diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index d2d6d0caa..f9006afb9 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -3371,6 +3371,54 @@
     "fixedWingNavigationConfiguration": {
         "message": "Fixed Wing Navigation Settings"
     },
+    "fixedWingLandingConfiguration": {
+        "message": "Fixed Wing Landing Settings"
+    },
+    "MissionPlannerOnlyOneLandWp": {
+        "message": "You can set only one LAND Waypoint per mission."
+    },
+    "fwLandApproachLength" : {
+        "message": "Final approach length"
+    },
+    "fwLandApproachLengthHelp": {
+        "message": "Length of the final approach, also includes the glide and intercept phase. This is the length from the safe home point to the final turn point."
+    },
+    "fwLandFinalApproachPitch2throttle": {
+        "message": "Modifier for pitch to throttle ratio at final approach"
+    },
+    "fwLandFinalApproachPitch2throttleHelp": {
+        "message": "This value is multiplied by the \"pitch to throttle ratio\" value during the final approach. Allows the velocity to be reduced."
+    },
+    "fwLandGlideAlt" : {
+        "message": "Initial altitude of the glide phase"
+    },
+    "fwLandGlideAltHelp" : {
+        "message": "At this altitude (measured from the altitude of the landing point) the engine is switched off and the aircraft glides from here."
+    },
+    "fwLandFlareAlt" : {
+        "message": "Initial altitude of the flare phase"
+    },
+    "fwLandFlareAltHelp" : {
+        "message": "At this altitude (measured from the altitude of the landing point) the last phase of landing is executed."
+    },
+    "fwLandGlidePitch" : {
+        "message": "Pitch value for glide phase"
+    },
+    "fwLandGlidePitchHelp" : {
+        "message": "This pitch angle is held during the glide phase."
+    },
+    "fwLandFlarePitch" : {
+        "message": "Pitch value for flare phase"
+    },
+    "fwLandFlarePitchHelp" : {
+        "message": "This pitch angle is held during the flare phase."
+    },
+    "fwLandMaxTailwind": {
+        "message": "Max. tailwind"
+    },
+    "fwLandMaxTailwindHelp": {
+        "message": "This value is used when no headwind landing is possible and wind speeds below this value are ignored (inaccuracies in INAV wind measurement)."
+    },
     "osd_unsupported_msg1": {
         "message": "Your flight controller isn't responding to OSD commands. This probably means that it does not have an integrated OSD."
     },
@@ -4319,6 +4367,12 @@
     "SafehomeSafeRadius": {
         "message": "Safe Radius (m):"
     },
+    "SafehomeFwAppraoch": {
+        "message": "FW Approach:"
+    },
+    "safehomeEdit": {
+        "message": "Edit Safehome"
+    },
     "missionTitleHide": {
         "message": "Hide"
     },
@@ -4349,6 +4403,9 @@
     "missionTitleSaveEepromMission": {
         "message": "Save Eeprom mission"
     },
+    "missionTitleDelete": {
+        "message": "Delete"
+    },
     "missionTitleRemoveAll": {
         "message": "Remove all"
     },
@@ -4360,7 +4417,7 @@
     },
     "missionTitleAdd": {
         "message": "Add"
-    },
+    }, 
     "missionTitleMoveToCenterView": {
         "message": "move to center view"
     },
@@ -4373,6 +4430,60 @@
     "missionTitlEditMission": {
         "message": "Edit Mission"
     },
+    "MissionPlannerFwLAndingAltitudeChangeReset": {
+        "message": "Altitude below min land altitude. Change ignored" 
+    },
+    "missionWpType": {
+        "message": "Type:"
+    },
+    "missionWpLat": {
+        "message": "Lat:"
+    },
+    "missionWpLon": {
+        "message": "Lon:"
+    },
+    "missionSeaLevelRef": {
+        "message": "Sea level Ref: "
+    },
+    "missionElevation": {
+        "message": "Elevation (m):"
+    },
+    "missionNA": {
+        "message": "N/A"
+    },
+    "missionGroundDist": {
+        "message": "Grd Dist (m):"
+    },
+    "missionParameter1": {
+        "message": "Parameter 1:"
+    },
+    "missionParameter2": {
+        "message": "Parameter 2:"
+    },
+    "missionUserActions": {
+        "message": "User Actions:"
+    },
+    "missionFwLandingSettings": {
+        "message": "Fixed Wing landing settings:"
+    },
+    "missionFwApproachAlt": {
+        "message": "Approach Alt: (cm):"
+    },
+    "missionFwLandAlt": {
+        "message": "Land Alt: (cm):"
+    },
+    "missionFwApproachDir": {
+        "message": "Approach direction:"
+    },
+    "missionFwLandHeading1": {
+        "message": "Heading 1: (deg):"
+    },
+    "missionFwLandHeading2": {
+        "message": "Heading 2: (deg):"
+    },
+    "missionExclusive": {
+        "message": "Excl."
+    },
     "missionRTHsettingsTitle": {
         "message": "RTH settings"
     },
@@ -4388,6 +4499,12 @@
     "missionSafehomeHead": {
         "message": "Safe Home manager"
     },
+    "missionSafehomeAvailableSafehomes" : {
+        "message": "Available Safehomes:"
+    },
+    "missionSafehomeMaxSafehomesReached": {
+        "message": "Maximum number of safehomes reached."
+    },
     "missionMultiMissionHead": {
         "message": "Multi Missions"
     },
diff --git a/gulpfile.js b/gulpfile.js
index a7db937c5..889e78635 100644
--- a/gulpfile.js
+++ b/gulpfile.js
@@ -139,7 +139,9 @@ sources.js = [
     './js/libraries/plotly-latest.min.js',
     './js/sitl.js',
     './js/CliAutoComplete.js',
-    './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js'
+    './node_modules/jquery-textcomplete/dist/jquery.textcomplete.js',
+    './js/fwApproach.js',
+    './js/fwApproachCollection.js'
 ];
 
 sources.receiverCss = [
diff --git a/js/fc.js b/js/fc.js
index 639efe22e..bb95b3257 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -66,8 +66,9 @@ var CONFIG,
     CURRENT_METER_CONFIG,
     FEATURES,
     RATE_DYNAMICS,
-    OSD_CUSTOM_ELEMENTS
-;
+    FW_APPROACH,
+    OSD_CUSTOM_ELEMENTS;
+
 
 var FC = {
     restartRequired: false,
@@ -567,10 +568,14 @@ var FC = {
             expo: null
         };
 
+
+        FW_APPROACH = new FwApproachCollection();
+
         OSD_CUSTOM_ELEMENTS = {
            settings: {customElementsCount: 0, customElementTextSize: 0},
            items: [],
         };
+
     },
     getOutputUsages: function() {
         return {
@@ -1307,7 +1312,8 @@ var FC = {
                     37: "Rangefinder [cm]",
                     38: "Active MixerProfile",
                     39: "MixerTransition Active",
-                    40: "Yaw [deg]"
+                    40: "Yaw [deg]",
+                    41: "FW Land State"
                 }
             },
             3: {
diff --git a/js/fwApproach.js b/js/fwApproach.js
new file mode 100644
index 000000000..a2e32d21c
--- /dev/null
+++ b/js/fwApproach.js
@@ -0,0 +1,107 @@
+/*global $*/
+'use strict';
+
+const ApproachDirection = Object.freeze({
+    LEFT: 0,
+    RIGHT: 1,
+})
+
+let FwApproach = function (number, approachAltAsl = 0, landAltAsl = 0, approachDirection = 0, landHeading1 = 0, landHeading2 = 0, isSeaLevelRef = 0, elevation = 0) {
+
+    var self = {};
+
+    self.getNumber = function () {
+        return number;
+    };
+
+    self.setNumber = function (data) {
+        number = data;
+    };
+
+    self.getApproachAltAsl = function () {
+        return approachAltAsl;
+    }
+
+    self.setApproachAltAsl = function (data) {
+        approachAltAsl = data;
+    }
+
+    self.getLandAltAsl = function () {
+        return landAltAsl;
+    }
+
+    self.setLandAltAsl = function (data) {
+        landAltAsl = data;
+    }
+
+    self.getApproachDirection = function () {
+        return approachDirection;
+    }
+
+    self.setApproachDirection = function (data) {
+        approachDirection = data;
+    }
+
+    self.getLandHeading1 = function () {
+        return landHeading1;
+    }
+
+    self.setLandHeading1 = function (data) {
+        landHeading1 = data;
+    }
+
+    self.getLandHeading2 = function () {
+        return landHeading2;
+    }
+
+    self.setLandHeading2 = function (data) {
+        landHeading2 = data;
+    }
+
+    self.getIsSeaLevelRef = function () {
+        return isSeaLevelRef;
+    }
+
+    self.setIsSeaLevelRef = function (data) {
+        isSeaLevelRef = data;
+    }
+    
+    self.getElevation = function() {
+        return elevation;
+    }
+
+    self.setElevation = function (data) {
+        elevation = data;
+    }
+
+    self.cleanup = function () {
+        approachAltAsl = 0;
+        landAltAsl = 0;
+        approachDirection = 0;
+        landHeading1 = 0;
+        landHeading2 = 0;
+        isSeaLevelRef = 0;
+        elevation = 0
+    };
+
+    self.getElevationFromServer = async function (lon, lat, globalSettings) {
+        let elevation = "N/A";
+        if (globalSettings.mapProviderType == 'bing') {
+            let elevationEarthModel = $('#elevationEarthModel').prop("checked") ? "sealevel" : "ellipsoid";
+
+            const response = await fetch('http://dev.virtualearth.net/REST/v1/Elevation/List?points='+lat+','+lon+'&heights='+elevationEarthModel+'&key='+globalSettings.mapApiKey);
+            const myJson = await response.json();
+            elevation = myJson.resourceSets[0].resources[0].elevations[0];
+        }
+        else {
+            const response = await fetch('https://api.opentopodata.org/v1/aster30m?locations='+lat+','+lon);
+            const myJson = await response.json();
+            if (myJson.status == "OK" && myJson.results[0].elevation != null) {
+                elevation = myJson.results[0].elevation;
+            }
+        }
+        return elevation;
+    }
+
+    return self;
+};
diff --git a/js/fwApproachCollection.js b/js/fwApproachCollection.js
new file mode 100644
index 000000000..49da60e6a
--- /dev/null
+++ b/js/fwApproachCollection.js
@@ -0,0 +1,92 @@
+'use strict';
+
+let FwApproachCollection = function () {
+
+    let self = {},
+        data = [],
+        maxFwApproachCount = 17;
+
+    self.setMaxFwApproachCount = function (value) {
+        maxFwApproachCount = value;
+    };
+
+    self.getMaxFwApproachCount = function () {
+        return maxFwApproachCount;
+    }
+
+    self.put = function (element) {
+        element.setNumber(data.length);
+        data.push(element);
+    };
+
+    self.get = function () {
+        return data;
+    };
+    
+    self.clean = function (index){
+        data[index].cleanup();
+    };
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.isEmpty = () => {
+        return data.length == 0;
+    };
+
+    self.fwApproachCount = () => {
+        return data.length;
+    }
+
+    self.drop = (idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() - 1);
+            }
+        });   
+        data.splice(idx, 1);
+    }
+
+    self.insert = (fwApprach, idx) => {
+        data.forEach(f => {
+            if (f.getNumber() >= idx) {
+                f.setNumber(f.getNumber() + 1);
+            }
+        });
+        data.splice(idx, 0, fwApprach);
+    }
+        
+    self.updateFwApproach = function(newFwApproach) {
+        data[newFwApproach.getNumber()] = newFwApproach;
+    };
+    
+    self.extractBuffer = function(fwApproachId) {
+        let buffer = [];
+        let fwApproach = data[fwApproachId];
+        if (fwApproachId < self.fwApproachCount()) {    
+            buffer.push(fwApproach.getNumber());    // sbufReadU8(src);    // number
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getApproachAltAsl(), 3));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 0));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 1));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 2));
+            buffer.push(specificByte(fwApproach.getLandAltAsl(), 3));
+            buffer.push(fwApproach.getApproachDirection());
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading1(), 1));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 0));
+            buffer.push(specificByte(fwApproach.getLandHeading2(), 1));
+            buffer.push(fwApproach.getIsSeaLevelRef());
+        } else {
+            buffer = Array(15).fill(0);
+            buffer[0] = safehomeId;
+        }
+        
+        return buffer;
+    } 
+
+    return self;
+};
diff --git a/js/helpers.js b/js/helpers.js
index 914fbbaa6..237078688 100644
--- a/js/helpers.js
+++ b/js/helpers.js
@@ -1,6 +1,7 @@
 /*global $*/
 'use strict';
 
+
 function checkChromeRuntimeError() {
     if (chrome.runtime.lastError) {
         console.error(
@@ -65,3 +66,51 @@ function scaleRangeInt(x, srcMin, srcMax, destMin, destMax) {
     let b = srcMax - srcMin;
     return Math.round((a / b) + destMin);
 }
+
+function distanceOnLine(start, end, distance)
+{
+    var vx = end[0] - start[0];
+    var vy = end[1] - start[1];
+    var mag = Math.sqrt(vx * vx + vy * vy);
+    vx /= mag;
+    vy /= mag;
+
+    var px = start[0] + vx * (mag + distance);
+    var py = start[1] + vy * (mag + distance);
+
+    return [px, py]; 
+}
+
+function wrap_360(angle)
+{
+    if (angle >= 360)
+        angle -= 360;
+    if (angle < 0)
+        angle += 360;
+    return angle;
+}
+
+function rad2Deg(rad) 
+{
+	return rad * (180 / Math.PI);
+}
+
+function deg2Rad(deg)
+{
+	return deg * (Math.PI / 180);
+}
+
+function calculate_new_cooridatnes(coord, bearing, distance)
+{
+    var lat = deg2Rad(coord.lat);
+    var lon = deg2Rad(coord.lon);
+    bearing = deg2Rad(bearing);
+    var delta = distance / 637100000; // Earth radius in cm 
+    
+    var latNew = Math.asin(Math.sin(lat) * Math.cos(delta) + Math.cos(lat) * Math.sin(delta) * Math.cos(bearing));
+    var lonNew = lon + Math.atan2(Math.sin(bearing) * Math.sin(delta) * Math.cos(lat), Math.cos(delta) - Math.sin(lat) * Math.sin(lat));
+    return {
+        lat: rad2Deg(latNew),
+        lon: rad2Deg(lonNew),
+    }
+}
diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 55de3468b..f1746c8fb 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -239,6 +239,9 @@ var MSPCodes = {
     MSP2_INAV_LED_STRIP_CONFIG_EX:      0x2048,
     MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
 
+    MSP2_INAV_FW_APPROACH:              0x204A,
+    MSP2_INAV_SET_FW_APPROACH:          0x204B,
+
     MSP2_INAV_RATE_DYNAMICS:            0x2060,
     MSP2_INAV_SET_RATE_DYNAMICS:        0x2061,
 
@@ -247,6 +250,12 @@ var MSPCodes = {
 
     MSP2_INAV_SELECT_MIXER_PROFILE:     0x2080,
 
+    MSP2_INAV_SET_LED_STRIP_CONFIG_EX:  0x2049,
+
+    MSP2_INAV_FW_APPROACH:              0x204A,
+    MSP2_INAV_SET_FW_APPROACH:          0x204B
+
     MSP2_INAV_CUSTOM_OSD_ELEMENTS:      0x2100,
     MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS:  0x2101,
+
 };
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 738fd9dc9..2825b1381 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -1570,17 +1570,37 @@ var mspHelper = (function (gui) {
                 }
                 break;
             case MSPCodes.MSP2_INAV_SAFEHOME:
-                SAFEHOMES.put(new Safehome(
+                let safehome = new Safehome(
                     data.getUint8(0),
                     data.getUint8(1),
                     data.getInt32(2, true),
-                    data.getInt32(6, true)
-                ));
+                    data.getInt32(6, true),
+                );
+                if (safehome.getEnabled()) {
+                    SAFEHOMES.put(safehome);
+                }
+
                 break;
             case MSPCodes.MSP2_INAV_SET_SAFEHOME:
                 console.log('Safehome points saved');
                 break;
 
+            case MSPCodes.MSP2_INAV_FW_APPROACH:
+                FW_APPROACH.put(new FwApproach(
+                    data.getUint8(0),
+                    data.getInt32(1, true),
+                    data.getInt32(5, true),
+                    data.getUint8(9, true),
+                    data.getInt16(10, true),
+                    data.getInt16(12, true),
+                    data.getUint8(14, true),
+                ));                
+                break;
+            
+                case MSPCodes.MSP2_INAV_SET_FW_APPROACH:
+                    console.log('FW Approach saved');
+                    break;
+
             case MSPCodes.MSP2_INAV_RATE_DYNAMICS:
                 RATE_DYNAMICS.sensitivityCenter = data.getUint8(0);
                 RATE_DYNAMICS.sensitivityEnd = data.getUint8(1);
@@ -3251,6 +3271,37 @@ var mspHelper = (function (gui) {
         };
     };
 
+    self.loadFwApproach = function (callback) {
+        FW_APPROACH.flush();
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_FW_APPROACH, [id], false, callback);
+            }
+        };
+    };
+
+    self.saveFwApproach = function (callback) {
+        let id = 0;
+        MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+
+        function nextFwApproach() {
+            id++;
+            if (id < FW_APPROACH.getMaxFwApproachCount() - 1) {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, nextFwApproach);
+            }
+            else {
+                MSP.send_message(MSPCodes.MSP2_INAV_SET_FW_APPROACH, FW_APPROACH.extractBuffer(id), false, callback);
+            }
+        };
+    };
+
     self._getSetting = function (name) {
         if (SETTINGS[name]) {
             return Promise.resolve(SETTINGS[name]);
diff --git a/js/safehomeCollection.js b/js/safehomeCollection.js
index 5f2629b5e..edddb6a7d 100644
--- a/js/safehomeCollection.js
+++ b/js/safehomeCollection.js
@@ -15,6 +15,7 @@ let SafehomeCollection = function () {
     }
 
     self.put = function (element) {
+        element.setNumber(data.length);
         data.push(element);
     };
 
@@ -30,85 +31,54 @@ let SafehomeCollection = function () {
         data = [];
     };
 
-    self.inflate = function () {
-        while (self.hasFreeSlots()) {
-            self.put(new Safehome(data.length, 0, 0, 0));
-        }
-    };
-
-    self.hasFreeSlots = function () {
-        return data.length < self.getMaxSafehomeCount();
+    self.isEmpty = () => {
+        return data.length == 0;
     };
 
-    self.isSafehomeConfigured = function(safehomeId) {
-
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-
-                if (safehome.getNumber() == safehomeId && safehome.isUsed()) {
-                    return true;
-                }
-            }
-        }
-        return false;
-    };
+    self.safehomeCount = () => {
+        return data.length;
+    }
 
-    self.getNumberOfConfiguredSafehome = function () {
-        let count = 0;
-        for (let i = 0; i < self.getMaxSafehomeCount(); i ++) {
-            if (self.isSafehomeConfigured(i)) {
-                count++;
+    self.drop = (idx) => {
+        data.forEach(safehome => {
+            if (safehome.getNumber() >= idx) {
+                safehome.setNumber(safehome.getNumber() - 1);
             }
-        }
-        return count;
-    };
-
-    self.getUsedSafehomeIndexes = function () {
-        let out = [];
+        });   
+        data.splice(idx, 1);
+    }
 
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-                out.push(safehome.getNumber());
+    self.insert = (safehome, idx) => {
+        data.forEach(s => {
+            if (s.getNumber() >= idx) {
+                s.setNumber(s.getNumber() + 1);
             }
-        }
-
-        let unique = [...new Set(out)];
-
-        return unique.sort(function(a, b) {
-            return a-b;
         });
+        data.splice(idx, 0, safehome);
     }
-    
-    self.getSafehome = function(safehomeId) {
-        for (let safehomeIndex in data) {
-            if (data.hasOwnProperty(safehomeIndex)) {
-                let safehome = data[safehomeIndex];
-                if (safehome.getNumber() == safehomeId ) {
-                    return safehome;
-                }
-            }
-        }
-    };
-    
+        
     self.updateSafehome = function(newSafehome) {
         data[newSafehome.getNumber()] = newSafehome;
     };
     
     self.extractBuffer = function(safehomeId) {
         let buffer = [];
-        let safehome = self.getSafehome(safehomeId);
-        buffer.push(safehome.getNumber());    // sbufReadU8(src);    // number
-        buffer.push(safehome.getEnabled());    // sbufReadU8(src);    // action
-        buffer.push(specificByte(safehome.getLat(), 0));    // sbufReadU32(src);      // lat
-        buffer.push(specificByte(safehome.getLat(), 1));
-        buffer.push(specificByte(safehome.getLat(), 2));
-        buffer.push(specificByte(safehome.getLat(), 3));
-        buffer.push(specificByte(safehome.getLon(), 0));    // sbufReadU32(src);      // lon
-        buffer.push(specificByte(safehome.getLon(), 1));
-        buffer.push(specificByte(safehome.getLon(), 2));
-        buffer.push(specificByte(safehome.getLon(), 3));
+        let safehome = data[safehomeId];
+        if (safehomeId < self.safehomeCount()) {    
+            buffer.push(safehome.getNumber());    // sbufReadU8(src);    // number
+            buffer.push(1);    
+            buffer.push(specificByte(safehome.getLat(), 0));    // sbufReadU32(src);      // lat
+            buffer.push(specificByte(safehome.getLat(), 1));
+            buffer.push(specificByte(safehome.getLat(), 2));
+            buffer.push(specificByte(safehome.getLat(), 3));
+            buffer.push(specificByte(safehome.getLon(), 0));    // sbufReadU32(src);      // lon
+            buffer.push(specificByte(safehome.getLon(), 1));
+            buffer.push(specificByte(safehome.getLon(), 2));
+            buffer.push(specificByte(safehome.getLon(), 3));
+        } else {
+            buffer = Array(10).fill(0);
+            buffer[0] = safehomeId;
+        }
         
         return buffer;
     }
diff --git a/js/waypoint.js b/js/waypoint.js
index 3b28b4445..d48531a36 100644
--- a/js/waypoint.js
+++ b/js/waypoint.js
@@ -1,7 +1,7 @@
 /*global $*/
 'use strict';
 
-let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endMission=0, isUsed=true, isAttached=false, attachedId="") {
+let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endMission=0, isUsed=true, isAttached=false, attachedId="", multiMissionIdx = 0) {
 
     var self = {};
     let layerNumber = "undefined";
@@ -136,6 +136,14 @@ let Waypoint = function (number, action, lat, lon, alt=0, p1=0, p2=0, p3=0, endM
         attachedNumber = data;
     };
 
+    self.setMultiMissionIdx = function(data) {
+        multiMissionIdx = data;
+    }
+
+    self.getMultiMissionIdx = function() {
+        return multiMissionIdx;
+    }
+
     self.getElevation = async function (globalSettings) {
         let elevation = "N/A";
         if (globalSettings.mapProviderType == 'bing') {
diff --git a/package-lock.json b/package-lock.json
index 6946443ec..deef1f3fd 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -23,7 +23,7 @@
         "jquery-ui-npm": "1.12.0",
         "marked": "^0.3.17",
         "minimist": "^1.2.0",
-        "nw": "^0.81.0",
+        "nw": "^0.61.0-sdk",
         "nw-dialog": "^1.0.7",
         "openlayers": "^4.6.5",
         "plotly": "^1.0.6",
@@ -45,6 +45,8 @@
     },
     "node_modules/@malept/cross-spawn-promise": {
       "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/@malept/cross-spawn-promise/-/cross-spawn-promise-1.1.1.tgz",
+      "integrity": "sha512-RTBGWL5FWQcg9orDOCcp4LvItNzUPcyEU9bwaeJX0rJ1IQxzucC48Y0/sQLp/g6t99IQgAlGIaesJS+gTn7tVQ==",
       "dev": true,
       "funding": [
         {
@@ -56,7 +58,6 @@
           "url": "https://tidelift.com/subscription/pkg/npm-.malept-cross-spawn-promise?utm_medium=referral&utm_source=npm_fund"
         }
       ],
-      "license": "Apache-2.0",
       "dependencies": {
         "cross-spawn": "^7.0.1"
       },
@@ -66,8 +67,9 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/cross-spawn": {
       "version": "7.0.3",
+      "resolved": "https://registry.npmjs.org/cross-spawn/-/cross-spawn-7.0.3.tgz",
+      "integrity": "sha512-iRDPJKUPVEND7dHPO8rkbOnPpyDygcDFtWjpeWNCgy8WP2rXcxXL8TskReQl6OrB2G7+UJrags1q15Fudc7G6w==",
       "dev": true,
-      "license": "MIT",
       "dependencies": {
         "path-key": "^3.1.0",
         "shebang-command": "^2.0.0",
@@ -79,16 +81,18 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/path-key": {
       "version": "3.1.1",
+      "resolved": "https://registry.npmjs.org/path-key/-/path-key-3.1.1.tgz",
+      "integrity": "sha512-ojmeN0qd+y0jszEtoY48r0Peq5dwMEkIlCOu6Q5f41lfkswXuKtYrhgoTpLnyIcHm24Uhqx+5Tqm2InSwLhE6Q==",
       "dev": true,
-      "license": "MIT",
       "engines": {
         "node": ">=8"
       }
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/shebang-command": {
       "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/shebang-command/-/shebang-command-2.0.0.tgz",
+      "integrity": "sha512-kHxr2zZpYtdmrN1qDjrrX/Z1rR1kG8Dx+gkpK1G4eXmvXswmcE1hTWBWYUzlraYw1/yZp6YuDY77YtvbN0dmDA==",
       "dev": true,
-      "license": "MIT",
       "dependencies": {
         "shebang-regex": "^3.0.0"
       },
@@ -98,16 +102,18 @@
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/shebang-regex": {
       "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/shebang-regex/-/shebang-regex-3.0.0.tgz",
+      "integrity": "sha512-7++dFhtcx3353uBaq8DDR4NuxBetBzC7ZQOhmTQInHEd6bSrXdiEyzCvG07Z44UYdLShWUyXt5M/yhz8ekcb1A==",
       "dev": true,
-      "license": "MIT",
       "engines": {
         "node": ">=8"
       }
     },
     "node_modules/@malept/cross-spawn-promise/node_modules/which": {
       "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz",
+      "integrity": "sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==",
       "dev": true,
-      "license": "ISC",
       "dependencies": {
         "isexe": "^2.0.0"
       },
@@ -120,16 +126,18 @@
     },
     "node_modules/@quanle94/innosetup": {
       "version": "6.0.2",
+      "resolved": "https://registry.npmjs.org/@quanle94/innosetup/-/innosetup-6.0.2.tgz",
+      "integrity": "sha512-pv5FCJ4ibDRsIWzQOuzhmUSDr7ciMrtTHBp/QF6gxZM3rVpOQ8+soXuKviQlS6DPsu0SWsBn1PS2m2dVggWkxA==",
       "dev": true,
-      "license": "ISC",
       "bin": {
         "innosetup-compiler": "lib/iscc"
       }
     },
     "node_modules/@types/node": {
-      "version": "20.10.5",
+      "version": "20.11.17",
+      "resolved": "https://registry.npmjs.org/@types/node/-/node-20.11.17.tgz",
+      "integrity": "sha512-QmgQZGWu1Yw9TDyAP9ZzpFJKynYNeOvwMJmaxABfieQoVoiVOS6MN1WSpqpRcbeA5+RW82kraAVxCCJg+780Qw==",
       "dev": true,
-      "license": "MIT",
       "optional": true,
       "dependencies": {
         "undici-types": "~5.26.4"
@@ -137,8 +145,9 @@
     },
     "node_modules/@types/yauzl": {
       "version": "2.10.3",
+      "resolved": "https://registry.npmjs.org/@types/yauzl/-/yauzl-2.10.3.tgz",
+      "integrity": "sha512-oJoftv0LSuaDZE3Le4DbKX+KS9G36NzOeSap90UIK0yMA/NhKJhqlSGtNDORNRaIbQfzjXDrQa0ytJ6mNRGz/Q==",
       "dev": true,
-      "license": "MIT",
       "optional": true,
       "dependencies": {
         "@types/node": "*"
@@ -146,19 +155,22 @@
     },
     "node_modules/@xmldom/xmldom": {
       "version": "0.8.10",
+      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.8.10.tgz",
+      "integrity": "sha512-2WALfTl4xo2SkGCYRt6rDTFfk9R1czmBvUQy12gK2KuRKIpWEhcbbzy8EZXtz/jkRqHX8bFEc6FC1HjX4TUWYw==",
       "dev": true,
-      "license": "MIT",
       "engines": {
         "node": ">=10.0.0"
       }
     },
     "node_modules/abbrev": {
       "version": "1.1.1",
-      "license": "ISC"
+      "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
+      "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q=="
     },
     "node_modules/accepts": {
       "version": "1.3.8",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.8.tgz",
+      "integrity": "sha512-PYAthTa2m2VKxuvSD3DPC/Gy+U+sOA1LAuT8mkmRuvw+NACSaeXEQ+NHcVF7rONl6qcaxV3Uuemwawk+7+SJLw==",
       "dependencies": {
         "mime-types": "~2.1.34",
         "negotiator": "0.6.3"
@@ -169,7 +181,8 @@
     },
     "node_modules/acorn": {
       "version": "5.2.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/acorn/-/acorn-5.2.1.tgz",
+      "integrity": "sha512-jG0u7c4Ly+3QkkW18V+NRDN+4bWHdln30NL1ZL2AvFZZmQe/BfopYCtghCKKVBUSetZ4QKcyA0pY6/4Gw8Pv8w==",
       "bin": {
         "acorn": "bin/acorn"
       },
@@ -179,12 +192,14 @@
     },
     "node_modules/after": {
       "version": "0.8.2",
-      "license": "MIT"
+      "resolved": "https://registry.npmjs.org/after/-/after-0.8.2.tgz",
+      "integrity": "sha512-QbJ0NTQ/I9DI3uSJA4cbexiwQeRAfjPScqIbSjUDd9TOrcg6pTkdgziesOqxBMBzit8vFCTwrP27t13vFOORRA=="
     },
     "node_modules/ajv": {
       "version": "6.12.6",
+      "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.12.6.tgz",
+      "integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
       "dev": true,
-      "license": "MIT",
       "dependencies": {
         "fast-deep-equal": "^3.1.1",
         "fast-json-stable-stringify": "^2.0.0",
@@ -198,7 +213,8 @@
     },
     "node_modules/align-text": {
       "version": "0.1.4",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/align-text/-/align-text-0.1.4.tgz",
+      "integrity": "sha512-GrTZLRpmp6wIC2ztrWW9MjjTgSKccffgFagbNDOX95/dcjEcYZibYTeaOntySQLcdw1ztBoFkviiUvTMbb9MYg==",
       "optional": true,
       "dependencies": {
         "kind-of": "^3.0.2",
@@ -211,7 +227,8 @@
     },
     "node_modules/align-text/node_modules/kind-of": {
       "version": "3.2.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
+      "integrity": "sha512-NOW9QQXMoZGg/oqnVNoNTTIFEIid1627WCffUBJEdMxYApq7mNE7CpzucIPc+ZQg25Phej7IJSmX3hO+oblOtQ==",
       "optional": true,
       "dependencies": {
         "is-buffer": "^1.1.5"
@@ -222,14 +239,16 @@
     },
     "node_modules/amdefine": {
       "version": "1.0.1",
-      "license": "BSD-3-Clause OR MIT",
+      "resolved": "https://registry.npmjs.org/amdefine/-/amdefine-1.0.1.tgz",
+      "integrity": "sha512-S2Hw0TtNkMJhIabBwIojKL9YHO5T0n5eNqWJ7Lrlel/zDbftQpxpapi8tZs3X1HWa+u+QeydGmzzNU0m09+Rcg==",
       "engines": {
         "node": ">=0.4.2"
       }
     },
     "node_modules/ansi-colors": {
       "version": "1.1.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/ansi-colors/-/ansi-colors-1.1.0.tgz",
+      "integrity": "sha512-SFKX67auSNoVR38N3L+nvsPjOE0bybKTYbkf5tRvushrAPQ9V75huw0ZxBkKVeRU9kqH3d6HA4xTckbwZ4ixmA==",
       "dependencies": {
         "ansi-wrap": "^0.1.0"
       },
@@ -239,7 +258,8 @@
     },
     "node_modules/ansi-gray": {
       "version": "0.1.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/ansi-gray/-/ansi-gray-0.1.1.tgz",
+      "integrity": "sha512-HrgGIZUl8h2EHuZaU9hTR/cU5nhKxpVE1V6kdGsQ8e4zirElJ5fvtfc8N7Q1oq1aatO275i8pUFUCpNWCAnVWw==",
       "dependencies": {
         "ansi-wrap": "0.1.0"
       },
@@ -249,33 +269,38 @@
     },
     "node_modules/ansi-regex": {
       "version": "2.1.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
+      "integrity": "sha512-TIGnTpdo+E3+pCyAluZvtED5p5wCqLdezCyhPZzKPcxvFplEt4i+W7OONCKgeZFT3+y5NZZfOOS/Bdcanm1MYA==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/ansi-styles": {
       "version": "2.2.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-2.2.1.tgz",
+      "integrity": "sha512-kmCevFghRiWM7HB5zTPULl4r9bVFSWjz62MhqizDGUrq2NWuNMQyuv4tHHoKJHs69M/MF64lEcHdYIocrdWQYA==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/ansi-wrap": {
       "version": "0.1.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/ansi-wrap/-/ansi-wrap-0.1.0.tgz",
+      "integrity": "sha512-ZyznvL8k/FZeQHr2T6LzcJ/+vBApDnMNZvfVFy3At0knswWd6rJ3/0Hhmpu8oqa6C92npmozs890sX9Dl6q+Qw==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/any-promise": {
       "version": "1.3.0",
-      "dev": true,
-      "license": "MIT"
+      "resolved": "https://registry.npmjs.org/any-promise/-/any-promise-1.3.0.tgz",
+      "integrity": "sha512-7UvmKalWRt1wgjL1RrGxoSJW/0QZFIegpeGvZG9kjp8vrRu55XTHbwnqq2GpXm9uLbcuhxm3IqX9OB4MZR1b2A==",
+      "dev": true
     },
     "node_modules/anymatch": {
       "version": "2.0.0",
-      "license": "ISC",
+      "resolved": "https://registry.npmjs.org/anymatch/-/anymatch-2.0.0.tgz",
+      "integrity": "sha512-5teOsQWABXHHBFP9y3skS5P3d/WfWXpv3FUpy+LorMrNYaT9pI4oLMQX7jzQ2KklNpGpWHzdCXTDT2Y3XGlZBw==",
       "dependencies": {
         "micromatch": "^3.1.4",
         "normalize-path": "^2.1.1"
@@ -311,7 +336,8 @@
     },
     "node_modules/append-buffer": {
       "version": "1.0.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/append-buffer/-/append-buffer-1.0.2.tgz",
+      "integrity": "sha512-WLbYiXzD3y/ATLZFufV/rZvWdZOs+Z/+5v1rBZ463Jn398pa6kcde27cvozYnBoxXblGZTFfoPpsaEw0orU5BA==",
       "dependencies": {
         "buffer-equal": "^1.0.0"
       },
@@ -321,11 +347,13 @@
     },
     "node_modules/aproba": {
       "version": "1.2.0",
-      "license": "ISC"
+      "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
+      "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw=="
     },
     "node_modules/archiver": {
       "version": "2.1.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/archiver/-/archiver-2.1.1.tgz",
+      "integrity": "sha512-01psM0DMD3YItvhnAXZODfsViaeDidrJwfne3lsoVrbyYa/xFQwTbVjY+2WlEBm7qH1fCsyxAA1SgNr/XenTlQ==",
       "dependencies": {
         "archiver-utils": "^1.3.0",
         "async": "^2.0.0",
@@ -342,7 +370,8 @@
     },
     "node_modules/archiver-utils": {
       "version": "1.3.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/archiver-utils/-/archiver-utils-1.3.0.tgz",
+      "integrity": "sha512-h+hTREBXcW5e1L9RihGXdH4PHHdGipG/jE2sMZrqIH6BmZAxeGU5IWjVsKhokdCSWX7km6Kkh406zZNEElHFPQ==",
       "dependencies": {
         "glob": "^7.0.0",
         "graceful-fs": "^4.1.0",
@@ -357,18 +386,21 @@
     },
     "node_modules/archiver/node_modules/async": {
       "version": "2.6.4",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/async/-/async-2.6.4.tgz",
+      "integrity": "sha512-mzo5dfJYwAn29PeiJ0zvwTo04zj8HDJj0Mn8TD7sno7q12prdbnasKJHhkm2c1LgrhlJ0teaea8860oxi51mGA==",
       "dependencies": {
         "lodash": "^4.17.14"
       }
     },
     "node_modules/archy": {
       "version": "1.0.0",
-      "license": "MIT"
+      "resolved": "https://registry.npmjs.org/archy/-/archy-1.0.0.tgz",
+      "integrity": "sha512-Xg+9RwCg/0p32teKdGMPTPnVXKD0w3DfHnFTficozsAgsvq2XenPJq/MYpzzQ/v8zrOyJn6Ds39VA4JIDwFfqw=="
     },
     "node_modules/are-we-there-yet": {
       "version": "1.1.7",
-      "license": "ISC",
+      "resolved": "https://registry.npmjs.org/are-we-there-yet/-/are-we-there-yet-1.1.7.tgz",
+      "integrity": "sha512-nxwy40TuMiUGqMyRHgCSWZ9FM4VAoRP4xUYSTv5ImRog+h9yISPbVH7H8fASCIzYn9wlEv4zvFL7uKDMCFQm3g==",
       "dependencies": {
         "delegates": "^1.0.0",
         "readable-stream": "^2.0.6"
@@ -376,14 +408,16 @@
     },
     "node_modules/arr-diff": {
       "version": "4.0.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/arr-diff/-/arr-diff-4.0.0.tgz",
+      "integrity": "sha512-YVIQ82gZPGBebQV/a8dar4AitzCQs0jjXwMPZllpXMaGjXPYVUawSxQrRsjhjupyVxEvbHgUmIhKVlND+j02kA==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/arr-filter": {
       "version": "1.1.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/arr-filter/-/arr-filter-1.1.2.tgz",
+      "integrity": "sha512-A2BETWCqhsecSvCkWAeVBFLH6sXEUGASuzkpjL3GR1SlL/PWL6M3J8EAAld2Uubmh39tvkJTqC9LeLHCUKmFXA==",
       "dependencies": {
         "make-iterator": "^1.0.0"
       },
@@ -393,14 +427,16 @@
     },
     "node_modules/arr-flatten": {
       "version": "1.1.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/arr-flatten/-/arr-flatten-1.1.0.tgz",
+      "integrity": "sha512-L3hKV5R/p5o81R7O02IGnwpDmkp6E982XhtbuwSe3O4qOtMMMtodicASA1Cny2U+aCXcNpml+m4dPsvsJ3jatg==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/arr-map": {
       "version": "2.0.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/arr-map/-/arr-map-2.0.2.tgz",
+      "integrity": "sha512-tVqVTHt+Q5Xb09qRkbu+DidW1yYzz5izWS2Xm2yFm7qJnmUfz4HPzNxbHkdRJbz2lrqI7S+z17xNYdFcBBO8Hw==",
       "dependencies": {
         "make-iterator": "^1.0.0"
       },
@@ -410,29 +446,33 @@
     },
     "node_modules/arr-union": {
       "version": "3.1.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/arr-union/-/arr-union-3.1.0.tgz",
+      "integrity": "sha512-sKpyeERZ02v1FeCZT8lrfJq5u6goHCtpTAzPwJYe7c8SPFOboNjNg1vz2L4VTn9T4PQxEx13TbXLmYUcS6Ug7Q==",
       "engines": {
         "node": ">=0.10.0"
       }
     },
     "node_modules/array-differ": {
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         "async-limiter": "~1.0.0",
         "safe-buffer": "~5.1.0",
@@ -8097,11 +9048,13 @@
     },
     "node_modules/ws/node_modules/safe-buffer": {
       "version": "5.1.2",
-      "license": "MIT"
+      "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz",
+      "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
     },
     "node_modules/xml2js": {
       "version": "0.4.23",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/xml2js/-/xml2js-0.4.23.tgz",
+      "integrity": "sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==",
       "dependencies": {
         "sax": ">=0.6.0",
         "xmlbuilder": "~11.0.0"
@@ -8112,48 +9065,57 @@
     },
     "node_modules/xml2js/node_modules/xmlbuilder": {
       "version": "11.0.1",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-11.0.1.tgz",
+      "integrity": "sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==",
       "engines": {
         "node": ">=4.0"
       }
     },
     "node_modules/xmlbuilder": {
       "version": "15.1.1",
+      "resolved": "https://registry.npmjs.org/xmlbuilder/-/xmlbuilder-15.1.1.tgz",
+      "integrity": "sha512-yMqGBqtXyeN1e3TGYvgNgDVZ3j84W4cwkOXQswghol6APgZWaff9lnbvN7MHYJOiXsvGPXtjTYJEiC9J2wv9Eg==",
       "dev": true,
-      "license": "MIT",
       "engines": {
         "node": ">=8.0"
       }
     },
     "node_modules/xmlcreate": {
       "version": "1.0.2",
-      "license": "Apache-2.0"
+      "resolved": "https://registry.npmjs.org/xmlcreate/-/xmlcreate-1.0.2.tgz",
+      "integrity": "sha512-Mbe56Dvj00onbnSo9J0qj/XlY5bfN9KidsOnpd5tRCsR3ekB3hyyNU9fGrTdqNT5ZNvv4BsA2TcQlignsZyVcw=="
     },
     "node_modules/xmlhttprequest-ssl": {
       "version": "1.5.5",
+      "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz",
+      "integrity": "sha512-/bFPLUgJrfGUL10AIv4Y7/CUt6so9CLtB/oFxQSHseSDNNCdC6vwwKEqwLN6wNPBg9YWXAiMu8jkf6RPRS/75Q==",
       "engines": {
         "node": ">=0.4.0"
       }
     },
     "node_modules/xtend": {
       "version": "4.0.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.2.tgz",
+      "integrity": "sha512-LKYU1iAXJXUgAXn9URjiu+MWhyUXHsvfp7mcuYm9dSUKK0/CjtrUwFAxD82/mCWbtLsGjFIad0wIsod4zrTAEQ==",
       "engines": {
         "node": ">=0.4"
       }
     },
     "node_modules/y18n": {
       "version": "3.2.2",
-      "license": "ISC"
+      "resolved": "https://registry.npmjs.org/y18n/-/y18n-3.2.2.tgz",
+      "integrity": "sha512-uGZHXkHnhF0XeeAPgnKfPv1bgKAYyVvmNL1xlKsPYZPaIHxGti2hHqvOCQv71XMsLxu1QjergkqogUnms5D3YQ=="
     },
     "node_modules/yallist": {
       "version": "4.0.0",
-      "dev": true,
-      "license": "ISC"
+      "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
+      "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==",
+      "dev": true
     },
     "node_modules/yargs": {
       "version": "7.1.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/yargs/-/yargs-7.1.2.tgz",
+      "integrity": "sha512-ZEjj/dQYQy0Zx0lgLMLR8QuaqTihnxirir7EwUHp1Axq4e3+k8jXU5K0VLbNvedv1f4EWtBonDIZm0NUr+jCcA==",
       "dependencies": {
         "camelcase": "^3.0.0",
         "cliui": "^3.2.0",
@@ -8172,7 +9134,8 @@
     },
     "node_modules/yargs-parser": {
       "version": "5.0.1",
-      "license": "ISC",
+      "resolved": "https://registry.npmjs.org/yargs-parser/-/yargs-parser-5.0.1.tgz",
+      "integrity": "sha512-wpav5XYiddjXxirPoCTUPbqM0PXvJ9hiBMvuJgInvo4/lAOTZzUprArw17q2O1P2+GHhbBr18/iQwjL5Z9BqfA==",
       "dependencies": {
         "camelcase": "^3.0.0",
         "object.assign": "^4.1.0"
@@ -8180,7 +9143,8 @@
     },
     "node_modules/yargs/node_modules/is-fullwidth-code-point": {
       "version": "1.0.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz",
+      "integrity": "sha512-1pqUqRjkhPJ9miNq9SwMfdvi6lBJcd6eFxvfaivQhaH3SgisfiuudvFntdKOmxuee/77l+FPjKrQjWvmPjWrRw==",
       "dependencies": {
         "number-is-nan": "^1.0.0"
       },
@@ -8190,7 +9154,8 @@
     },
     "node_modules/yargs/node_modules/string-width": {
       "version": "1.0.2",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/string-width/-/string-width-1.0.2.tgz",
+      "integrity": "sha512-0XsVpQLnVCXHJfyEs8tC0zpTVIr5PKKsQtkT29IwupnPTjtPmQ3xT/4yCREF9hYkV/3M3kzcUTSAZT6a6h81tw==",
       "dependencies": {
         "code-point-at": "^1.0.0",
         "is-fullwidth-code-point": "^1.0.0",
@@ -8202,7 +9167,8 @@
     },
     "node_modules/yauzl": {
       "version": "2.10.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
+      "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==",
       "dependencies": {
         "buffer-crc32": "~0.2.3",
         "fd-slicer": "~1.1.0"
@@ -8210,11 +9176,13 @@
     },
     "node_modules/yeast": {
       "version": "0.1.2",
-      "license": "MIT"
+      "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz",
+      "integrity": "sha512-8HFIh676uyGYP6wP13R/j6OJ/1HwJ46snpvzE7aHAN3Ryqh2yX6Xox2B4CUmTwwOIzlG3Bs7ocsP5dZH/R1Qbg=="
     },
     "node_modules/zip-stream": {
       "version": "1.2.0",
-      "license": "MIT",
+      "resolved": "https://registry.npmjs.org/zip-stream/-/zip-stream-1.2.0.tgz",
+      "integrity": "sha512-2olrDUuPM4NvRIgGPhvrp84f7/HmWR6RiQrgwFF2VctmnssFiogtYL3DcA8Vl2bsSmju79sVXe38TsII7JleUg==",
       "dependencies": {
         "archiver-utils": "^1.3.0",
         "compress-commons": "^1.2.0",
diff --git a/src/css/tabs/mission_planer.css b/src/css/tabs/mission_planer.css
index 2759a1436..a844d1527 100644
--- a/src/css/tabs/mission_planer.css
+++ b/src/css/tabs/mission_planer.css
@@ -236,10 +236,17 @@
     margin-bottom: 5px;
     margin-left: 5px;
 }
+
 .tab-mission-control .point-label {
     width: 80px;
     display: inline-block;
 }
+
+.tab-mission-control .point-label-safehome {
+    width: 120px;
+    display: inline-block;
+}
+
 .tab-mission-control .point-radio input{
     width: 25px;
     padding-left: 3px;
@@ -511,7 +518,6 @@
 
 .tab-mission-control .fill{
     border:none;
-    border-bottom:5px dotted #88CC3E;
     display:inline-block;
     width:20px;
 }
@@ -519,9 +525,6 @@
 .tab-mission-control .textLegend{
     margin:2px;
 }
-.tab-mission-control .valueLegend{
-    float:right;
-}
 
 .tab-mission-control .userActionContainer {
     display: inline-block;
diff --git a/tabs/advanced_tuning.html b/tabs/advanced_tuning.html
index d15d2b4ad..d500a13c3 100644
--- a/tabs/advanced_tuning.html
+++ b/tabs/advanced_tuning.html
@@ -68,6 +68,49 @@
                     </div>
                 </div>
 
+                <div class="config-section gui_box grey">
+                    <div class="gui_box_titlebar">
+                        <div class="spacer_box_title" data-i18n="fixedWingLandingConfiguration"></div>
+                    </div>
+                    <div class="spacer_box">
+                        <div class="number">
+                            <input id="fwLandApproachLength" type="number" data-unit="cm" data-setting="nav_fw_land_approach_length" data-setting-multiplier="1" step="1" min="100" max="100000" />
+                            <label for="fwLandApproachLength"><span data-i18n="fwLandApproachLength"></span></label>
+                            <div for="fwLandApproachLength" class="helpicon cf_tip" data-i18n_title="fwLandApproachLengthHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFinalApproachPitch2throttle" type="number" data-unit="percent" data-setting="nav_fw_land_final_approach_pitch2throttle_mod" data-setting-multiplier="1" step="1" min="100" max="400" />
+                            <label for="fwLandFinalApproachPitch2throttle"><span data-i18n="fwLandFinalApproachPitch2throttle"></span></label>
+                            <div for="fwLandFinalApproachPitch2throttle" class="helpicon cf_tip" data-i18n_title="fwLandFinalApproachPitch2throttleHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandGlideAlt" type="number" data-unit="cm" data-setting="nav_fw_land_glide_alt" data-setting-multiplier="1" step="1" min="100" max="5000" />
+                            <label for="fwLandGlideAlt"><span data-i18n="fwLandGlideAlt"></span></label>
+                            <div for="fwLandGlideAlt" class="helpicon cf_tip" data-i18n_title="fwLandGlideAltHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFlareAlt" type="number" data-unit="cm" data-setting="nav_fw_land_flare_alt" data-setting-multiplier="1" step="1" min="0" max="10000" />
+                            <label for="fwLandFlareAlt"><span data-i18n="fwLandFlareAlt"></span></label>
+                            <div for="fwLandFlareAlt" class="helpicon cf_tip" data-i18n_title="fwLandFlareAltHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandGlidePitch" type="number" data-unit="deg" data-setting="nav_fw_land_glide_pitch" data-setting-multiplier="1" step="1" min="0" max="45" />
+                            <label for="fwLandGlidePitch"><span data-i18n="fwLandGlidePitch"></span></label>
+                            <div for="fwLandGlidePitch" class="helpicon cf_tip" data-i18n_title="fwLandGlidePitchHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandFlarePitch" type="number" data-unit="deg" data-setting="nav_fw_land_flare_pitch" data-setting-multiplier="1" step="1" min="0" max="45" />
+                            <label for="fwLandFlarePitch"><span data-i18n="fwLandFlarePitch"></span></label>
+                            <div for="fwLandFlarePitch" class="helpicon cf_tip" data-i18n_title="fwLandFlarePitchHelp"></div>
+                        </div>
+                        <div class="number">
+                            <input id="fwLandMaxTailwind" type="number" data-unit="cms" data-setting="nav_fw_land_max_tailwind" data-setting-multiplier="1" step="1" min="0" max="3000" />
+                            <label for="fwLandMaxTailwind"><span data-i18n="fwLandMaxTailwind"></span></label>
+                            <div for="fwLandMaxTailwind" class="helpicon cf_tip" data-i18n_title="fwLandMaxTailwindHelp"></div>
+                        </div>
+                    </div>
+                </div>
+
                 <div class="config-section gui_box grey">
                     <div class="gui_box_titlebar">
                         <div class="spacer_box_title" data-i18n="powerConfiguration"></div>
diff --git a/tabs/mission_control.html b/tabs/mission_control.html
index eb0ec50c3..c1f4824be 100644
--- a/tabs/mission_control.html
+++ b/tabs/mission_control.html
@@ -86,6 +86,14 @@
                             <label class="point-label" for="MPdefaultSafeRangeSH" data-i18n="missionDefaultSafeRangeSH"></label>
                             <input id="MPdefaultSafeRangeSH" type="text" value="0" required>
                         </div>
+                        <div class="point">
+                            <label class="point-label" for="MPdefaultFwApproachAlt">FW Approach Alt (m): </label>
+                            <input id="MPdefaultFwApproachAlt" type="text" value="0" required>
+                        </div>
+                        <div class="point">
+                            <label class="point-label" for="MPdefaultLandAlt">FW Land Alt (m): </label>
+                            <input id="MPdefaultLandAlt" type="text" value="0" required>
+                        </div>
                     </div>
                 </div>
 
@@ -167,7 +175,7 @@
                     </div>
                     <div class="point" id="elevationEarthModelclass" style="display: none">
                         <label class="spacer_box_title" for="elevationEarthModel" data-i18n="missionEllipsoidEarthDEMModel"></label>
-                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" required>
+                        <input id="elevationEarthModel" type="checkbox" value="0" class="togglemedium" checked required>
                     </div>
                 </div>
 
@@ -178,41 +186,98 @@
                             <div id="showHideSafehomeButton">
                                 <a class="ic_hide" href="#" i18n_title="missionTitleHide"></a>
                             </div>
-                            <a id="cancelSafehome" class="ic_cancel" href="#" i18n_title="missionTitleCancel"></a>
+                            <a id="cancelSafehome" class="ic_cancel" href="#" title="Cancel"></a>
+                            <a id="addSafehome" class="ic_add" href="#" i18n_title="missionTitleAdd"></a>
                             <a id="saveEepromSafehomeButton" class="ic_save2Eprom" href="#" i18n_title="missionTitleSaveEepromSafehome"></a>
                             <a id="loadEepromSafehomeButton" class="ic_loadFromEprom" href="#" i18n_title="missionTitleLoadEepromSafehome"></a>
                         </div>
                     </div>
                     <div class="spacer" id="SafehomeContent">
-                        <div>
-                            <table class="safehomesTable">
-                                <thead>
-                                    <tr>
-                                        <th style="width: 40px" data-i18n="SafehomeSelected"></th>
-                                        <th style="width: 40px" data-i18n="SafehomeId"></th>
-                                        <th style="width: 60px" data-i18n="SafehomeEnabled"></th>
-                                        <th style="width: 140px" data-i18n="SafehomeLat"></th>
-                                        <th style="width: 140px" data-i18n="SafehomeLon"></th>
-                                    </tr>
-                                </thead>
-                                <tbody id="safehomesTableBody">
-                                </tbody>
-                            </table>
+                            <div style="padding-bottom: 2px;">
+                                <span data-i18n="missionSafehomeAvailableSafehomes"></span>
+                                <span id="availableSafehomes"></span>
+                            </div>
+                            <div id="SafehomeContentBox" style="display: none;">
+                                <div class="gui_box grey missionPlannerSafehomeBox">
+                                    <div class="gui_box_titlebar">
+                                        <div class="spacer_box_title" data-i18n="safehomeEdit"></div>
+                                        <div class="btnMenu btnMenuIcon">
+                                            <div class="btnMenu-danger">
+                                                <a id="deleteSafehome" class="ic_removeAll" href="#" i18n_title="missionTitleDelete"></a>
+                                            </div>
+                                        </div>
+                                    </div>
+                                    <div class="spacer" id="safehomeSingelContent">
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safeHomeLatitude" data-i18n="gpsLat"></label>
+                                            <input type="number" id="safehomeLatitude"></input>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLongitude" data-i18n="gpsLon"></label>
+                                            <input type="number" id="safehomeLongitude"></input>
+                                        </div>
+                                        <div class="point">
+                                            <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeSeaLevelRef" data-i18n="missionSeaLevelRef"></label>
+                                            <input id="safehomeSeaLevelRef" type="checkbox" value="0" class="togglemedium" required>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                            <input type="number" id="safehomeApproachAlt"></input>
+                                            <span id="safehomeApproachAltM"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandAlt" data-i18n="missionFwLandAlt"></label>
+                                            <input type="number" id="safehomeLandAlt"></input>
+                                            <span id="safehomeLandAltM"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeElevation" data-i18n="missionElevation"></label>
+                                            <span id="safehomeElevation"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="geozoneApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                            <select name="zoneAction" id="geozoneApproachDirection">
+                                                <option value="0">Left</option>
+                                                <option value="1">Right</option>
+                                            </select>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                            <input type="number" id="safehomeLandHeading1"></input>
+                                            <input id="safehomeLandHeading1Excl" type="checkbox" value="0" class="togglemedium" required>
+                                            <span data-i18n="missionExclusive"></span>
+                                        </div>
+                                        <div class="point">
+                                            <label class="point-label-safehome" for="safehomeLandHeading2" data-i18n="missionFwLandHeading2"></label>
+                                            <input type="number" id="safehomeLandHeading2"></input>
+                                            <input id="safehomeLandHeading2Excl" type="checkbox" value="0" class="togglemedium" required>
+                                            <span data-i18n="missionExclusive"></span>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
                             <hr>
                             <div class="spacer"  id="safehomeLegend">
                                 <span><b data-i18n="SafehomeLegend"></b></span>
                                 <div class="legendItem">
-                                    <span class="fill" style="border-bottom-color:#900C3F"></span>
+                                    <span class="fill" style="border-bottom:5px dotted #900C3F;"></span>
                                     <span class="textLegend" data-i18n="SafehomeMaxDistance"></span>
-                                    <span id="safeHomeMaxDistance" class="valueLegend"></span>
+                                    <span id="safeHomeMaxDistance"></span>
                                 </div>
                                 <div class="legendItem">
-                                    <span class="fill"></span>
+                                    <span class="fill" style="border-bottom:5px dotted #88CC3E;"></span>
                                     <span class="textLegend" data-i18n="SafehomeSafeRadius"></span>
-                                    <span id="SafeHomeSafeDistance" class="valueLegend"></span>
+                                    <span id="SafeHomeSafeDistance"></span>
+                                </div>
+                                <div class="legendItem">
+                                    <span class="fill" style="border-bottom:5px solid #f78a05;border-top:5px solid #0025a1;"></span>
+                                    <span class="textLegend" data-i18n="SafehomeFwAppraoch"></span>
+                                    <span id="SafeHomeSafeDistance"></span>
                                 </div>
                             </div>
-                        </div>
                     </div>
                 </div>
 
@@ -234,7 +299,7 @@
                     <div class="spacer" id="WPeditContent">
                         <input type="hidden" name="pointNumber" value="">
                         <div class="point">
-                            <label class="point-label" for="pointType">Type: </label>
+                            <label class="point-label" for="pointType" data-i18n="missionWpType"></label>
                             <select name="type" id="pointType">
                                 <!--<option value="1">Home</option>-->
                                 <option value="1">Waypoint</option>
@@ -248,39 +313,39 @@
                             </select>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointLat">Lat: </label>
+                            <label class="point-label" for="pointLat" data-i18n="missionWpLat"></label>
                             <input id="pointLat" type="text" value="0.0" required>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointLon">Lon: </label>
+                            <label class="point-label" for="pointLon" data-i18n="missionWpLon"></label>
                             <input id="pointLon" type="text" value="0.0" required>
                         </div>
                         <div class="point">
-                            <label class="point-label" for="pointAlt">Alt (cm): </label>
+                            <label class="point-label" for="pointAlt" data-i18n="missionDefaultPointAlt"></label>
                             <input id="pointAlt" type="text" value="0" required><span id="altitudeInMeters"></span>
                         </div>
                         <div class="point" id="pointP3class" style="display: none">
-                            <label class="point-label" for="pointP3Alt">Sea level Ref: </label>
+                            <label class="point-label" for="pointP3Alt" data-i18n="missionSeaLevelRef"></label>
                             <input id="pointP3Alt" type="checkbox" value="0" class="togglemedium" checked required>
                         </div>
                         <div class="point" id="elevationAtWP" style="display: none">
-                            <label class="point-label">Elevation (m): </label>
-                            <span id="elevationValueAtWP">N/A</span>
+                            <label class="point-label" data-i18n="missionElevation"></label>
+                            <span id="elevationValueAtWP" data-i18n="missionNA"></span>
                         </div>
                         <div class="point" id="groundClearanceAtWP" style="display: none">
-                            <label class="point-label">Grd Dist (m): </label>
-                            <span id="groundClearanceValueAtWP">N/A</span>
+                            <label class="point-label" data-i18n="missionGroundDist"></label>
+                            <span id="groundClearanceValueAtWP" data-i18n="missionNA"></span>
                         </div>
                         <div class="point" id="pointP1class" style="display: none">
-                            <label class="point-label" for="pointP1">Parameter 1: </label>
+                            <label class="point-label" for="pointP1" data-i18n="missionParameter1"></label>
                             <input id="pointP1" type="text" value="0" required>
                         </div>
                         <div class="point" id="pointP2class" style="display: none">
-                            <label class="point-label" for="pointP2">Parameter 2: </label>
+                            <label class="point-label" for="pointP2" data-i18n="missionParameter1"></label>
                             <input id="pointP2" type="text" value="0" required>
                         </div>
                         <div class="point" id="pointP3UserActionClass" style="display: none">
-                            <label class="point-label" for="pointP3UserAction">User Actions: </label>
+                            <label class="point-label" for="pointP3UserAction" data-i18n="missionUserActions"></label>
                             <div class="userActionContainer">1 <input id="pointP3UserAction1" type="checkbox" value="0" class="togglemedium" checked required></div>
                             <div class="userActionContainer">2 <input id="pointP3UserAction2" type="checkbox" value="0" class="togglemedium" checked required></div>
                             <div class="userActionContainer">3 <input id="pointP3UserAction3" type="checkbox" value="0" class="togglemedium" checked required></div>
@@ -305,7 +370,74 @@
                                 </tbody>
                             </table>
                         </div>
-
+                        <div id="wpFwLanding" style="display: none;">
+                            <div class="point">
+                                <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                <input type="number" id="wpApproachAlt"></input>
+                                <span id="wpApproachAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandAlt" data-i18n="missionFwLandAlt"></label>
+                                <input type="number" id="wpLandAlt"></input>
+                                <span id="wpLandAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                <select name="wpApproachDirection" id="wpApproachDirection">
+                                    <option value="0">Left</option>
+                                    <option value="1">Right</option>
+                                </select>
+                            </div> 
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading1"></input>
+                                <input id="wpLandHeading1Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading2" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading2"></input>
+                                <input id="wpLandHeading2Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                        </div>
+                        <div id="wpFwLanding" style="display: none;">
+                            <div class="point">
+                                <span style="font-weight: bold" data-i18n="missionFwLandingSettings"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachAlt" data-i18n="missionFwApproachAlt"></label>
+                                <input type="number" id="wpApproachAlt"></input>
+                                <span id="wpApproachAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandAlt" data-i18n="missionFwLandAlt"></label>
+                                <input type="number" id="wpLandAlt"></input>
+                                <span id="wpLandAltM"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpApproachDirection" data-i18n="missionFwApproachDir"></label>
+                                <select name="wpApproachDirection" id="wpApproachDirection">
+                                    <option value="0">Left</option>
+                                    <option value="1">Right</option>
+                                </select>
+                            </div> 
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading1" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading1"></input>
+                                <input id="wpLandHeading1Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                            <div class="point">
+                                <label class="point-label-safehome" for="wpLandHeading2" data-i18n="missionFwLandHeading1"></label>
+                                <input type="number" id="wpLandHeading2"></input>
+                                <input id="wpLandHeading2Excl" type="checkbox" value="0" class="togglemedium" checked required>
+                                <span data-i18n="missionExclusive"></span>
+                            </div>
+                        </div>
                         <!-- <div class="point-radio" id="pointOptionclass" style="display: none">
 							<div class="radio-line">
 								<input type="radio" id="Options_None" name="Options" value="None" checked>
@@ -332,7 +464,6 @@
 								<input id="Options_HeadingHead" type="text" value="-1" required><br>
 							</div>
                         </div> -->
-
                     </div>
                 </div>
             </div>
diff --git a/tabs/mission_control.js b/tabs/mission_control.js
index 01e46b96f..19fd891ae 100644
--- a/tabs/mission_control.js
+++ b/tabs/mission_control.js
@@ -10,6 +10,8 @@
 // MultiWii NAV Protocol
 var MWNP = MWNP || {};
 
+var MAX_NEG_FW_LAND_ALT = -2000; // cm
+
 // WayPoint type
 MWNP.WPTYPE = {
     WAYPOINT:           1,
@@ -78,7 +80,8 @@ TABS.mission_control.initialize = function (callback) {
     let textFeature;
     var textGeom;
     let isOffline = false;
-    let rthUpdateInterval = 0;
+    let rthUpdateInterval = 0;    
+    let settings = { speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : 0, fwApproachLength: 0, fwApproachAlt: 60, fwLandAlt: 5, fwLoiterRadius:  0};
 
     if (GUI.active_tab != 'mission_control') {
         GUI.active_tab = 'mission_control';
@@ -90,7 +93,23 @@ TABS.mission_control.initialize = function (callback) {
         loadChainer.setChain([
             mspHelper.getMissionInfo,
             //mspHelper.loadWaypoints,
-            //mspHelper.loadSafehomes
+            mspHelper.loadSafehomes,
+            mspHelper.loadFwApproach,
+            function (callback) {
+                mspHelper.getSetting("nav_fw_land_approach_length").then((data) =>  {
+                    settings.fwApproachLength = parseInt(data.value);
+                }).then(callback);
+            },
+            function (callback) {
+                mspHelper.getSetting("safehome_max_distance").then((data) => {
+                    settings.maxDistSH = parseInt(data.value) / 100;    
+                }).then(callback);
+            },
+            function (callback) {
+                mspHelper.getSetting(("nav_fw_loiter_radius")).then((data) => {
+                    settings.fwLoiterRadius = parseInt(data.value);
+                }).then(callback);
+            }
         ]);
         loadChainer.setExitPoint(loadHtml);
         loadChainer.execute();
@@ -98,6 +117,15 @@ TABS.mission_control.initialize = function (callback) {
 
         // FC not connected, load page anyway
         loadHtml();
+        if (!FW_APPROACH) {
+            FW_APPROACH = new FwApproachCollection();
+        }
+        if (!SAFEHOMES) {
+            SAFEHOMES = new SafehomeCollection();
+        }
+        for (let i = 0; i < FW_APPROACH.getMaxFwApproachCount(); i++){
+            FW_APPROACH.put(new FwApproach(i));
+        }
     }
 
     function loadHtml() {
@@ -117,8 +145,7 @@ TABS.mission_control.initialize = function (callback) {
             isOffline = true;
         }
 
-        $safehomesTable = $('.safehomesTable');
-        $safehomesTableBody = $('#safehomesTableBody');
+        $safehomeContentBox = $('#SafehomeContentBox');
         $waypointOptionsTable = $('.waypointOptionsTable');
         $waypointOptionsTableBody = $('#waypointOptionsTableBody');
 
@@ -126,6 +153,18 @@ TABS.mission_control.initialize = function (callback) {
             loadSettings();
             // let the dom load finish, avoiding the resizing of the map
             setTimeout(initMap, 200);
+            if (!isOffline) {
+                setTimeout(() => {
+                    if (SAFEHOMES.safehomeCount() >= 1) {
+                        updateSelectedShAndFwAp(0);
+                    } else {
+                        selectedSafehome = null;
+                        selectedFwApproachSh = null;
+                    }
+                    renderSafehomesOnMap();
+                    updateSafehomeInfo();
+                }, 500);
+            }
         } else {
             $('#missionMap, #missionControls').hide();
             $('#notLoadMap').show();
@@ -349,7 +388,11 @@ TABS.mission_control.initialize = function (callback) {
     //////////////////////////////////////////////////////////////////////////////////////////////
     var markers = [];           // Layer for Waypoints
     var lines = [];             // Layer for lines between waypoints
-    var safehomeMarkers = [];    // layer for Safehome points
+    var safehomeMarkers = [];   // layer for Safehome points
+    var safehomeMarkers = [];   // layer for Safehome points
+    var approachLayers = []     // Layers for FW approach  
+    var safehomeMarkers = [];   // layer for Safehome points  
+    var approachLayers = []     // Layers for FW approach  
 
     var map;
 
@@ -360,19 +403,16 @@ TABS.mission_control.initialize = function (callback) {
     var selectedFeature = null;
     var tempMarker = null;
     var disableMarkerEdit = false;
+    var selectedFwApproachWp = null;
+    var selectedFwApproachSh = null;
+    var lockShExclHeading = false;
+
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init parameters for default Settings
     //////////////////////////////////////////////////////////////////////////////////////////////
-    var settings = {speed: 0, alt: 5000, safeRadiusSH : 50, maxDistSH : 0, bingDemModel : false};
+    
 
-    if (CONFIGURATOR.connectionValid) {
-        mspHelper.getSetting("safehome_max_distance").then(function (s) {
-            if (s) {
-                settings.maxDistSH = Number(s.value)/100;
-            }
-        });
-    }
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     //      define & init Waypoints parameters
@@ -442,6 +482,8 @@ TABS.mission_control.initialize = function (callback) {
         $('#MPdefaultPointAlt').val(String(settings.alt));
         $('#MPdefaultPointSpeed').val(String(settings.speed));
         $('#MPdefaultSafeRangeSH').val(String(settings.safeRadiusSH));
+        $('#MPdefaultFwApproachAlt').val(String(settings.fwApproachAlt));
+        $('#MPdefaultLandAlt').val(String(settings.fwLandAlt));
     }
 
     function closeSettingsPanel() {
@@ -458,59 +500,29 @@ TABS.mission_control.initialize = function (callback) {
         cleanSafehomeLayers();
     }
 
-    function renderSafehomesTable() {
-        /*
-         * Process safehome table UI
-         */
-        let safehomes = SAFEHOMES.get();
-        $safehomesTableBody.find("*").remove();
-        for (let safehomeIndex in safehomes) {
-            if (safehomes.hasOwnProperty(safehomeIndex)) {
-                const safehome = safehomes[safehomeIndex];
-
-                $safehomesTableBody.append('\
-                    <tr>\
-                    <td><div id="viewSafomePoint" class="btnTable btnTableIcon"> \
-                            <a class="ic_center" data-role="safehome-center" href="#"  title="move to center view"></a> \
-                        </div>\
-                    </td> \
-                    <td><span class="safehome-number"/></td>\
-                    <td class="safehome-enabled"><input type="checkbox" class="togglesmall safehome-enabled-value"/></td> \
-                    <td><input type="number" class="safehome-lat" /></td>\
-                    <td><input type="number" class="safehome-lon" /></td>\
-                    </tr>\
-                ');
-
-                const $row = $safehomesTableBody.find('tr:last');
-
-                $row.find(".safehome-number").text(safehome.getNumber()+1);
-
-                $row.find(".safehome-enabled-value").prop('checked',safehome.isUsed()).change(function () {
-                    safehome.setEnabled((($(this).prop('checked')) ? 1 : 0));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+    function checkApproachAltitude(altitude, isSeaLevelRef, sealevel) {
 
-                $row.find(".safehome-lon").val(safehome.getLonMap()).change(function () {
-                    safehome.setLon(Math.round(Number($(this).val()) * 10000000));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+        if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < 0) {
+            alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
+            return false;
+        }
 
-                $row.find(".safehome-lat").val(safehome.getLatMap()).change(function () {
-                    safehome.setLat(Math.round(Number($(this).val()) * 10000000));
-                    SAFEHOMES.updateSafehome(safehome);
-                    cleanSafehomeLayers();
-                    renderSafehomesOnMap();
-                });
+        return true;
+    }
 
-                $row.find("[data-role='safehome-center']").attr("data-index", safehomeIndex);
-            }
+    function checkLandingAltitude(altitude, isSeaLevelRef, sealevel) {
+
+        if (altitude - (isSeaLevelRef ? sealevel * 100 : 0 ) < MAX_NEG_FW_LAND_ALT) {
+            alert(chrome.i18n.getMessage('MissionPlannerFwLAndingAltitudeChangeReset'));
+            return false;
         }
-        GUI.switchery();
-        localize();
+
+        return true;
+    }
+
+    function updateSafehomeInfo(){
+        let freeSamehomes = SAFEHOMES.getMaxSafehomeCount() - SAFEHOMES.safehomeCount()
+        $('#availableSafehomes').text(freeSamehomes + '/' + SAFEHOMES.getMaxSafehomeCount());
     }
 
 
@@ -518,8 +530,12 @@ TABS.mission_control.initialize = function (callback) {
         /*
          * Process safehome on Map
          */
-        SAFEHOMES.get().forEach(function (safehome) {
-            map.addLayer(addSafeHomeMarker(safehome));
+        SAFEHOMES.get().forEach(safehome => {
+            addFwApproach(safehome.getLonMap(), safehome.getLatMap(), FW_APPROACH.get()[safehome.getNumber()], safehomeMarkers);
+        });
+        SAFEHOMES.get().forEach(safehome => {
+            addSafehomeCircles(safehome);
+            addSafeHomeMarker(safehome);
         });
     }
 
@@ -556,7 +572,107 @@ TABS.mission_control.initialize = function (callback) {
         });
     }
 
-    function addSafeHomeMarker(safehome) {
+    function paintApproachLine(pos1, pos2, color, layers) 
+    {
+        var line = new ol.geom.LineString([ol.proj.fromLonLat([pos1.lon, pos1.lat]), ol.proj.fromLonLat([pos2.lon, pos2.lat])]);
+
+        var feature = new ol.Feature({
+            geometry: line
+        });
+        
+        var styles = [  new ol.style.Style({
+                stroke: new ol.style.Stroke({
+                    color: color,
+                    width: 3,
+                }),
+            })
+        ];
+
+        var geometry = feature.getGeometry();
+        geometry.forEachSegment(function (start, end) {
+            var dx = end[0] - start[0];
+            var dy = end[1] - start[1];
+            var rotation = Math.atan2(dy, dx);
+    
+            styles.push(new ol.style.Style({
+              geometry: new ol.geom.Point(distanceOnLine(start, end, -8)),
+              image: new ol.style.RegularShape({
+                fill: new ol.style.Fill({color}),
+                points: 3,
+                radius: 8,
+                rotation: -rotation,
+                angle: Math.PI / 2 // rotate -90°
+              })
+            }));
+        });
+
+        feature.setStyle(styles);
+
+        var vectorSource = new ol.source.Vector({
+                features: [feature]
+        });
+        
+
+        var vectorLayer = new ol.layer.Vector({
+            source: vectorSource
+        });
+
+        
+
+        vectorLayer.kind = "approachline";
+        vectorLayer.selection = false;
+
+
+        approachLayers.push(vectorLayer);
+        
+        approachLayers.push(vectorLayer);
+        map.addLayer(vectorLayer);
+        layers.push(vectorLayer);
+        
+        return vectorLayer;
+    }
+
+    function paintApproach(landCoord, approachLength, bearing, approachDirection, layers) {
+
+        var pos1 = calculate_new_cooridatnes(landCoord, bearing, approachLength);
+        let direction;
+        if (approachDirection == ApproachDirection.LEFT) {
+            direction = wrap_360(bearing + 90);
+        } else {
+            direction = wrap_360(bearing - 90);
+        }
+
+        var pos2 = calculate_new_cooridatnes(pos1, direction, Math.max(settings.fwLoiterRadius * 4, settings.fwApproachLength / 2));
+        
+        paintApproachLine(landCoord, pos2, '#0025a1', layers);
+        paintApproachLine(pos2, pos1, '#0025a1', layers);
+        paintApproachLine(pos1, landCoord, '#f78a05', layers);
+    }
+
+    function addFwApproach(lon, lat, fwApproach, layers)
+    {        
+        if (fwApproach.getLandHeading1() != 0) {
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading1()) + 180);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection(), layers);
+        }
+
+        if (fwApproach.getLandHeading1() > 0) {     
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading1(), direction, layers);
+        }
+
+        if (fwApproach.getLandHeading2() != 0) {
+            let bearing = wrap_360(Math.abs(fwApproach.getLandHeading2()) + 180);
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, bearing, fwApproach.getApproachDirection(), layers);
+        }
+
+        if (fwApproach.getLandHeading2() > 0) {
+            let direction = fwApproach.getApproachDirection() == ApproachDirection.LEFT ? ApproachDirection.RIGHT : ApproachDirection.LEFT;
+            paintApproach({lat: lat, lon: lon}, settings.fwApproachLength, fwApproach.getLandHeading2(), direction, layers);
+        }
+    }
+
+    function addSafehomeCircles(safehome) {        
         /*
          * add safehome on Map
          */
@@ -611,8 +727,32 @@ TABS.mission_control.initialize = function (callback) {
         vectorLayer.selection = false;
 
         safehomeMarkers.push(vectorLayer);
+        map.addLayer(vectorLayer);        
+    }
 
-        return vectorLayer;
+    function addSafeHomeMarker(safehome) {
+
+        let coord = ol.proj.fromLonLat([safehome.getLonMap(), safehome.getLatMap()]);
+        var iconFeature = new ol.Feature({
+            geometry: new ol.geom.Point(coord),
+            name: 'safehome'
+        });
+
+        var vectorLayer = new ol.layer.Vector({
+            source: new ol.source.Vector({
+                        features: [iconFeature]
+                    }),
+            style : function(iconFeature) {
+                return [getSafehomeIcon(safehome)];
+            }
+        });
+
+        vectorLayer.kind = "safehome";
+        vectorLayer.number = safehome.getNumber();
+        vectorLayer.selection = true;
+
+        safehomeMarkers.push(vectorLayer);
+        map.addLayer(vectorLayer);
     }
 
     function getProjectedRadius(radius) {
@@ -1121,6 +1261,9 @@ TABS.mission_control.initialize = function (callback) {
                     multiMissionWPNum = element.getNumber() + 1;
                 }
             }
+            if (element.getAction() == MWNP.WPTYPE.LAND) {
+                addFwApproach(element.getLonMap(), element.getLatMap(), FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + element.getMultiMissionIdx()], lines);
+            }
         });
         //reset text position
         if (textGeom) {
@@ -1133,6 +1276,8 @@ TABS.mission_control.initialize = function (callback) {
         } else {
             $('#missionDistance').text(lengthMission[lengthMission.length -1] != -1 ? lengthMission[lengthMission.length -1].toFixed(1) : 'infinite');
         }
+
+        
     }
 
     function paintLine(pos1, pos2, pos2ID, color='#1497f1', lineDash=0, lineText="", selection=true, arrow=false) {
@@ -1234,20 +1379,65 @@ TABS.mission_control.initialize = function (callback) {
 
     function redrawLayers() {
         if (!mission.isEmpty()) {
+            repaintLine4Waypoints(mission);
             mission.get().forEach(function (element) {
                 if (!element.isAttached()) {
                     map.addLayer(addWaypointMarker(element));
                 }
             });
-            repaintLine4Waypoints(mission);
+            
         }
     }
 
     function redrawLayer() {
+        repaintLine4Waypoints(mission);
         if (selectedFeature && selectedMarker) {
             selectedFeature.setStyle(getWaypointIcon(selectedMarker, true));
         }
-        repaintLine4Waypoints(mission);
+    }
+
+    function renderSafeHomeOptions()  {
+        if (selectedSafehome && selectedFwApproachSh) {
+            
+            lockShExclHeading = true;
+            if (!$('#missionPlannerSafehome').is(':visible')) {
+                $('#missionPlannerSafehome').fadeIn(300);
+            }
+            
+            $('#SafehomeContentBox').show();
+            
+            if (selectedFwApproachSh.getLandHeading1() == 0 && selectedFwApproachSh.getLandHeading1() == 0 && selectedFwApproachSh.getApproachAltAsl() == 0 && selectedFwApproachSh.getLandAltAsl() == 0) {
+                selectedFwApproachSh.setApproachAltAsl(settings.fwApproachAlt * 100);
+                selectedFwApproachSh.setLandAltAsl(settings.fwLandAlt * 100);
+            }
+                
+            if (selectedFwApproachSh.getElevation() == 0) {
+                (async () => {
+                    const elevation = await selectedFwApproachSh.getElevationFromServer(selectedSafehome.getLonMap(), selectedSafehome.getLatMap(), globalSettings) * 100;
+                    selectedFwApproachSh.setElevation(elevation);
+                    $('#safehomeElevation').text(selectedFwApproachSh.getElevation() / 100 + " m");
+                })();
+            }
+    
+            const $safehomeBox = $safehomeContentBox.find('.missionPlannerSafehomeBox:last-child');
+            $safehomeBox.find('.spacer_box_title').text(chrome.i18n.getMessage('safehomeEdit') + ' '  + (selectedSafehome.getNumber() + 1));
+
+            $('#safehomeLatitude').val(selectedSafehome.getLatMap());
+            $('#safehomeLongitude').val(selectedSafehome.getLonMap());
+            changeSwitchery($('#safehomeSeaLevelRef'), selectedFwApproachSh.getIsSeaLevelRef());
+            $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+            $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+            $('#geozoneApproachDirection').val(selectedFwApproachSh.getApproachDirection());
+            $('#safehomeLandHeading1').val(Math.abs(selectedFwApproachSh.getLandHeading1()));
+            changeSwitchery($('#safehomeLandHeading1Excl'), selectedFwApproachSh.getLandHeading1() < 0);
+            $('#safehomeLandHeading2').val(Math.abs(selectedFwApproachSh.getLandHeading2()));
+            changeSwitchery($('#safehomeLandHeading2Excl'), selectedFwApproachSh.getLandHeading2() < 0);
+            $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+            $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+            lockShExclHeading = false;
+        } else {
+            $('#SafehomeContentBox').hide();
+        }
     }
 
     function renderWaypointOptionsTable(waypoint) {
@@ -1467,10 +1657,7 @@ TABS.mission_control.initialize = function (callback) {
 
             var handleShowSafehome = function () {
                 $('#missionPlannerSafehome').fadeIn(300);
-                //SAFEHOMES.flush();
-                //mspHelper.loadSafehomes();
                 cleanSafehomeLayers();
-                renderSafehomesTable();
                 renderSafehomesOnMap();
                 $('#safeHomeMaxDistance').text(settings.maxDistSH);
                 $('#SafeHomeSafeDistance').text(settings.safeRadiusSH);
@@ -1591,6 +1778,10 @@ TABS.mission_control.initialize = function (callback) {
          * @param {ol.MapBrowserEvent} evt Map browser event.
          */
         app.Drag.prototype.handleDragEvent = function (evt) {
+            if (tempMarker.kind == "safehomecircle") {
+                return;
+            }
+            
             var map = evt.map;
 
             var feature = map.forEachFeatureAtPixel(evt.pixel,
@@ -1598,7 +1789,7 @@ TABS.mission_control.initialize = function (callback) {
                     return feature;
                 });
 
-            var deltaX = evt.coordinate[0] - this.coordinate_[0];
+            var deltaX = evt.coordinate[0] - this.coordinate_[0]; 
             var deltaY = evt.coordinate[1] - this.coordinate_[1];
 
             var geometry = /** @type {ol.geom.SimpleGeometry} */
@@ -1607,7 +1798,7 @@ TABS.mission_control.initialize = function (callback) {
                 geometry.translate(deltaX, deltaY);
                 this.coordinate_[0] = evt.coordinate[0];
                 this.coordinate_[1] = evt.coordinate[1];
-            }
+            }            
 
             let coord = ol.proj.toLonLat(geometry.getCoordinates());
             if (tempMarker.kind == "waypoint") {
@@ -1622,12 +1813,16 @@ TABS.mission_control.initialize = function (callback) {
                 repaintLine4Waypoints(mission);
             }
             else if (tempMarker.kind == "safehome") {
-                let tempSH = SAFEHOMES.getSafehome(tempMarker.number);
-                tempSH.setLon(Math.round(coord[0] * 10000000));
-                tempSH.setLat(Math.round(coord[1] * 10000000));
-                SAFEHOMES.updateSafehome(tempSH);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lon').val(Math.round(coord[0] * 10000000) / 10000000);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lat').val(Math.round(coord[1] * 10000000) / 10000000);
+                let tmpSafehome = SAFEHOMES.get()[tempMarker.number];
+                tmpSafehome.setLon(Math.round(coord[0] * 1e7));
+                tmpSafehome.setLat(Math.round(coord[1] * 1e7));
+
+                $('#safeHomeLongitude').val(Math.round(coord[0] * 1e7));
+                $('#safeHomeLatitude').val(Math.round(coord[1] * 1e7));
+                updateSelectedShAndFwAp(tempMarker.number);
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
             }
             else if (tempMarker.kind == "home") {
                 HOME.setLon(Math.round(coord[0] * 10000000));
@@ -1672,6 +1867,22 @@ TABS.mission_control.initialize = function (callback) {
                         $('#elevationValueAtWP').text(elevationAtWP);
                         const returnAltitude = checkAltElevSanity(false, mission.getWaypoint(tempMarker.number).getAlt(), elevationAtWP, mission.getWaypoint(tempMarker.number).getP3());
                         mission.getWaypoint(tempMarker.number).setAlt(returnAltitude);
+
+                        if (mission.getWaypoint(tempMarker.number).getAction() == MWNP.WPTYPE.LAND) {
+                            let approach = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + mission.getWaypoint(tempMarker.number).getMultiMissionIdx()];
+                            if (approach.getIsSeaLevelRef()) {
+                                if (approach.getElevation() != 0) { 
+                                    approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                                    approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevationAtWP * 100);
+                                }
+                                approach.setElevation(elevationAtWP * 100);
+                                $('#wpApproachAlt').val(approach.getApproachAltAsl());
+                                $('#wpLandAlt').val(approach.getLandAltAsl);
+                                $('#wpLandAltM').text(approach.getLandAltAsl() / 100 + " m");
+                                $('#wpApproachAltM').text(approach.getApproachAltAsl() / 100 + " m");   
+                            }
+                        }
+                        
                         plotElevation();
                     })()
                 }
@@ -1684,6 +1895,22 @@ TABS.mission_control.initialize = function (callback) {
                     plotElevation();
                 })()
             }
+            else if (tempMarker.kind == "safehome") {
+                (async () => {
+                    let approach = FW_APPROACH.get()[tempMarker.number];
+                    let safehome = SAFEHOMES.get()[tempMarker.number];
+                    const elevation = await approach.getElevationFromServer(safehome.getLonMap(), safehome.getLatMap(), globalSettings) * 100;
+                    $('#safehomeElevation').text(elevation / 100 + " m");        
+                    if (approach.getIsSeaLevelRef()) {
+                        if (approach.getElevation() != 0) { 
+                            approach.setApproachAltAsl(approach.getApproachAltAsl() - approach.getElevation() + elevation);
+                            approach.setLandAltAsl(approach.getLandAltAsl() - approach.getElevation() + elevation);
+                        }
+                        approach.setElevation(elevation);
+                    } 
+                    renderSafeHomeOptions();            
+                })()
+            }
             this.coordinate_ = null;
             this.feature_ = null;
             return false;
@@ -1803,6 +2030,14 @@ TABS.mission_control.initialize = function (callback) {
             if (selectedFeature && tempMarker.kind == "waypoint") {
                 $("#editMission").hide();
                 selectedMarker = mission.getWaypoint(tempMarker.number);
+                
+                selectedFwApproachWp = FW_APPROACH.get()[SAFEHOMES.getMaxSafehomeCount() + selectedMarker.getMultiMissionIdx()];
+
+                if (selectedFwApproachWp.getLandHeading1() == 0 && selectedFwApproachWp.getLandHeading1() == 0 && selectedFwApproachWp.getApproachAltAsl() == 0 && selectedFwApproachWp.getLandAltAsl() == 0) {
+                    selectedFwApproachWp.setApproachAltAsl(settings.fwApproachAlt * 100);
+                    selectedFwApproachWp.setLandAltAsl(settings.fwLandAlt * 100);
+                }
+
                 var geometry = selectedFeature.getGeometry();
                 var coord = ol.proj.toLonLat(geometry.getCoordinates());
 
@@ -1817,6 +2052,12 @@ TABS.mission_control.initialize = function (callback) {
                 changeSwitchery($('#pointP3UserAction4'), TABS.mission_control.isBitSet(P3Value, MWNP.P3.USER_ACTION_4));
 
                 var altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
+                
+                if (selectedMarker.getAction() == MWNP.WPTYPE.LAND) {
+                    $('#wpFwLanding').fadeIn(300); 
+                } else  {
+                    $('#wpFwLanding').fadeOut(300);
+                }
 
                 if (tempSelectedMarkerIndex == null || tempSelectedMarkerIndex != selectedMarker.getLayerNumber()) {
                     (async () => {
@@ -1824,6 +2065,22 @@ TABS.mission_control.initialize = function (callback) {
                         $('#elevationValueAtWP').text(elevationAtWP);
                         const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, P3Value);
                         selectedMarker.setAlt(returnAltitude);
+
+                        /*
+                        if (TABS.mission_control.isBitSet(P3Value, MWNP.P3.ALT_TYPE)) {
+                            if (!selectedFwApproachWp.getIsSeaLevelRef()) {
+                                selectedFwApproachWp.setApproachDirection(selectedFwApproachWp.getApproachDirection() + elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() + elevationAtWP * 100);
+                            }
+                            
+                        }
+                        */
+                        selectedFwApproachWp.setIsSeaLevelRef(TABS.mission_control.isBitSet(P3Value, MWNP.P3.ALT_TYPE) ? 1 : 0);
+                        $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                        $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl);
+                        $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                        $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+
                         plotElevation();
                     })()
                 }
@@ -1839,6 +2096,22 @@ TABS.mission_control.initialize = function (callback) {
                 $('#pointP1').val(selectedMarker.getP1());
                 $('#pointP2').val(selectedMarker.getP2());
 
+                
+
+                                
+                $('#wpApproachDirection').val(selectedFwApproachWp.getApproachDirection());
+                $('#wpLandHeading1').val(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                $('#wpLandHeading2').val(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
+                                
+
+                                
+                $('#wpApproachDirection').val(selectedFwApproachWp.getApproachDirection());
+                $('#wpLandHeading1').val(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                $('#wpLandHeading2').val(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
 
                 // Selection box update depending on choice of type of waypoint
                 for (var j in dictOfLabelParameterPoint[selectedMarker.getAction()]) {
@@ -1857,6 +2130,8 @@ TABS.mission_control.initialize = function (callback) {
             else if (selectedFeature && tempMarker.kind == "line" && tempMarker.selection && !disableMarkerEdit) {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
                 let tempWp = new Waypoint(tempMarker.number, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
+                tempWp.setMultiMissionIdx(mission.getWaypoint(0).getMultiMissionIdx());
+            
                 if (homeMarkers.length && HOME.getAlt() != "N/A") {
                     (async () => {
                         const elevationAtWP = await tempWp.getElevation(globalSettings);
@@ -1875,12 +2150,8 @@ TABS.mission_control.initialize = function (callback) {
                 }
             }
             else if (selectedFeature && tempMarker.kind == "safehome" && tempMarker.selection) {
-                selectedMarker = SAFEHOMES.getSafehome(tempMarker.number);
-                var geometry = selectedFeature.getGeometry();
-                var coord = ol.proj.toLonLat(geometry.getCoordinates());
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-enabled-value').val(selectedMarker.isUsed());
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lon').val(Math.round(coord[0] * 10000000) / 10000000);
-                $safehomesTableBody.find('tr:nth-child('+String(tempMarker.number+1)+') > td > .safehome-lat').val(Math.round(coord[1] * 10000000) / 10000000);
+                updateSelectedShAndFwAp(tempMarker.number);
+                //renderSafeHomeOptions();               
             }
             else if (selectedFeature && tempMarker.kind == "home" && tempMarker.selection) {
                 selectedMarker = HOME;
@@ -1892,6 +2163,14 @@ TABS.mission_control.initialize = function (callback) {
             else if (!disableMarkerEdit) {
                 let tempWpCoord = ol.proj.toLonLat(evt.coordinate);
                 let tempWp = new Waypoint(mission.get().length, MWNP.WPTYPE.WAYPOINT, Math.round(tempWpCoord[1] * 10000000), Math.round(tempWpCoord[0] * 10000000), alt=Number(settings.alt), p1=Number(settings.speed));
+                
+                if (mission.get().length == 0) {
+                    tempWp.setMultiMissionIdx(multimissionCount == 0 ? 0 : multimissionCount - 1);
+                    FW_APPROACH.clean(SAFEHOMES.getMaxSafehomeCount() + tempWp.getMultiMissionIdx());
+                } else {
+                    tempWp.setMultiMissionIdx(mission.getWaypoint(mission.get().length - 1).getMultiMissionIdx());
+                }
+                
                 if (homeMarkers.length && HOME.getAlt() != "N/A") {
                     (async () => {
                         const elevationAtWP = await tempWp.getElevation(globalSettings);
@@ -1918,10 +2197,14 @@ TABS.mission_control.initialize = function (callback) {
         //////////////////////////////////////////////////////////////////////////
         $(map.getViewport()).on('mousemove', function (e) {
             var pixel = map.getEventPixel(e.originalEvent);
+            var name = "";
             var hit = map.forEachFeatureAtPixel(pixel, function (feature, layer) {
+                if (feature) {
+                    name = feature.getProperties().name;
+                }
                 return true;
             });
-            if (hit) {
+            if (hit && name != "safehomeDist" && name != "safehomeSafe") {
                 map.getTarget().style.cursor = 'pointer';
             } else {
                 map.getTarget().style.cursor = '';
@@ -2029,8 +2312,26 @@ TABS.mission_control.initialize = function (callback) {
         /////////////////////////////////////////////
         // Callback for Waypoint edition
         /////////////////////////////////////////////
-        $('#pointType').change(function () {
+        $('#pointType').on('change', (event) => {
             if (selectedMarker) {
+                if (Number($('#pointType').val()) == MWNP.WPTYPE.LAND) {
+                    let found = false;                       
+                    mission.get().forEach(wp => {
+                        if (wp.getAction() == MWNP.WPTYPE.LAND) {
+                            alert(chrome.i18n.getMessage('MissionPlannerOnlyOneLandWp'));
+                            found = true;
+                            $(event.currentTarget).val(selectedMarker.getAction());
+                        }
+                    });
+                    
+                    if (!found) {
+                        $('#wpFwLanding').fadeIn(300);
+                    }
+                
+                } else  {
+                    $('#wpFwLanding').fadeOut(300);
+                }
+                
                 selectedMarker.setAction(Number($('#pointType').val()));
                 if ([MWNP.WPTYPE.SET_POI,MWNP.WPTYPE.POSHOLD_TIME,MWNP.WPTYPE.LAND].includes(selectedMarker.getAction())) {
                     selectedMarker.setP1(0.0);
@@ -2128,12 +2429,29 @@ TABS.mission_control.initialize = function (callback) {
                         if ($('#pointP3Alt').prop("checked")) {
                             selectedMarker.setAlt(groundClearance + elevationAtWP * 100);
                         } else {
-                            let elevationAtHome = HOME.getAlt();
-                            if (isNaN(elevationAtHome)) {
-                                elevationAtHome = elevationAtWP;
+                            selectedMarker.setAlt(altitude - Number(elevationAtWP) * 100);
+                        }
+
+                        if (selectedMarker.getAction() == MWNP.WPTYPE.LAND && selectedFwApproachWp && selectedFwApproachWp.getIsSeaLevelRef() != $('#pointP3Alt').prop("checked")) {
+                        
+                            let oldElevation = 0; 
+                            if (selectedFwApproachWp.getIsSeaLevelRef()) {
+                                oldElevation = selectedFwApproachWp.getElevation();
                             }
-                            selectedMarker.setAlt(groundClearance + 100 * (elevationAtWP - elevationAtHome));
+
+                            if ($('#pointP3Alt').prop("checked")) {
+                                selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - oldElevation + elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - oldElevation + elevationAtWP * 100);
+                            } else {
+                                selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - elevationAtWP * 100);
+                                selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - elevationAtWP * 100);
+                            }
+                            selectedFwApproachWp.setElevation(elevationAtWP * 100);
+                            selectedFwApproachWp.setIsSeaLevelRef($('#pointP3Alt').prop("checked") ? 1 : 0);
+                            $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                            $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl()); 
                         }
+
                     }
 
                     const returnAltitude = checkAltElevSanity(false, selectedMarker.getAlt(), elevationAtWP, selectedMarker.getP3());
@@ -2141,12 +2459,33 @@ TABS.mission_control.initialize = function (callback) {
                     $('#pointAlt').val(selectedMarker.getAlt());
                     altitudeMeters = app.ConvertCentimetersToMeters(selectedMarker.getAlt());
                     $('#altitudeInMeters').text(` ${altitudeMeters}m`);
+                    
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                    
+                    if (selectedFwApproachWp && selectedFwApproachWp.getIsSeaLevelRef() != $('#pointP3Alt').prop("checked")) {
+                        selectedFwApproachWp.setIsSeaLevelRef($('#pointP3Alt').prop("checked"));
+                        selectedFwApproachWp.setElevation(elevationAtWP * 100);
+                        if ($('#pointP3Alt').prop("checked")) {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() + elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() + elevationAtWP * 100);
+                        } else {
+                            selectedFwApproachWp.setApproachAltAsl(selectedFwApproachWp.getApproachAltAsl() - elevationAtWP * 100);
+                            selectedFwApproachWp.setLandAltAsl(selectedFwApproachWp.getLandAltAsl() - elevationAtWP * 100);
+                        }
 
+                        $('#wpApproachAlt').val(selectedFwApproachWp.getApproachAltAsl());
+                        $('#wpLandAlt').val(selectedFwApproachWp.getLandAltAsl());        
+                    }
+                    
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                    
                     mission.updateWaypoint(selectedMarker);
                     mission.update(singleMissionActive());
                     redrawLayer();
                     plotElevation();
-                })()
+                })();
             }
         });
 
@@ -2210,6 +2549,109 @@ TABS.mission_control.initialize = function (callback) {
             }
         });
 
+        $('#wpApproachAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkApproachAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setApproachAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpApproachAltM').text(selectedFwApproachWp.getApproachAltAsl() / 100 + " m");
+                }
+            }
+        });
+
+        $('#wpLandAlt').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#pointP3Alt').prop('checked'), Number($('#elevationValueAtWP').text()))) {
+                    selectedFwApproachWp.setLandAltAsl(Number($(event.currentTarget).val()));
+                    $('#wpLandAltM').text(selectedFwApproachWp.getLandAltAsl() / 100 + " m");
+                }
+            }
+        });
+
+        $('#wpApproachDirection').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                selectedFwApproachWp.setApproachDirection($(event.currentTarget).val());
+                refreshLayers();
+                }
+        });
+
+        $('#wpLandHeading1').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#wpLandHeading1').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#wpLandHeading1').val(0);
+                }
+                
+                if ($('#wpLandHeading1Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachWp.setLandHeading1(val);
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading1Excl').on('change', (event) => {
+            
+            if (selectedMarker && selectedFwApproachWp) {
+                if (disableMarkerEdit) {
+                    changeSwitchery($('#wpLandHeading1Excl'), selectedFwApproachWp.getLandHeading1() < 0);
+                    return;
+                }
+
+                if ($('#wpLandHeading1Excl').prop('checked')) {
+                    selectedFwApproachWp.setLandHeading1(-Math.abs(selectedFwApproachWp.getLandHeading1()));
+                } else {
+                    selectedFwApproachWp.setLandHeading1(Math.abs(selectedFwApproachWp.getLandHeading1()));
+                }
+                
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading2').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#wpLandHeading2').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#wpLandHeading2').val(0);
+                }
+                
+                if ($('#wpLandHeading2Excl').prop('checked')) {
+                    val *= -1;
+                }
+
+                selectedFwApproachWp.setLandHeading2(val);
+                refreshLayers();
+            }
+        });
+
+        $('#wpLandHeading2Excl').on('change', (event) => {
+            if (selectedMarker && selectedFwApproachWp) {
+                if (disableMarkerEdit) {
+                    changeSwitchery($('#wpLandHeading2Excl'), selectedFwApproachWp.getLandHeading2() < 0);
+                    return;
+                }
+                if ($('#wpLandHeading2Excl').prop('checked')) {
+                    selectedFwApproachWp.setLandHeading2(-Math.abs(selectedFwApproachWp.getLandHeading2()));
+                } else {
+                    selectedFwApproachWp.setLandHeading2(Math.abs(selectedFwApproachWp.getLandHeading2()));
+                }
+                refreshLayers();
+            }
+        });
+
+
         /////////////////////////////////////////////
         // Callback for Waypoint Options Table
         /////////////////////////////////////////////
@@ -2240,17 +2682,25 @@ TABS.mission_control.initialize = function (callback) {
         });
 
         /////////////////////////////////////////////
-        // Callback for SAFEHOMES Table
+        // Callback for SAFEHOMES
         /////////////////////////////////////////////
-        $safehomesTableBody.on('click', "[data-role='safehome-center']", function (event) {
+
+
+        $('#addSafehome').on('click', () => {
+            if (SAFEHOMES.safehomeCount() + 1 > SAFEHOMES.getMaxSafehomeCount()){
+                alert(chrome.i18n.getMessage('missionSafehomeMaxSafehomesReached'));
+                return;
+            }
+    
             let mapCenter = map.getView().getCenter();
-            let tmpSH = SAFEHOMES.getSafehome($(event.currentTarget).attr("data-index"));
-            tmpSH.setLon(Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7));
-            tmpSH.setLat(Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7));
-            SAFEHOMES.updateSafehome(tmpSH);
-            renderSafehomesTable();
+            let midLon = Math.round(ol.proj.toLonLat(mapCenter)[0] * 1e7);
+            let midLat = Math.round(ol.proj.toLonLat(mapCenter)[1] * 1e7);
+            SAFEHOMES.put(new Safehome(SAFEHOMES.safehomeCount(), 1, midLat, midLon));
+            updateSelectedShAndFwAp(SAFEHOMES.safehomeCount() - 1);
+            renderSafeHomeOptions();
             cleanSafehomeLayers();
             renderSafehomesOnMap();
+            updateSafehomeInfo();
         });
 
         $('#cancelSafehome').on('click', function () {
@@ -2259,27 +2709,214 @@ TABS.mission_control.initialize = function (callback) {
 
         $('#loadEepromSafehomeButton').on('click', function () {
             $(this).addClass('disabled');
-            GUI.log(chrome.i18n.getMessage('startGettingSafehomePoints'));
-            mspHelper.loadSafehomes();
-            setTimeout(function(){
-                renderSafehomesTable();
-                cleanSafehomeLayers();
-                renderSafehomesOnMap();
-                GUI.log(chrome.i18n.getMessage('endGettingSafehomePoints'));
-                $('#loadEepromSafehomeButton').removeClass('disabled');
-            }, 500);
-
+            GUI.log('Start of getting Safehome points');
+            var loadChainer = new MSPChainerClass();
+            loadChainer.setChain([
+                mspHelper.loadSafehomes,
+                mspHelper.loadFwApproach,
+                function() {
+                    if (SAFEHOMES.safehomeCount() >= 1) {
+                        updateSelectedShAndFwAp(0);
+                    } else {
+                        selectedSafehome = null;
+                        selectedFwApproachSh = null;
+                    }                    
+                    renderSafeHomeOptions();
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    updateSafehomeInfo();
+                    GUI.log(chrome.i18n.getMessage('endGettingSafehomePoints'));
+                    $('#loadEepromSafehomeButton').removeClass('disabled');
+                }
+            ]);
+            loadChainer.execute();
         });
 
         $('#saveEepromSafehomeButton').on('click', function() {
             $(this).addClass('disabled');
             GUI.log(chrome.i18n.getMessage('startSendingSafehomePoints'));
-            mspHelper.saveSafehomes();
-            setTimeout(function(){
-                mspHelper.saveToEeprom();
-                GUI.log(chrome.i18n.getMessage('endSendingSafehomePoints'));
-                $('#saveEepromSafehomeButton').removeClass('disabled');
-            }, 500);
+            
+            var saveChainer = new MSPChainerClass();
+            saveChainer.setChain([
+                mspHelper.saveSafehomes,
+                mspHelper.saveFwApproach,
+                function() {
+                    mspHelper.saveToEeprom();
+                    GUI.log(chrome.i18n.getMessage('endSendingSafehomePoints'));
+                    $('#saveEepromSafehomeButton').removeClass('disabled');
+                }
+            ]);
+            saveChainer.execute();
+        });
+
+        $('#deleteSafehome').on('click', () => {
+            if (selectedSafehome && selectedFwApproachSh) {
+                var shNum = selectedSafehome.getNumber();
+                SAFEHOMES.drop(shNum);
+                FW_APPROACH.clean(shNum);
+
+                if (SAFEHOMES.safehomeCount() > 0) {
+                    updateSelectedShAndFwAp(SAFEHOMES.safehomeCount() - 1);
+                } else {
+                    selectedSafehome = null;
+                    selectedFwApproachSh = null;
+                }
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+                updateSafehomeInfo();
+            }
+        });
+
+        $('#safehomeLatitude').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setLat(Math.round(Number($(event.currentTarget).val()) * 1e7));
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+
+        $('#safehomeLongitude').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setLon(Math.round(Number($(event.currentTarget).val()) * 1e7));
+                renderSafeHomeOptions();
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeSeaLevelRef').on('change', event => {
+            
+            let isChecked = $(event.currentTarget).prop('checked') ? 1 : 0;
+            if (selectedSafehome && selectedFwApproachSh && isChecked != selectedFwApproachSh.getIsSeaLevelRef()) {
+                selectedFwApproachSh.setIsSeaLevelRef(isChecked);
+
+                (async () => {
+                    const elevation = await selectedFwApproachSh.getElevationFromServer(selectedSafehome.getLonMap(), selectedSafehome.getLatMap(), globalSettings) * 100;
+                    selectedFwApproachSh.setElevation(elevation);
+                
+                    if (isChecked) {
+                        selectedFwApproachSh.setApproachAltAsl(selectedFwApproachSh.getApproachAltAsl() + elevation);
+                        selectedFwApproachSh.setLandAltAsl(selectedFwApproachSh.getLandAltAsl() + elevation);
+                    } else {
+                        selectedFwApproachSh.setApproachAltAsl(selectedFwApproachSh.getApproachAltAsl() - elevation);
+                        selectedFwApproachSh.setLandAltAsl(selectedFwApproachSh.getLandAltAsl() - elevation);
+                        
+                    }
+                    
+                    $('#safehomeElevation').text(elevation / 100);
+                    $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+                    $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+                    $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+                    $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+
+                    renderSafeHomeOptions();
+                })();
+            }
+        });
+
+        $('#safehomeApproachAlt').on('change', event => {
+            
+            if (selectedFwApproachSh) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkApproachAltitude(altitude, $('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+                    selectedFwApproachSh.setApproachAltAsl(Number($(event.currentTarget).val()));
+                    $('#safehomeApproachAltM').text(selectedFwApproachSh.getApproachAltAsl() / 100 + " m");
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    renderHomeTable();
+                }
+                $('#safehomeApproachAlt').val(selectedFwApproachSh.getApproachAltAsl());
+            }
+            
+        });
+
+        $('#safehomeLandAlt').on('change', event => {
+            
+            if (selectedFwApproachSh) {
+                let altitude = Number($(event.currentTarget).val());
+                if (checkLandingAltitude(altitude, $('#safehomeSeaLevelRef').prop('checked'), Number($('#safehomeElevation').text()))) {
+                    selectedFwApproachSh.setLandAltAsl(altitude);
+                    $('#safehomeLandAltM').text(selectedFwApproachSh.getLandAltAsl() / 100 + " m");
+                    cleanSafehomeLayers();
+                    renderSafehomesOnMap();
+                    renderHomeTable();
+                } else {
+                    $('#safehomeLandAlt').val(selectedFwApproachSh.getLandAltAsl());
+                }
+            }
+        });
+
+        $('#geozoneApproachDirection').on('change', event => {
+            if (selectedFwApproachSh) {
+                selectedFwApproachSh.setApproachDirection($(event.currentTarget).val());
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeLandHeading1Excl').on('change', event => {
+            if (selectedFwApproachSh && !lockShExclHeading) {
+                selectedFwApproachSh.setLandHeading1(selectedFwApproachSh.getLandHeading1() * -1);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+        $('#safehomeLandHeading1').on('change', event => {
+            if (selectedFwApproachSh) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#safehomeLandHeading1').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#safehomeLandHeading1').val(0);
+                }
+                
+                if ($('#safehomeLandHeading1Excl').prop('checked')) {
+                    val *= -1;
+                }
+        
+                selectedFwApproachSh.setLandHeading1(val);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+        
+
+        $('#safehomeLandHeading2Excl').on('change', event => {
+            if (selectedFwApproachSh && !lockShExclHeading) {
+                selectedFwApproachSh.setLandHeading2(selectedFwApproachSh.getLandHeading2() * -1);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
+        });
+
+
+        $('#safehomeLandHeading2').on('change', event => {
+            if (selectedFwApproachSh) {
+                let val = Number($(event.currentTarget).val());
+                if (val < 0) {
+                    val = 360;
+                    $('#safehomeLandHeading2').val(360);
+                }
+                if (val > 360) {
+                    val = 0;
+                    $('#safehomeLandHeading2').val(0);
+                }
+        
+                if ($('#safehomeLandHeading2Excl').prop('checked')) {
+                    val *= -1;
+                }
+        
+                selectedFwApproachSh.setLandHeading2(val);
+                cleanSafehomeLayers();
+                renderSafehomesOnMap();
+            }
         });
 
         /////////////////////////////////////////////
@@ -2373,7 +3010,9 @@ TABS.mission_control.initialize = function (callback) {
                     removeAllWaypoints();
                     updateMultimissionState();
                 }
-
+                for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++) {
+                    FW_APPROACH.clean(i);
+                }
                 plotElevation();
             }
         });
@@ -2386,6 +3025,11 @@ TABS.mission_control.initialize = function (callback) {
                 else if (mission.getAttachedFromWaypoint(selectedMarker) && mission.getAttachedFromWaypoint(selectedMarker).length != 0) {
                     if (confirm(chrome.i18n.getMessage('confirm_delete_point_with_options'))) {
                         mission.getAttachedFromWaypoint(selectedMarker).forEach(function (element) {
+                            
+                            if (element.getAction() == MWNP.WPTYPE.LAND) {
+                                FW_APPROACH.clean(element.getNumber());
+                            }
+
                             mission.dropWaypoint(element);
                             mission.update(singleMissionActive());
                         });
@@ -2399,6 +3043,9 @@ TABS.mission_control.initialize = function (callback) {
                 }
                 else {
                     mission.dropWaypoint(selectedMarker);
+                    if (selectedMarker.getAction() == MWNP.WPTYPE.LAND) {
+                        FW_APPROACH.clean(selectedFwApproachWp.getNumber());
+                    }
                     selectedMarker = null;
                     mission.update(singleMissionActive());
                     clearEditForm();
@@ -2472,11 +3119,7 @@ TABS.mission_control.initialize = function (callback) {
         /////////////////////////////////////////////
         $('#saveSettings').on('click', function () {
             let oldSafeRadiusSH = settings.safeRadiusSH;
-
-            settings.speed = Number($('#MPdefaultPointSpeed').val());
-            settings.alt = Number($('#MPdefaultPointAlt').val());
-            settings.safeRadiusSH = Number($('#MPdefaultSafeRangeSH').val());
-
+            settings = { speed: Number($('#MPdefaultPointSpeed').val()), alt: Number($('#MPdefaultPointAlt').val()), safeRadiusSH: Number($('#MPdefaultSafeRangeSH').val()), maxDistSH : vMaxDistSH, fwApproachAlt: Number($('#MPdefaultFwApproachAlt').val()), fwLandAlt:Number($('#MPdefaultLandAlt').val())};
             saveSettings();
 
             if (settings.safeRadiusSH != oldSafeRadiusSH  && $('#showHideSafehomeButton').is(":visible")) {
@@ -2505,6 +3148,10 @@ TABS.mission_control.initialize = function (callback) {
         const fs = require('fs');
         if (!window.xml2js) return GUI.log(chrome.i18n.getMessage('errorReadingFileXml2jsNotFound'));
 
+        for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++) {
+            FW_APPROACH.clean(i);
+        }
+
         fs.readFile(filename, (err, data) => {
             if (err) {
                 GUI.log(chrome.i18n.getMessage('errorReadingFile'));
@@ -2525,6 +3172,7 @@ TABS.mission_control.initialize = function (callback) {
                 for (var noderoot in result) {
                     if (!nodemission && noderoot.match(/mission/i)) {
                         nodemission = result[noderoot];
+                        var missionIdx = -1;
                         if (nodemission.$$ && nodemission.$$.length) {
                             for (var i = 0; i < nodemission.$$.length; i++) {
                                 node = nodemission.$$[i];
@@ -2536,7 +3184,9 @@ TABS.mission_control.initialize = function (callback) {
                                     }
                                 } else if (node['#name'].match(/meta/i) || node['#name'].match(/mwp/i) && node.$) {
                                     for (var attr in node.$) {
-                                        if (attr.match(/zoom/i)) {
+                                        if (attr.match(/mission/i)) {
+                                            missionIdx = parseInt(node.$[attr]) -1;
+                                        } else if (attr.match(/zoom/i)) {
                                             mission.setCenterZoom(parseInt(node.$[attr]));
                                         } else if (attr.match(/cx/i)) {
                                             mission.setCenterLon(parseFloat(node.$[attr]) * 10000000);
@@ -2593,7 +3243,33 @@ TABS.mission_control.initialize = function (callback) {
                                             }
                                         }
                                     }
+                                    if (missionIdx >= 0) {
+                                        point.setMultiMissionIdx(missionIdx);
+                                    }
                                     mission.put(point);
+                                } else if (node['#name'].match(/fwapproach/i) && node.$) {
+                                    var fwApproach = new FwApproach(0);
+                                    var idx = -1;
+                                    for (var attr in node.$) {
+                                        if (attr.match(/index/i)) {
+                                            idx = parseInt(node.$[attr]);
+                                        } else if (attr.match(/no/i)) {
+                                            fwApproach.setNumber(parseInt(node.$[attr]));
+                                        } else if (attr.match(/approach-alt/i)) {
+                                            fwApproach.setApproachAltAsl(parseInt(node.$[attr]));
+                                        } else if (attr.match(/land-alt/i)) {
+                                            fwApproach.setLandAltAsl(parseInt(node.$[attr]));
+                                        } else if (attr.match(/approach-direction/i)) {
+                                            fwApproach.setApproachDirection(node.$[attr] == 'left' ? 0 : 1);
+                                        } else if (attr.match(/landheading1/i)) {
+                                            fwApproach.setLandHeading1(parseInt(node.$[attr]));
+                                        } else if (attr.match(/landheading2/i)) {
+                                            fwApproach.setLandHeading2(parseInt(node.$[attr]));
+                                        } else if (attr.match(/sealevel-ref/i)) {
+                                            fwApproach.setIsSeaLevelRef(parseBooleans(node.$[attr]) ? 1 : 0);
+                                        }
+                                    }
+                                    FW_APPROACH.insert(fwApproach, SAFEHOMES.getMaxSafehomeCount() + idx);
                                 }
                             }
                         }
@@ -2666,7 +3342,8 @@ TABS.mission_control.initialize = function (callback) {
                           'home-x' : HOME.getLonMap(),
                           'home-y' : HOME.getLatMap(),
                           'zoom': zoom } },
-            'missionitem': []
+            'missionitem': [],
+            'fwapproach': []
         };
 
         let missionStartWPNumber = 0;
@@ -2696,6 +3373,24 @@ TABS.mission_control.initialize = function (callback) {
                 missionNumber ++;
             }
         });
+        let approachIdx = 0;
+        for (let i = SAFEHOMES.getMaxSafehomeCount(); i < FW_APPROACH.getMaxFwApproachCount(); i++){
+            let approach = FW_APPROACH.get()[i];    
+            if (approach.getLandHeading1() != 0 || approach.getLandHeading2() != 0) {            
+                var item = { $: {
+                    'index': approachIdx,
+                    'no': approach.getNumber(),
+                    'approach-alt': approach.getApproachAltAsl(),
+                    'land-alt': approach.getLandAltAsl(),
+                    'approach-direction': approach.getApproachDirection() == 0 ? 'left' : 'right',
+                    'landheading1': approach.getLandHeading1(),
+                    'landheading2': approach.getLandHeading2(),
+                    'sealevel-ref': approach.getIsSeaLevelRef() ? 'true' : 'false'
+                }};
+                data.fw_approach.push(item);
+            }
+            approachIdx++;
+        }
 
         var builder = new window.xml2js.Builder({ 'rootName': 'mission', 'renderOpts': { 'pretty': true, 'indent': '\t', 'newline': '\n' } });
         var xml = builder.buildObject(data);
@@ -2716,75 +3411,86 @@ TABS.mission_control.initialize = function (callback) {
     // mission = configurator store, WP number indexed from 0, MISSION_PLANNER = FC NVM store, WP number indexed from 1
     /////////////////////////////////////////////
     function getWaypointsFromFC(loadEeprom) {
+    
+        var loadChainer = new MSPChainerClass();
+        var chain = [mspHelper.loadFwApproach];
         if (loadEeprom) {
-            MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], getWaypointData);
-        } else {
-            getWaypointData();
+            chain.push(function(callback) { 
+                MSP.send_message(MSPCodes.MSP_WP_MISSION_LOAD, [0], callback);
+            });
         }
+        chain.push(mspHelper.loadWaypoints);
+        chain.push(function() {
+            GUI.log(chrome.i18n.getMessage('endGetPoint'));
+            if (loadEeprom) {
+                GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
+                $('#loadEepromMissionButton').removeClass('disabled');
+            } else {
+                $('#loadMissionButton').removeClass('disabled');
+            }
+            if (!MISSION_PLANNER.getCountBusyPoints()) {
+                alert(chrome.i18n.getMessage('no_waypoints_to_load'));
+                return;
+            }
+            mission.reinit();
+            mission.copy(MISSION_PLANNER);
+            mission.update(false, true);
 
-        function getWaypointData() {
-            mspHelper.loadWaypoints(function() {
-                GUI.log(chrome.i18n.getMessage('endGetPoint'));
-                if (loadEeprom) {
-                    GUI.log(chrome.i18n.getMessage('eeprom_load_ok'));
-                    $('#loadEepromMissionButton').removeClass('disabled');
-                } else {
-                    $('#loadMissionButton').removeClass('disabled');
-                }
-                if (!MISSION_PLANNER.getCountBusyPoints()) {
-                    alert(chrome.i18n.getMessage('no_waypoints_to_load'));
-                    return;
-                }
-                mission.reinit();
-                mission.copy(MISSION_PLANNER);
-                mission.update(false, true);
-
-                /* check multimissions */
-                multimissionCount = 0;
-                mission.get().forEach(function (element) {
-                    if (element.getEndMission() == 0xA5) {
-                        multimissionCount ++;
-                    }
-                });
-                multimissionCount = multimissionCount > 1 ? multimissionCount : 0;
-                multimission.reinit();
-                if (multimissionCount > 1) {
-                    multimission.copy(mission);
-                    $('#missionPlannerMultiMission').fadeIn(300);
+            /* check multimissions */
+            multimissionCount = 0;
+            mission.get().forEach(function (element) {
+                if (element.getEndMission() == 0xA5) {
+                    element.setMultiMissionIdx(multimissionCount);
+                    multimissionCount++;
                 }
-                renderMultimissionTable();
-
-                setView(16);
-                redrawLayers();
-                updateTotalInfo();
             });
-        };
+            multimissionCount = multimissionCount > 1 ? multimissionCount : 0;
+            multimission.reinit();
+            if (multimissionCount > 1) {
+                multimission.copy(mission);
+                $('#missionPlannerMultiMission').fadeIn(300);
+            }
+            renderMultimissionTable();
+            setView(16);
+            redrawLayers();
+            updateTotalInfo();
+        });
+    
+        loadChainer.setChain(chain);
+        loadChainer.execute();
     }
 
     function sendWaypointsToFC(saveEeprom) {
         MISSION_PLANNER.reinit();
         MISSION_PLANNER.copy(mission);
         MISSION_PLANNER.update(false, true, true);
-        mspHelper.saveWaypoints(function() {
-            GUI.log(chrome.i18n.getMessage('endSendPoint'));
-            if (saveEeprom) {
-                $('#saveEepromMissionButton').removeClass('disabled');
-                GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
-                MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false, setMissionIndex);
-            } else {
-                $('#saveMissionButton').removeClass('disabled');
+        let saveChainer = new MSPChainerClass();
+        saveChainer.setChain([
+            mspHelper.saveWaypoints,
+            mspHelper.saveFwApproach,
+            function () {
+                GUI.log(chrome.i18n.getMessage('endSendPoint'));
+                if (saveEeprom) {
+                    $('#saveEepromMissionButton').removeClass('disabled');
+                    GUI.log(chrome.i18n.getMessage('eeprom_saved_ok'));
+                    MSP.send_message(MSPCodes.MSP_WP_MISSION_SAVE, [0], false, setMissionIndex);
+                } else {
+                    $('#saveMissionButton').removeClass('disabled');
+                }
+                mission.setMaxWaypoints(MISSION_PLANNER.getMaxWaypoints());
+                mission.setValidMission(MISSION_PLANNER.getValidMission());
+                mission.setCountBusyPoints(MISSION_PLANNER.getCountBusyPoints());
+                multimission.setMaxWaypoints(mission.getMaxWaypoints());
+                updateTotalInfo();
+                mission.reinit();
+                mission.copy(MISSION_PLANNER);
+                mission.update(false, true);
+                refreshLayers();
+                $('#MPeditPoint').fadeOut(300);
             }
-            mission.setMaxWaypoints(MISSION_PLANNER.getMaxWaypoints());
-            mission.setValidMission(MISSION_PLANNER.getValidMission());
-            mission.setCountBusyPoints(MISSION_PLANNER.getCountBusyPoints());
-            multimission.setMaxWaypoints(mission.getMaxWaypoints());
-            updateTotalInfo();
-            mission.reinit();
-            mission.copy(MISSION_PLANNER);
-            mission.update(false, true);
-            refreshLayers();
-            $('#MPeditPoint').fadeOut(300);
-        });
+        ]);
+        saveChainer.execute();
+
         function setMissionIndex() {
             let activeIndex = singleMissionActive() ? 1 : $('#activeNissionIndex').text();
             mspHelper.setSetting("nav_wp_multi_mission_index", activeIndex, function () {
@@ -2817,6 +3523,11 @@ TABS.mission_control.initialize = function (callback) {
         }
     }
 
+    function updateSelectedShAndFwAp(index) {
+        selectedSafehome = SAFEHOMES.get()[index];
+        selectedFwApproachSh = FW_APPROACH.get()[index];
+    }
+
     /* resetAltitude = true : For selected WPs only. Changes WP Altitude value back to previous value if setting below ground level.
      ^ resetAltitude = false : changes WP Altitude to value required to give ground clearance = default Altitude setting
      ^ AbsAltCheck : check value for whether or not to use absolute altitude. This can be the P3 bitset or excplicitly set to true or false */
@@ -2826,14 +3537,14 @@ TABS.mission_control.initialize = function (callback) {
         AbsAltCheck = (typeof AbsAltCheck == "boolean") ? AbsAltCheck : TABS.mission_control.isBitSet(AbsAltCheck, MWNP.P3.ALT_TYPE);
 
         if (AbsAltCheck) {
-            if (checkAltitude < 100 * elevation) {
+            //if (checkAltitude < 100 * elevation) {
                 if (resetAltitude) {
                     alert(chrome.i18n.getMessage('MissionPlannerAltitudeChangeReset'));
                     altitude = selectedMarker.getAlt();
                 } else {
                     altitude = settings.alt + 100 * elevation;
                 }
-            }
+            //}
             groundClearance = altitude / 100 - elevation;
         } else if (homeMarkers.length && HOME.getAlt() != "N/A") {
             let elevationAtHome = HOME.getAlt();