diff --git a/conf/flight_plans/tudelft/rotating_wing_EHR8.xml b/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
index 3eeea527a2..3043af5bae 100644
--- a/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_EHR8.xml
@@ -123,7 +123,7 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
-    <block name="line_trans_fwd">
+    <block name="line_trans_fwd" strip_button="Transition Line" strip_icon="wp_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
       <go wp="end_trans"/>
@@ -133,12 +133,12 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay wp="end_trans"/>
     </block>
-    <block name="transition_CW">
+    <block name="transition_CW" strip_button="Transition CW" strip_icon="circle_cw_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <stay wp="end_trans"/>
       <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
     </block>
-    <block name="transition_CCW">
+    <block name="transition_CCW" strip_button="Transition CCW" strip_icon="circle_ccw_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <stay wp="end_trans"/>
       <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
@@ -175,7 +175,7 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
       <circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
-    <block name="Transition_quad">
+    <block name="Transition_quad" strip_button="Transition Quad" strip_icon="wp_quad.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <go wp="STDBY"/>
       <deroute block="Standby"/>
@@ -188,7 +188,7 @@
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <go wp="TD"/>
     </block>
-    <block name="descend">
+    <block name="descend" strip_button="Descend" strip_icon="descend.png">
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <exception cond="GetPosHeight() @LT 12.0" deroute="flare"/>
         <stay climb="-1.0" vmode="climb" wp="TD"/>
diff --git a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
index c5e36c4c1c..289754494c 100644
--- a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
@@ -114,7 +114,7 @@
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_FREE)"/>
         <stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
-    <block name="stay_p1">
+    <block name="stay_p1" strip_button="Stay P1" strip_icon="wp_quad.png">
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <stay wp="p1"/>
     </block>
@@ -146,7 +146,7 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
     </block>
-    <!-- <block name="line_trans_fwd">
+    <!--<block name="line_trans_fwd" strip_button="Transition Line" strip_icon="wp_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
       <go wp="end_trans"/>
@@ -156,12 +156,12 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay wp="end_trans"/>
     </block>
-    <block name="transition_CW">
+    <block name="transition_CW" strip_button="Transition CW" strip_icon="circle_cw_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <stay wp="end_trans"/>
       <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
     </block>
-    <block name="transition_CCW">
+    <block name="transition_CCW" strip_button="Transition CCW" strip_icon="circle_ccw_fwd.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <stay wp="end_trans"/>
       <exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
@@ -202,7 +202,7 @@
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
       <stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
     </block>
-    <block name="Transition_quad">
+    <block name="Transition_quad" strip_button="Transition Quad" strip_icon="wp_quad.png">
       <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
       <go wp="STDBY"/>
       <deroute block="Standby"/>
@@ -215,7 +215,7 @@
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <go wp="TD"/>
     </block>
-    <block name="descend">
+    <block name="descend" strip_button="Descend" strip_icon="descend.png">
         <call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
         <exception cond="GetPosHeight() @LT 12.0" deroute="flare"/>
         <stay climb="-1.0" vmode="climb" wp="TD"/>
diff --git a/conf/userconf/tudelft/control_panel.xml b/conf/userconf/tudelft/control_panel.xml
index c2edac3650..976719c6d2 100644
--- a/conf/userconf/tudelft/control_panel.xml
+++ b/conf/userconf/tudelft/control_panel.xml
@@ -196,7 +196,10 @@
       <program name="Server"/>
       <program name="Messages"/>
       <program name="PprzGCS"/>
-      <program name="Herelink PprzLink Router"/>
+      <program name="Herelink PprzLink Router">
+	<arg flag="-e udp://192.168.0.11:5242:192.168.0.10:5243"/>
+	<arg flag="-e udp://0.0.0.0:4243:192.168.43.255:4242"/>
+      </program>
     </session>
 
     <session name="Flight UDP Optitrack + Joystick">
@@ -225,7 +228,10 @@
       <program name="Data Link">
         <arg flag="-udp"/>
       </program>
-      <program name="Herelink PprzLink Router"/>
+      <program name="Herelink PprzLink Router">
+	<arg flag="-e udp://192.168.0.11:5242:192.168.0.10:5243"/>
+	<arg flag="-e udp://0.0.0.0:4243:192.168.43.255:4242"/>
+      </program>
     </session>
 
     <session name="Flight XBeeAPI USB0 @57600">
@@ -432,7 +438,10 @@
       </program>
       <program name="Server"/>
       <program name="Messages"/>
-      <program name="Herelink PprzLink Router"/>
+      <program name="Herelink PprzLink Router">
+	<arg flag="-e udp://192.168.0.11:5242:192.168.0.10:5243"/>
+	<arg flag="-e udp://0.0.0.0:4243:192.168.43.255:4242"/>
+      </program>
       <program name="Settings (Python)">
         <arg constant="@AC_ID" flag="--ac_id" />
       </program>
diff --git a/data/pictures/gcs_icons/alert.png b/data/pictures/gcs_icons/alert.png
new file mode 100644
index 0000000000..2cac05dc95
Binary files /dev/null and b/data/pictures/gcs_icons/alert.png differ
diff --git a/data/pictures/gcs_icons/circle_ccw_fwd.png b/data/pictures/gcs_icons/circle_ccw_fwd.png
new file mode 100644
index 0000000000..e8f7fd73bb
Binary files /dev/null and b/data/pictures/gcs_icons/circle_ccw_fwd.png differ
diff --git a/data/pictures/gcs_icons/circle_ccw_quad.png b/data/pictures/gcs_icons/circle_ccw_quad.png
new file mode 100644
index 0000000000..7542419a23
Binary files /dev/null and b/data/pictures/gcs_icons/circle_ccw_quad.png differ
diff --git a/data/pictures/gcs_icons/circle_cw_fwd.png b/data/pictures/gcs_icons/circle_cw_fwd.png
new file mode 100644
index 0000000000..2cc2d8d6b7
Binary files /dev/null and b/data/pictures/gcs_icons/circle_cw_fwd.png differ
diff --git a/data/pictures/gcs_icons/circle_cw_quad.png b/data/pictures/gcs_icons/circle_cw_quad.png
new file mode 100644
index 0000000000..292703337e
Binary files /dev/null and b/data/pictures/gcs_icons/circle_cw_quad.png differ
diff --git a/data/pictures/gcs_icons/descend.png b/data/pictures/gcs_icons/descend.png
new file mode 100644
index 0000000000..1471703bb1
Binary files /dev/null and b/data/pictures/gcs_icons/descend.png differ
diff --git a/data/pictures/gcs_icons/wp_fwd.png b/data/pictures/gcs_icons/wp_fwd.png
new file mode 100644
index 0000000000..21c17ab54a
Binary files /dev/null and b/data/pictures/gcs_icons/wp_fwd.png differ
diff --git a/data/pictures/gcs_icons/wp_quad.png b/data/pictures/gcs_icons/wp_quad.png
new file mode 100644
index 0000000000..0be79a1a7c
Binary files /dev/null and b/data/pictures/gcs_icons/wp_quad.png differ