>FORCE INIT</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QPushButton" name="disarm_button">
             <property name="text">
-             <string>Pitch</string>
+             <string>DISARM</string>
             </property>
-            <property name="alignment">
-             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="forceLaunch_button">
+            <property name="text">
+             <string>FORCE LAUNCH</string>
             </property>
            </widget>
           </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_2">
+         <property name="title">
+          <string>Raw Event</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0,0,0">
           <item>
-           <widget class="QDoubleSpinBox" name="initialOrientationPitch_spinBox">
+           <widget class="QLabel" name="label_9">
+            <property name="text">
+             <string>Id</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSpinBox" name="rawEventId_spinBox">
             <property name="maximum">
-             <double>99999.990000000005239</double>
+             <number>99999</number>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QLabel" name="label_14">
+           <widget class="QLabel" name="label_8">
             <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+             <string>Topic</string>
             </property>
            </widget>
           </item>
           <item>
-           <widget class="QDoubleSpinBox" name="initialOrientationRoll_spinBox">
+           <widget class="QSpinBox" name="rawEventTopic_spinBox">
             <property name="maximum">
-             <double>99999.990000000005239</double>
+             <number>99999</number>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="rawEventSend_button">
+            <property name="text">
+             <string>Send</string>
             </property>
            </widget>
           </item>
          </layout>
-        </item>
-       </layout>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_8">
-     <property name="title">
-      <string>Launch Control</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_4">
-      <item row="0" column="0">
-       <widget class="QPushButton" name="arm_button">
-        <property name="text">
-         <string>ARM</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QPushButton" name="forceLaunch_button">
-        <property name="text">
-         <string>FORCE LAUNCH</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QPushButton" name="disarm_button">
-        <property name="text">
-         <string>DISARM</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QPushButton" name="forceInit_button">
-        <property name="text">
-         <string>FORCE INIT</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_6">
-     <property name="title">
-      <string>Flight</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <property name="checkable">
-      <bool>true</bool>
-     </property>
-     <property name="checked">
-      <bool>false</bool>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_3">
-      <item row="1" column="0">
-       <widget class="QPushButton" name="endMission_button">
-        <property name="minimumSize">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>END MISSION</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QPushButton" name="noseconeOpen_button">
-        <property name="minimumSize">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>NOSECONE OPEN</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QPushButton" name="cutDrogue_button">
-        <property name="minimumSize">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-        <property name="text">
-         <string>CUT DROGUE</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_2">
-     <property name="title">
-      <string>Raw Event</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0,0,0">
-      <item>
-       <widget class="QLabel" name="label_9">
-        <property name="text">
-         <string>Id</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QSpinBox" name="rawEventId_spinBox">
-        <property name="maximum">
-         <number>99999</number>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QLabel" name="label_8">
-        <property name="text">
-         <string>Topic</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QSpinBox" name="rawEventTopic_spinBox">
-        <property name="maximum">
-         <number>99999</number>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="rawEventSend_button">
-        <property name="text">
-         <string>Send</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_6">
+         <property name="title">
+          <string>Flight</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_3">
+          <item row="1" column="0">
+           <widget class="QPushButton" name="endMission_button">
+            <property name="minimumSize">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>END MISSION</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="noseconeOpen_button">
+            <property name="minimumSize">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>NOSECONE OPEN</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QPushButton" name="cutDrogue_button">
+            <property name="minimumSize">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>CUT DROGUE</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
   </layout>
diff --git a/Modules/CommandPad/telemetryrequestmodule.cpp b/Modules/CommandPad/telemetryrequestmodule.cpp
index 0afc0cc97945a39890af3262b30545655bedf3aa..97ff201932b4d556baf7dcd4fa33a341af6171b0 100644
--- a/Modules/CommandPad/telemetryrequestmodule.cpp
+++ b/Modules/CommandPad/telemetryrequestmodule.cpp
@@ -37,14 +37,10 @@ void TelemetryRequestModule::connectUI()
     connect(ui->fmm_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_FMM_TM_Clicked);
     connect(ui->logger_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_LOGGER_TM_Clicked);
     connect(ui->tmtc_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_TMTC_TM_Clicked);
-    connect(ui->sm_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_SM_TM_Clicked);
-    connect(ui->ign_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_IGN_TM_Clicked);
     connect(ui->dpl_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_DPL_TM_Clicked);
     connect(ui->ada_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_ADA_TM_Clicked);
     connect(ui->can_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_CAN_TM_Clicked);
     connect(ui->adc_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_ADC_TM_Clicked);
-    connect(ui->adis_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_ADIS_TM_Clicked);
-    connect(ui->mpu_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_MPU_TM_Clicked);
     connect(ui->gps_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_GPS_TM_Clicked);
     connect(ui->hr_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_HR_TM_Clicked);
     connect(ui->lr_tm_pushButton, &QPushButton::clicked, this, &TelemetryRequestModule::on_LR_TM_Clicked);
@@ -86,16 +82,6 @@ void TelemetryRequestModule::on_TMTC_TM_Clicked()
     send(createTmMessage("MAV_TMTC_TM_ID"));
 }
 
-void TelemetryRequestModule::on_SM_TM_Clicked()
-{
-    send(createTmMessage("MAV_SM_TM_ID"));
-}
-
-void TelemetryRequestModule::on_IGN_TM_Clicked()
-{
-    send(createTmMessage("MAV_IGN_TM_ID"));
-}
-
 void TelemetryRequestModule::on_DPL_TM_Clicked()
 {
     send(createTmMessage("MAV_DPL_TM_ID"));
@@ -116,16 +102,6 @@ void TelemetryRequestModule::on_ADC_TM_Clicked()
     send(createTmMessage("MAV_ADC_TM_ID"));
 }
 
-void TelemetryRequestModule::on_ADIS_TM_Clicked()
-{
-    send(createTmMessage("MAV_ADIS_TM_ID"));
-}
-
-void TelemetryRequestModule::on_MPU_TM_Clicked()
-{
-    send(createTmMessage("MAV_MPU_TM_ID"));
-}
-
 void TelemetryRequestModule::on_GPS_TM_Clicked()
 {
     send(createTmMessage("MAV_GPS_TM_ID"));
diff --git a/Modules/CommandPad/telemetryrequestmodule.h b/Modules/CommandPad/telemetryrequestmodule.h
index a6e004ab1a10082a9e94883808e689ee633ca3dc..9f59eb876217aac37040262361e630247a61e3f6 100644
--- a/Modules/CommandPad/telemetryrequestmodule.h
+++ b/Modules/CommandPad/telemetryrequestmodule.h
@@ -31,14 +31,10 @@ protected:
     void on_FMM_TM_Clicked();
     void on_LOGGER_TM_Clicked();
     void on_TMTC_TM_Clicked();
-    void on_SM_TM_Clicked();
-    void on_IGN_TM_Clicked();
     void on_DPL_TM_Clicked();
     void on_ADA_TM_Clicked();
     void on_CAN_TM_Clicked();
     void on_ADC_TM_Clicked();
-    void on_ADIS_TM_Clicked();
-    void on_MPU_TM_Clicked();
     void on_GPS_TM_Clicked();
     void on_HR_TM_Clicked();
     void on_LR_TM_Clicked();
diff --git a/Modules/CommandPad/telemetryrequestmodule.ui b/Modules/CommandPad/telemetryrequestmodule.ui
index 50a8db9779df6f649682da5f88448c45e320f495..d6ada9f2892468ce0d0b877dc68f048a84c8528d 100644
--- a/Modules/CommandPad/telemetryrequestmodule.ui
+++ b/Modules/CommandPad/telemetryrequestmodule.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>245</width>
-    <height>521</height>
+    <width>224</width>
+    <height>495</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -15,141 +15,135 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Telemetry Request</string>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="horizontalScrollBarPolicy">
+      <enum>Qt::ScrollBarAsNeeded</enum>
      </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
+     <property name="widgetResizable">
+      <bool>true</bool>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <widget class="QPushButton" name="sys_tm_pushButton">
-        <property name="text">
-         <string>SYS</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="fmm_tm_pushButton">
-        <property name="text">
-         <string>FMM</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="logger_tm_pushButton">
-        <property name="text">
-         <string>LOGGER</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="tmtc_tm_pushButton">
-        <property name="text">
-         <string>TMTC</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="sm_tm_pushButton">
-        <property name="text">
-         <string>SM</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="ign_tm_pushButton">
-        <property name="text">
-         <string>IGN</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="dpl_tm_pushButton">
-        <property name="text">
-         <string>DPL</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="ada_tm_pushButton">
-        <property name="text">
-         <string>ADA</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="can_tm_pushButton">
-        <property name="text">
-         <string>CAN</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="adc_tm_pushButton">
-        <property name="text">
-         <string>ADC</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="adis_tm_pushButton">
-        <property name="text">
-         <string>ADIS</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="mpu_tm_pushButton">
-        <property name="text">
-         <string>MPU</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="gps_tm_pushButton">
-        <property name="text">
-         <string>GPS</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="hr_tm_pushButton">
-        <property name="text">
-         <string>HR</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="lr_tm_pushButton">
-        <property name="text">
-         <string>LR</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="test_tm_pushButton">
-        <property name="text">
-         <string>TEST</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="windtunnel_tm_pushButton">
-        <property name="text">
-         <string>WIND-TUNNEL</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="sensors_tm_pushButton">
-        <property name="text">
-         <string>SENSORS</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>202</width>
+        <height>473</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="title">
+          <string>Telemetry Request</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_2">
+          <item>
+           <widget class="QPushButton" name="sys_tm_pushButton">
+            <property name="text">
+             <string>SYS</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="fmm_tm_pushButton">
+            <property name="text">
+             <string>FMM</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="logger_tm_pushButton">
+            <property name="text">
+             <string>LOGGER</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="tmtc_tm_pushButton">
+            <property name="text">
+             <string>TMTC</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="dpl_tm_pushButton">
+            <property name="text">
+             <string>DPL</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="ada_tm_pushButton">
+            <property name="text">
+             <string>ADA</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="can_tm_pushButton">
+            <property name="text">
+             <string>CAN</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="adc_tm_pushButton">
+            <property name="text">
+             <string>ADC</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="gps_tm_pushButton">
+            <property name="text">
+             <string>GPS</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="hr_tm_pushButton">
+            <property name="text">
+             <string>HR</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="lr_tm_pushButton">
+            <property name="text">
+             <string>LR</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="test_tm_pushButton">
+            <property name="text">
+             <string>TEST</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="windtunnel_tm_pushButton">
+            <property name="text">
+             <string>WIND-TUNNEL</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="sensors_tm_pushButton">
+            <property name="text">
+             <string>SENSORS</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
   </layout>
diff --git a/Modules/Mavlink/mavlink_skyward_lib b/Modules/Mavlink/mavlink_skyward_lib
index bfc4a996bed55463fd028e59f4d76ad52de6f2c2..190c10d9ed7dcf06a64b3370d83e83624cf446be 160000
--- a/Modules/Mavlink/mavlink_skyward_lib
+++ b/Modules/Mavlink/mavlink_skyward_lib
@@ -1 +1 @@
-Subproject commit bfc4a996bed55463fd028e59f4d76ad52de6f2c2
+Subproject commit 190c10d9ed7dcf06a64b3370d83e83624cf446be
diff --git a/Modules/Mavlink/mavlinkmodule.cpp b/Modules/Mavlink/mavlinkmodule.cpp
index 94dba2d597e43deb899c4f8c4449e3ba85c4ea85..bc87203a9a4bd7fa094c6ac0550dc6c6c4504b30 100644
--- a/Modules/Mavlink/mavlinkmodule.cpp
+++ b/Modules/Mavlink/mavlinkmodule.cpp
@@ -415,12 +415,6 @@ void MavlinkModule::onTelemetryRequestReceived(const ModuleMessage &msg)
     else if(arg == "MAV_TMTC_TM_ID"){
         encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_TMTC_TM_ID);
     }
-    else if(arg == "MAV_SM_TM_ID"){
-        encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_SM_TM_ID);
-    }
-    else if(arg == "MAV_IGN_TM_ID"){
-        encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_IGN_TM_ID);
-    }
     else if(arg == "MAV_DPL_TM_ID"){
         encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_DPL_TM_ID);
     }
@@ -433,12 +427,6 @@ void MavlinkModule::onTelemetryRequestReceived(const ModuleMessage &msg)
     else if(arg == "MAV_ADC_TM_ID"){
         encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_ADC_TM_ID);
     }
-    else if(arg == "MAV_ADIS_TM_ID"){
-        encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_ADIS_TM_ID);
-    }
-    else if(arg == "MAV_MPU_TM_ID"){
-        encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_MPU_TM_ID);
-    }
     else if(arg == "MAV_GPS_TM_ID"){
         encoded_mvl_msg = mavlinkCommandAdapter.encode_TELEMETRY_REQUEST_TC(MAV_GPS_TM_ID);
     }
diff --git a/Modules/StateViewer/stateviewermodule.cpp b/Modules/StateViewer/stateviewermodule.cpp
index e0b605629a1c693b29c16cb27cb093a70459d365..226cfa84a2cc88d1b02581836b7d803cf9dd62f8 100644
--- a/Modules/StateViewer/stateviewermodule.cpp
+++ b/Modules/StateViewer/stateviewermodule.cpp
@@ -5,15 +5,51 @@
 #include <QLineEdit>
 #include "Core/modulemessagesbroker.h"
 
+enum states {INIT = 1,
+             INIT_DONE = 2,
+             INIT_ERROR = 3,
+             TEST_MODE = 8,
+             SENSORS_CALIBRATION = 4,
+             ALGOS_CALIBRATION = 5,
+             DISARMED = 6,
+             ARMED = 7,
+             ASCENDING = 10,
+             DROGUE_DESCENT = 11,
+             TERMINAL_DESCENT = 12,
+             LANDED = 13
+            };
+
 StateViewerModule::StateViewerModule(QWidget *parent) : DefaultModule(parent), ui(new Ui::StateViewerModule)
 {
     ui->setupUi(this);
     defaultContextMenuSetup();
 
-    labes.append(ui->label_1);
-    labes.append(ui->label_2);
-    labes.append(ui->label_3);
-    labes.append(ui->label_4);
+    labels.append(ui->label_1_INIT);
+    labels.append(ui->label_2_TEST);
+    labels.append(ui->label_3_CALIBRATION);
+    labels.append(ui->label_4_DISARMED);
+    labels.append(ui->label_5_ARMED);
+    labels.append(ui->label_6_ASCENDING);
+    labels.append(ui->label_7_DROGUE);
+    labels.append(ui->label_8_TERMINAL);
+    labels.append(ui->label_9_END);
+
+
+    QMap<int, int>indexes{
+        {INIT , 0},
+        {INIT_ERROR , 0},
+        {INIT_DONE , 0},
+        {TEST_MODE , 1},
+        {SENSORS_CALIBRATION , 2},
+        {ALGOS_CALIBRATION , 2},
+        {DISARMED , 3 },
+        {ARMED , 4},
+        {ASCENDING , 5},
+        {DROGUE_DESCENT , 6},
+        {TERMINAL_DESCENT , 7},
+        {LANDED , 8},
+    };
+    labelsIndexes = indexes;
 }
 
 StateViewerModule::~StateViewerModule()
@@ -84,13 +120,55 @@ void StateViewerModule::onMsgReceived(const ModuleMessage &msg)
 
 void StateViewerModule::setState(int state)
 {
-    if(state>= 0 && state < labes.count()){
-        QString style = labes[state]->styleSheet();
-        style += "background-color:green;";
-        labes[state]->setStyleSheet(style);
+    if(state != currentState){
+        currentState = state;
+        updateView(state);
+    }
+}
+
+void StateViewerModule::updateView(int state)
+{
+    QString currentStateStyle = "background-color:yellow; color:black;";
+    QString completedStyle = "background-color:green;";
+    QString errorStyle = "background-color:red;";
+
+
+    if(state == INIT){
+        ui->label_1_INIT->setStyleSheet(currentStateStyle);
+    }
+    else if(state == INIT_DONE){
+        ui->label_1_INIT->setStyleSheet(completedStyle);
+    }
+    else if(state == INIT_ERROR){
+        ui->label_1_INIT->setStyleSheet(errorStyle);
+    }
+    else if(state > INIT_ERROR && labelsIndexes.contains(state)){
+        int index = labelsIndexes[state];
+        if(index < labels.count()){
+            labels[index]->setStyleSheet(currentStateStyle);
+        }
     }
 
+    if(labelsIndexes.contains(state)){
+        setStyleAfter(labelsIndexes[state]+1, "");
+        setStyleBefore(labelsIndexes[state]-1, completedStyle);
+    }
+}
+
+void StateViewerModule::setStyleAfter(int threshold, const QString &style)
+{
+    for (int i = threshold; i < labels.count(); i++ ) {
+        labels[i]->setStyleSheet(style);
+    }
 }
 
+void StateViewerModule::setStyleBefore(int threshold, const QString &style)
+{
+    for (int i = threshold; i >= 0 && i < labels.count(); i-- ) {
+        labels[i]->setStyleSheet(style);
+    }
+}
+
+
 
 
diff --git a/Modules/StateViewer/stateviewermodule.h b/Modules/StateViewer/stateviewermodule.h
index 2f4183fa4137f3956cbacd0cc1ad126ded61574c..6dcfbd9a79ecf6ca1780d2b366941a9bc39d0fa0 100644
--- a/Modules/StateViewer/stateviewermodule.h
+++ b/Modules/StateViewer/stateviewermodule.h
@@ -25,18 +25,25 @@ public:
     XmlObject toXmlObject() override;
     void fromXmlObject(const XmlObject &xmlObject) override;
 
+
 protected:
     void addCustomActionsToMenu() override;
     void onConfigureClicked();
     void setTopic(const QString &topic);
     void onMsgReceived(const ModuleMessage &msg);
     void setState(int state);
+    void updateView(int state);
+    void setStyleAfter(int threshold, const QString &style);
+    void setStyleBefore(int threshold, const QString &style);
 
 private:
     Ui::StateViewerModule *ui;
     QString inputTopic = "";
 
-    QList<QLabel*> labes;
+    QList<QLabel*> labels;
+
+    int currentState = -1;
+    QMap<int, int> labelsIndexes;
 };
 
 #endif // STATEVIEWERMODULE_H
diff --git a/Modules/StateViewer/stateviewermodule.ui b/Modules/StateViewer/stateviewermodule.ui
index f6adc5360d3b3774c67aa29305c1d1a06ed7e144..58c7abd166bdea2fb2d00cb78df33ad46c35ea5e 100644
--- a/Modules/StateViewer/stateviewermodule.ui
+++ b/Modules/StateViewer/stateviewermodule.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>975</width>
+    <height>225</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,8 +24,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>378</width>
-        <height>278</height>
+        <width>953</width>
+        <height>203</height>
        </rect>
       </property>
       <property name="styleSheet">
@@ -33,11 +33,21 @@
 color: white;</string>
       </property>
       <layout class="QGridLayout" name="gridLayout">
+       <item row="0" column="4">
+        <widget class="QLabel" name="label_5_ARMED">
+         <property name="text">
+          <string>ARMED</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
        <item row="0" column="1">
-        <widget class="QLabel" name="label_2">
+        <widget class="QLabel" name="label_2_TEST">
          <property name="text">
-          <string>Phase 2 
-Description</string>
+          <string>TEST
+MODE</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignCenter</set>
@@ -45,36 +55,76 @@ Description</string>
         </widget>
        </item>
        <item row="0" column="2">
-        <widget class="QLabel" name="label_3">
+        <widget class="QLabel" name="label_3_CALIBRATION">
          <property name="text">
-          <string>Phase 3 
-Description</string>
+          <string>CALIBRATION</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignCenter</set>
          </property>
         </widget>
        </item>
-       <item row="0" column="0">
-        <widget class="QLabel" name="label_1">
+       <item row="0" column="7">
+        <widget class="QLabel" name="label_8_TERMINAL">
+         <property name="text">
+          <string>TERMINAL
+DESCENT</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="5">
+        <widget class="QLabel" name="label_6_ASCENDING">
+         <property name="text">
+          <string>ASCENDING</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="3">
+        <widget class="QLabel" name="label_4_DISARMED">
          <property name="styleSheet">
           <string notr="true">border: 1px solid grey;
 color: white;</string>
          </property>
          <property name="text">
-          <string>Phase 1 
-Description</string>
+          <string>DISARMED</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignCenter</set>
          </property>
         </widget>
        </item>
-       <item row="0" column="3">
-        <widget class="QLabel" name="label_4">
+       <item row="0" column="6">
+        <widget class="QLabel" name="label_7_DROGUE">
+         <property name="text">
+          <string>DROGUE
+DESCENT</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="QLabel" name="label_1_INIT">
+         <property name="text">
+          <string>INIT</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="8">
+        <widget class="QLabel" name="label_9_END">
          <property name="text">
-          <string>Phase 4 
-Description</string>
+          <string>END
+MISSION</string>
          </property>
          <property name="alignment">
           <set>Qt::AlignCenter</set>
diff --git a/SkywardHub.pro.user b/SkywardHub.pro.user
index 486c89b6c8206f53f1684c8ea20597c2fabe0520..bca3057bfe05398764f23326620889aefacc4732 100644
--- a/SkywardHub.pro.user
+++ b/SkywardHub.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.14.2, 2021-07-24T14:29:40. -->
+<!-- Written by QtCreator 4.14.2, 2021-07-24T17:30:27. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -8,7 +8,7 @@
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
-  <value type="int">0</value>
+  <value type="int">1</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.EditorSettings</variable>
@@ -517,6 +517,7 @@
     <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    <value type="QString" key="RunConfiguration.WorkingDirectory.default">C:/Master/Progetti/Programmazione/Skyward/build-SkywardHub-Desktop_Qt_5_15_1_MinGW_32_bit-Debug</value>
    </valuemap>
    <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>