diff --git a/configuration.cc b/configuration.cc
index 6b3fcc4..4c8fab6 100644
--- a/configuration.cc
+++ b/configuration.cc
@@ -2,12 +2,14 @@
 #include "configuration.h"
 #include "video.h"
 #include "gui.h"
+#include "detect.h"
 
 #include <stdlib.h>
 #include <string>
 
 // extern VideoDev *videodev;
 extern GtkBuilder *_builder_;			// work around for threads
+extern PosCtl posctl;
 
 
 Configuration::Configuration() {
@@ -64,6 +66,9 @@ void Configuration::SaveConfig(std::string filename) {
 	GtkWidget *cb;
 	GtkWidget *cbe;
 
+	std::string s = setlocale(LC_ALL, NULL);
+	setlocale (LC_ALL, "C");
+
 	//
 	// Add resolution, format and video device to config json element
 	cb = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "cb-videores"));
@@ -76,13 +81,32 @@ void Configuration::SaveConfig(std::string filename) {
 	cbe = gtk_bin_get_child(GTK_BIN(cb));
 	jp.AddObject("device", (string) gtk_entry_get_text(GTK_ENTRY(cbe)));
 
+	//
+	// save posctl settings
+	double amin, amax, akp, aki, akd;
+	JSONParse jaxis;
+
+	posctl.LockMutex();
+	for (i = 0; i < 2; i++) {
+		posctl.GetAxisParam(i,  &amin,  &amax,  &akp,  &aki,  &akd);
+		jaxis.Clear();
+		jaxis.AddObject("min", amin);
+		jaxis.AddObject("max", amax);
+		jaxis.AddObject("kp", akp);
+		jaxis.AddObject("ki", aki);
+		jaxis.AddObject("kd", akd);
+		printf ("%s:%d save config axis %d Out Range: %f - %f kP:%f kI:%f kD:%f\n",
+				__FILE__, __LINE__, i, amin, amax, akp, aki, akd);
+		jp.AddObject("posctl_axis" + to_string(i), jaxis);
+	}
+	jp.AddObject("posctl_device", posctl.GetDevice());
+	posctl.UnLockMutex();
 
 	//
 	// histogram settings and debayer mode
 	jp.AddObject("histogram_log", histogram_log);
 	jp.AddObject("debayer_mode", debayer_mode);
 
-
 	//
 	// save button config
 	for (i = 0; i < BTN_PRESET_MAX; i++) {
@@ -135,7 +159,6 @@ void Configuration::SaveConfig(std::string filename) {
 			break;
 		}
 
-
 		GtkWidget *wnd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), name.c_str()));
 		if (wnd) {
 			g_object_get (wnd, "visible", &show, NULL);
@@ -157,6 +180,8 @@ void Configuration::SaveConfig(std::string filename) {
 		printf ("%s:%d %s could not save to file [%s] Error: %s\n", __FILE__, __LINE__, __FUNCTION__,
 				filename.c_str(), strerror(errno));
 	}
+
+	setlocale (LC_ALL, s.c_str());
 };
 
 
@@ -166,6 +191,9 @@ void Configuration::LoadConfig(std::string filename) {
 	int i;
 	JSONElement je;
 
+	std::string s = setlocale(LC_ALL, NULL);
+	setlocale (LC_ALL, "C");
+
 	if (jp.LoadFromFile(filename)) {
 		printf ("%s:%d %s could not load from file [%s] Error: %s\n", __FILE__, __LINE__, __FUNCTION__,
 				filename.c_str(), strerror(errno));
@@ -187,6 +215,28 @@ void Configuration::LoadConfig(std::string filename) {
 			gtk_entry_set_text(GTK_ENTRY(cbdevice), vstr.c_str());
 		}
 
+		//
+		// load posctl
+		double amin, amax, akp, aki, akd;
+		JSONParse jaxis;
+
+		posctl.LockMutex();
+		for (i = 0; i < 2; i++) {
+			if (jp.GetObject("posctl_axis"+to_string(i), &jaxis)) {
+				jaxis.GetValueDouble("min", &amin);
+				jaxis.GetValueDouble("max", &amax);
+				jaxis.GetValueDouble("kp", &akp);
+				jaxis.GetValueDouble("ki", &aki);
+				jaxis.GetValueDouble("kd", &akd);
+			}
+			printf ("%s:%d load config axis %d Out Range: %f - %f kP:%f kI:%f kD:%f\n",
+					__FILE__, __LINE__, i, amin, amax, akp, aki, akd);
+			posctl.SetAxisParam(i, amin, amax, akp, aki, akd);
+		}
+		if (jp.GetValue("posctl_device", &vstr))
+			posctl.SetDevice(vstr);
+		posctl.UnLockMutex();
+
 		jp.GetValueInt("histogram_log", &i);
 		SetHistogramLog(i);
 
@@ -295,6 +345,11 @@ void Configuration::LoadConfig(std::string filename) {
 			}
 		}
 	}
+	setlocale (LC_ALL, s.c_str());
+
+	// we need to update the gui so floating numbers will displayed with the correct
+	// language setting.
+	gdk_threads_add_idle(cb_thread_posctl, NULL);
 };
 
 
diff --git a/detect.h b/detect.h
index eb1e7ff..3b56a2c 100644
--- a/detect.h
+++ b/detect.h
@@ -52,6 +52,8 @@ class PosCtl {
 		GMutex mutex;
 		int mode;
 		PID pid_axis[2];
+		std::string device;
+		int device_fd;
 		struct timeval calib_timestamp;
 		int calib_mode;
 		position_2d calib_pos;
@@ -61,6 +63,8 @@ class PosCtl {
 		void CalibModeAxis(int x, int y);
 		void CalibModeFinish();
 
+		void OutputClose();
+		void OutputOpen();
 	public:
 		PosCtl();
 		~PosCtl() {};
@@ -76,6 +80,8 @@ class PosCtl {
 		double calib_axis2_lenmi;
 		double calib_axis2_lenma;
 
+		double out[2];
+
 		void LockMutex() { g_mutex_lock(&mutex); };
 		void UnLockMutex() { g_mutex_unlock(&mutex); };
 
@@ -85,7 +91,13 @@ class PosCtl {
 		int GetMode () { return mode; };
 		void SetAxisParam (int axis, double min, double max, double k, double i, double d);
 		void GetAxisParam (int axis, double *min, double *max, double *k, double *i, double *d);
+		void SetDevice(std::string d);
+		std::string GetDevice() { return device; };
+
 		void Loop (int posx, int posy);
+		void OutputWriteValue (int axis, double value);
+		void OutputWriteStop (int axis);
+		void OutputWriteStart (int axis);
 };
 
 
diff --git a/gui.h b/gui.h
index a4bcfbb..352c052 100644
--- a/gui.h
+++ b/gui.h
@@ -125,11 +125,16 @@ G_MODULE_EXPORT void cb_histogram_show_window (GtkWidget *widget, gpointer data)
 
 //
 // position control elements
+G_MODULE_EXPORT void cb_posctl_show (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_show_window (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_btncalib (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_angles_draw (GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
 G_MODULE_EXPORT void cb_posctl_entryanglelen (GtkWidget *widget, gpointer data);
 G_MODULE_EXPORT void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
+G_MODULE_EXPORT void cb_posctl_change_entry (GtkWidget *widget, gpointer data);
+G_MODULE_EXPORT void cb_posctl_btn_axismove (GtkWidget *widget, gpointer data);
+
+
 
 //
 // menu elements
diff --git a/json.cc b/json.cc
index ffeff35..9e55f0a 100644
--- a/json.cc
+++ b/json.cc
@@ -210,6 +210,17 @@ int JSONParse::GetValueInt(string varname, int *dest) {
 };
 
 
+int JSONParse::GetValueDouble(string varname, double *dest) {
+	string s;
+	int res = GetValue(varname, &s);
+	if (res) {
+		*dest = atof (s.c_str());
+		return 1;
+	}
+	return 0;
+};
+
+
 int JSONParse::GetValueInt64(string varname, int64_t *dest) {
 	string s;
 	int res = GetValue(varname, &s);
@@ -521,4 +532,3 @@ string JSONElement::GetString () {
 
 	return output;
 };
-
diff --git a/json.h b/json.h
index a235a32..ea351c9 100644
--- a/json.h
+++ b/json.h
@@ -54,6 +54,7 @@ public:
 
 	int GetValue(string varname, string *dest);
 	int GetValueInt(string varname, int *dest);
+	int GetValueDouble(string varname, double *dest);
 	int GetValueInt64(string varname, int64_t *dest);
 	int GetObject(string varname, JSONParse *dest);
 
diff --git a/pid.cc b/pid.cc
index ae9bf09..0f5e92f 100644
--- a/pid.cc
+++ b/pid.cc
@@ -134,11 +134,11 @@ void PID::SetParam (double mi, double ma, double p, double i, double d) {
 
 
 void PID::GetParam (double *mi, double *ma, double *p, double *i, double *d) {
-	*p = Kp;
-	*i = Ki;
-	*d = Kd;
-	*mi = Min;
-	*ma = Max;
+	if (p != NULL) *p = Kp;
+	if (i != NULL) *i = Ki;
+	if (d != NULL) *d = Kd;
+	if (mi != NULL) *mi = Min;
+	if (ma != NULL) *ma = Max;
 };
 
 
diff --git a/pid.h b/pid.h
index b589b44..70c260b 100644
--- a/pid.h
+++ b/pid.h
@@ -5,9 +5,9 @@ class PID {
 
  private:
   double Min, Max;
-  double Kp; // proportional factor
-  double Ki; // integral factor
-  double Kd; // derivative factor
+  double Kp; 	// proportional factor
+  double Ki; 	// integral factor
+  double Kd; 	// derivative factor
   double Integral;
   double PreviousError;
   int64_t PreviousTime;
diff --git a/posctl.cc b/posctl.cc
index 449e3a4..6fdf34f 100644
--- a/posctl.cc
+++ b/posctl.cc
@@ -34,6 +34,7 @@ void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
 	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
 
 	GtkWidget *wnd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "window-posctl"));
+
 	gtk_widget_show(wnd);
 }
 
@@ -48,6 +49,81 @@ void cb_posctl_btncalib (GtkWidget *widget, gpointer data) {
 	posctl_gui_update();
 }
 
+
+void cb_posctl_show (GtkWidget *widget, gpointer data) {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+	posctl_gui_update();
+}
+
+
+void cb_posctl_btn_axismove (GtkWidget *widget, gpointer data) {
+	GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
+	GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
+	GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
+	GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
+	GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
+	GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));
+	double a1min, a2min, a1max, a2max;
+
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
+	posctl.GetAxisParam(0, &a1min, &a1max, NULL, NULL, NULL);
+	posctl.GetAxisParam(1, &a2min, &a2max, NULL, NULL, NULL);
+
+	if (widget == btn_a1min) posctl.OutputWriteValue(0, a1min);
+	else if (widget == btn_a1center) posctl.OutputWriteValue(0, (a1max-a1min)/2.0+a1min);
+	else if (widget == btn_a1max) posctl.OutputWriteValue(0, a1max);
+	else if (widget == btn_a2min) posctl.OutputWriteValue(1, a1min);
+	else if (widget == btn_a2center) posctl.OutputWriteValue(1, (a1max-a1min)/2.0+a1min);
+	else if (widget == btn_a2max) posctl.OutputWriteValue(1, a1max);
+
+	posctl_gui_update();
+}
+
+
+void cb_posctl_change_entry (GtkWidget *widget, gpointer data) {
+	double a1min, a1max, a1p, a1i, a1d;
+	double a2min, a2max, a2p, a2i, a2d;
+
+	GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
+	GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
+	GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
+	GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
+	GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
+	GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
+	GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
+	GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
+	GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
+	GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
+	GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
+	const char *s;
+
+	posctl.GetAxisParam(0, &a1min, &a1max, &a1p, &a1i, &a1d);
+	posctl.GetAxisParam(1, &a2min, &a2max, &a2p, &a2i, &a2d);
+
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+	s = gtk_entry_get_text(GTK_ENTRY(widget));
+
+	posctl.LockMutex();
+	if (e_posdevice == widget) 			posctl.SetDevice(s);
+	else if (a1_min == widget)			a1min = atof(s);
+	else if (a1_max == widget)			a1max = atof(s);
+	else if (a1_kp == widget)			a1p = atof(s);
+	else if (a1_ki == widget)			a1i = atof(s);
+	else if (a1_kd == widget)			a1d = atof(s);
+	else if (a2_min == widget)			a2min = atof(s);
+	else if (a2_max == widget)			a2max = atof(s);
+	else if (a2_kp == widget)			a2p = atof(s);
+	else if (a2_ki == widget)			a2i = atof(s);
+	else if (a2_kd == widget)			a2d = atof(s);
+
+	posctl.SetAxisParam(0, a1min, a1max, a1p, a1i, a1d);
+	posctl.SetAxisParam(1, a2min, a2max, a2p, a2i, a2d);
+
+	posctl.UnLockMutex();
+}
+
+
 void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
 	int clientw, clienth;
 
@@ -218,6 +294,7 @@ void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer da
  */
 void posctl_gui_update() {
 	char txt[255];
+	double kp, ki, kd, mi, ma;
 
 	GtkWidget *caliblabel = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_calib_label"));
 
@@ -235,12 +312,40 @@ void posctl_gui_update() {
 	GtkWidget *e_cal_a2lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenmi"));
 	GtkWidget *e_cal_a2lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenma"));
 
+	GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
+	GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
+	GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
+	GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
+	GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
+	GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
+	GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));
+
+	GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
+	GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
+	GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
+	GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
+	GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
+	GtkWidget *a1_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outx"));
+	GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
+	GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
+	GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
+	GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
+	GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
+	GtkWidget *a2_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outy"));
+
 	posctl.LockMutex();
 	int m = posctl.GetMode();
 
 	if (m == POSCTL_MODE_OFF) {
 		gtk_widget_set_sensitive(btnclib, true);
+		gtk_widget_set_sensitive(btn_a1min, true);
+		gtk_widget_set_sensitive(btn_a1center, true);
+		gtk_widget_set_sensitive(btn_a1max, true);
+		gtk_widget_set_sensitive(btn_a2min, true);
+		gtk_widget_set_sensitive(btn_a2center, true);
+		gtk_widget_set_sensitive(btn_a2max, true);
 		gtk_widget_set_sensitive(cbenable, true);
+		gtk_widget_set_sensitive(e_posdevice, true);
 		gtk_label_set_label(GTK_LABEL(caliblabel), (char *) "");
 	}
 	else {
@@ -249,6 +354,13 @@ void posctl_gui_update() {
 		}
 		gtk_widget_set_sensitive(btnclib, false);
 		gtk_widget_set_sensitive(cbenable, false);
+		gtk_widget_set_sensitive(btn_a1min, false);
+		gtk_widget_set_sensitive(btn_a1center, false);
+		gtk_widget_set_sensitive(btn_a1max, false);
+		gtk_widget_set_sensitive(btn_a2min, false);
+		gtk_widget_set_sensitive(btn_a2center, false);
+		gtk_widget_set_sensitive(btn_a2max, false);
+		gtk_widget_set_sensitive(e_posdevice, false);
 	}
 
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot_angle);
@@ -270,6 +382,35 @@ void posctl_gui_update() {
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2_lenma);
 	gtk_entry_set_text (GTK_ENTRY(e_cal_a2lenma), txt);
 
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[0]);
+	gtk_label_set_text(GTK_LABEL(a1_out), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[1]);
+	gtk_label_set_text(GTK_LABEL(a2_out), txt);
+
+	posctl.GetAxisParam(0, &mi, &ma, &kp, &ki, &kd);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
+	gtk_entry_set_text (GTK_ENTRY(a1_min), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
+	gtk_entry_set_text (GTK_ENTRY(a1_max), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
+	gtk_entry_set_text (GTK_ENTRY(a1_kp), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
+	gtk_entry_set_text (GTK_ENTRY(a1_ki), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
+	gtk_entry_set_text (GTK_ENTRY(a1_kd), txt);
+
+	posctl.GetAxisParam(1, &mi, &ma, &kp, &ki, &kd);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
+	gtk_entry_set_text (GTK_ENTRY(a2_min), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
+	gtk_entry_set_text (GTK_ENTRY(a2_max), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
+	gtk_entry_set_text (GTK_ENTRY(a2_kp), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
+	gtk_entry_set_text (GTK_ENTRY(a2_ki), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
+	gtk_entry_set_text (GTK_ENTRY(a2_kd), txt);
+
 	posctl.UnLockMutex();
 }
 
@@ -296,9 +437,10 @@ PosCtl::PosCtl() {
 	calib_axis2_angle = 0.0;
 	calib_axis2_lenmi = 0.0;
 	calib_axis2_lenma = 0.0;
+	device_fd = -1;
+	device = "";
 };
 
-
 /*
  * stop the control or the calibration
  */
@@ -345,6 +487,7 @@ void PosCtl::SetAxisParam (	int axis, double min, double max,
 	pid_axis[axis].SetParam(min, max, k, i, d);
 };
 
+
 void PosCtl::GetAxisParam (	int axis, double *min, double *max,
 							double *k, double *i, double *d) {
 
@@ -453,3 +596,37 @@ void PosCtl::Loop (int posx, int posy) {
 	}
 };
 
+
+void PosCtl::SetDevice (std::string d) {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+	OutputClose();
+	device = d;
+};
+
+
+void PosCtl::OutputClose() {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+	if (device_fd > 0) close(device_fd);
+	device_fd = -1;
+};
+
+
+void PosCtl::OutputOpen() {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+};
+
+
+void PosCtl::OutputWriteValue (int axis, double value) {
+	printf ("%s:%d %s   Axis %d   Value:%f\n", __FILE__, __LINE__, __FUNCTION__, axis, value);
+}
+
+void PosCtl::OutputWriteStop (int axis) {
+	printf ("%s:%d %s   Axis %d\n", __FILE__, __LINE__, __FUNCTION__, axis);
+}
+
+void PosCtl::OutputWriteStart (int axis) {
+	printf ("%s:%d %s   Axis %d\n", __FILE__, __LINE__, __FUNCTION__, axis);
+}
+
+
+
diff --git a/simpleskycam.ui b/simpleskycam.ui
index 9b5d584..6ef3980 100644
--- a/simpleskycam.ui
+++ b/simpleskycam.ui
@@ -655,6 +655,7 @@
     <property name="border-width">4</property>
     <property name="title" translatable="yes">Position Control</property>
     <signal name="delete-event" handler="gtk_widget_hide_on_delete" swapped="no"/>
+    <signal name="show" handler="cb_posctl_show" swapped="no"/>
     <child>
       <object class="GtkBox">
         <property name="visible">True</property>
@@ -1022,30 +1023,249 @@
           <object class="GtkBox">
             <property name="visible">True</property>
             <property name="can-focus">False</property>
-            <property name="spacing">4</property>
+            <property name="orientation">vertical</property>
             <child>
-              <object class="GtkFrame">
+              <object class="GtkBox">
                 <property name="visible">True</property>
                 <property name="can-focus">False</property>
-                <property name="label-xalign">0</property>
-                <property name="shadow-type">none</property>
+                <property name="margin-end">10</property>
+                <property name="margin-bottom">6</property>
+                <property name="spacing">4</property>
                 <child>
-                  <object class="GtkAlignment">
+                  <object class="GtkLabel">
                     <property name="visible">True</property>
                     <property name="can-focus">False</property>
-                    <property name="left-padding">12</property>
+                    <property name="label" translatable="yes">Device:</property>
+                  </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
+                </child>
+                <child>
+                  <object class="GtkEntry" id="posctl_entry_device">
+                    <property name="visible">True</property>
+                    <property name="can-focus">True</property>
+                    <property name="margin-start">15</property>
+                    <property name="placeholder-text" translatable="yes">/dev/ttyUSB0</property>
+                    <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                  </object>
+                  <packing>
+                    <property name="expand">True</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
+                </child>
+              </object>
+              <packing>
+                <property name="expand">False</property>
+                <property name="fill">True</property>
+                <property name="position">0</property>
+              </packing>
+            </child>
+            <child>
+              <object class="GtkBox">
+                <property name="visible">True</property>
+                <property name="can-focus">False</property>
+                <property name="spacing">4</property>
+                <child>
+                  <object class="GtkBox">
+                    <property name="visible">True</property>
+                    <property name="can-focus">False</property>
+                    <property name="orientation">vertical</property>
+                    <property name="spacing">4</property>
+                    <child>
+                      <object class="GtkFrame">
+                        <property name="visible">True</property>
+                        <property name="can-focus">False</property>
+                        <property name="label-xalign">0</property>
+                        <property name="shadow-type">none</property>
+                        <child>
+                          <object class="GtkAlignment">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="left-padding">12</property>
+                            <child>
+                              <object class="GtkBox">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="spacing">4</property>
+                                <child>
+                                  <object class="GtkDrawingArea" id="posctl_da_axis1">
+                                    <property name="width-request">100</property>
+                                    <property name="height-request">150</property>
+                                    <property name="visible">True</property>
+                                    <property name="can-focus">False</property>
+                                    <signal name="draw" handler="cb_posctl_axis_draw" swapped="no"/>
+                                  </object>
+                                  <packing>
+                                    <property name="expand">False</property>
+                                    <property name="fill">True</property>
+                                    <property name="position">0</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <!-- n-columns=2 n-rows=5 -->
+                                  <object class="GtkGrid">
+                                    <property name="visible">True</property>
+                                    <property name="can-focus">False</property>
+                                    <property name="column-spacing">2</property>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Min</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">0</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Max</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">1</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Kp</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">2</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Ki</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">3</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Kd</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">4</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a1_min">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">0</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a1_max">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">1</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a1_kp">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">2</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a1_ki">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">3</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a1_kd">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">4</property>
+                                      </packing>
+                                    </child>
+                                  </object>
+                                  <packing>
+                                    <property name="expand">False</property>
+                                    <property name="fill">True</property>
+                                    <property name="position">1</property>
+                                  </packing>
+                                </child>
+                              </object>
+                            </child>
+                          </object>
+                        </child>
+                        <child type="label">
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">Axis 1</property>
+                          </object>
+                        </child>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">0</property>
+                      </packing>
+                    </child>
                     <child>
                       <object class="GtkBox">
                         <property name="visible">True</property>
                         <property name="can-focus">False</property>
                         <property name="spacing">4</property>
+                        <property name="homogeneous">True</property>
                         <child>
-                          <object class="GtkDrawingArea" id="posctl_da_axis1">
-                            <property name="width-request">100</property>
-                            <property name="height-request">150</property>
+                          <object class="GtkButton" id="posctl_btn_a1_min">
+                            <property name="label" translatable="yes">Min</property>
                             <property name="visible">True</property>
-                            <property name="can-focus">False</property>
-                            <signal name="draw" handler="cb_posctl_axis_draw" swapped="no"/>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <property name="always-show-image">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
                           </object>
                           <packing>
                             <property name="expand">False</property>
@@ -1054,121 +1274,13 @@
                           </packing>
                         </child>
                         <child>
-                          <!-- n-columns=2 n-rows=5 -->
-                          <object class="GtkGrid">
+                          <object class="GtkButton" id="posctl_btn_a1_center">
+                            <property name="label" translatable="yes">C</property>
                             <property name="visible">True</property>
-                            <property name="can-focus">False</property>
-                            <property name="column-spacing">2</property>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Min</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">0</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Max</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">1</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Kp</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">2</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Ki</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">3</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Kd</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">4</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">0</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">1</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">2</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">3</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">4</property>
-                              </packing>
-                            </child>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
                           </object>
                           <packing>
                             <property name="expand">False</property>
@@ -1176,58 +1288,242 @@
                             <property name="position">1</property>
                           </packing>
                         </child>
+                        <child>
+                          <object class="GtkButton" id="posctl_btn_a1_max">
+                            <property name="label" translatable="yes">Max</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="fill">True</property>
+                            <property name="position">2</property>
+                          </packing>
+                        </child>
                       </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">1</property>
+                      </packing>
                     </child>
                   </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">0</property>
+                  </packing>
                 </child>
-                <child type="label">
-                  <object class="GtkLabel">
+                <child>
+                  <object class="GtkSeparator">
                     <property name="visible">True</property>
                     <property name="can-focus">False</property>
-                    <property name="label" translatable="yes">Axis 1</property>
                   </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">1</property>
+                  </packing>
                 </child>
-              </object>
-              <packing>
-                <property name="expand">False</property>
-                <property name="fill">True</property>
-                <property name="position">0</property>
-              </packing>
-            </child>
-            <child>
-              <object class="GtkSeparator">
-                <property name="visible">True</property>
-                <property name="can-focus">False</property>
-              </object>
-              <packing>
-                <property name="expand">False</property>
-                <property name="fill">True</property>
-                <property name="position">1</property>
-              </packing>
-            </child>
-            <child>
-              <object class="GtkFrame">
-                <property name="visible">True</property>
-                <property name="can-focus">False</property>
-                <property name="label-xalign">0</property>
-                <property name="shadow-type">none</property>
                 <child>
-                  <object class="GtkAlignment">
+                  <object class="GtkBox">
                     <property name="visible">True</property>
                     <property name="can-focus">False</property>
-                    <property name="left-padding">12</property>
+                    <property name="orientation">vertical</property>
+                    <property name="spacing">4</property>
+                    <child>
+                      <object class="GtkFrame">
+                        <property name="visible">True</property>
+                        <property name="can-focus">False</property>
+                        <property name="label-xalign">0</property>
+                        <property name="shadow-type">none</property>
+                        <child>
+                          <object class="GtkAlignment">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="left-padding">12</property>
+                            <child>
+                              <object class="GtkBox">
+                                <property name="visible">True</property>
+                                <property name="can-focus">False</property>
+                                <property name="spacing">4</property>
+                                <child>
+                                  <object class="GtkDrawingArea" id="posctl_da_axis2">
+                                    <property name="width-request">100</property>
+                                    <property name="height-request">150</property>
+                                    <property name="visible">True</property>
+                                    <property name="can-focus">False</property>
+                                    <signal name="draw" handler="cb_posctl_axis_draw" swapped="no"/>
+                                  </object>
+                                  <packing>
+                                    <property name="expand">False</property>
+                                    <property name="fill">True</property>
+                                    <property name="position">0</property>
+                                  </packing>
+                                </child>
+                                <child>
+                                  <!-- n-columns=2 n-rows=5 -->
+                                  <object class="GtkGrid">
+                                    <property name="visible">True</property>
+                                    <property name="can-focus">False</property>
+                                    <property name="column-spacing">2</property>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Min</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">0</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Max</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">1</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Kp</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">2</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Ki</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">3</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkLabel">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">False</property>
+                                        <property name="label" translatable="yes">Kd</property>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">0</property>
+                                        <property name="top-attach">4</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a2_min">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">0</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a2_max">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">1</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a2_kp">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">2</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a2_ki">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">3</property>
+                                      </packing>
+                                    </child>
+                                    <child>
+                                      <object class="GtkEntry" id="posctl_entry_a2_kd">
+                                        <property name="visible">True</property>
+                                        <property name="can-focus">True</property>
+                                        <property name="width-chars">4</property>
+                                        <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
+                                      </object>
+                                      <packing>
+                                        <property name="left-attach">1</property>
+                                        <property name="top-attach">4</property>
+                                      </packing>
+                                    </child>
+                                  </object>
+                                  <packing>
+                                    <property name="expand">False</property>
+                                    <property name="fill">True</property>
+                                    <property name="position">1</property>
+                                  </packing>
+                                </child>
+                              </object>
+                            </child>
+                          </object>
+                        </child>
+                        <child type="label">
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">Axis 2</property>
+                          </object>
+                        </child>
+                      </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">0</property>
+                      </packing>
+                    </child>
                     <child>
                       <object class="GtkBox">
                         <property name="visible">True</property>
                         <property name="can-focus">False</property>
                         <property name="spacing">4</property>
+                        <property name="homogeneous">True</property>
                         <child>
-                          <object class="GtkDrawingArea" id="posctl_da_axis2">
-                            <property name="width-request">100</property>
-                            <property name="height-request">150</property>
+                          <object class="GtkButton" id="posctl_btn_a2_min">
+                            <property name="label" translatable="yes">Min</property>
                             <property name="visible">True</property>
-                            <property name="can-focus">False</property>
-                            <signal name="draw" handler="cb_posctl_axis_draw" swapped="no"/>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
                           </object>
                           <packing>
                             <property name="expand">False</property>
@@ -1236,121 +1532,13 @@
                           </packing>
                         </child>
                         <child>
-                          <!-- n-columns=2 n-rows=5 -->
-                          <object class="GtkGrid">
+                          <object class="GtkButton" id="posctl_btn_a2_center">
+                            <property name="label" translatable="yes">C</property>
                             <property name="visible">True</property>
-                            <property name="can-focus">False</property>
-                            <property name="column-spacing">2</property>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Min</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">0</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Max</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">1</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Kp</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">2</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Ki</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">3</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkLabel">
-                                <property name="visible">True</property>
-                                <property name="can-focus">False</property>
-                                <property name="label" translatable="yes">Kd</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">0</property>
-                                <property name="top-attach">4</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">0</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">1</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">2</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">3</property>
-                              </packing>
-                            </child>
-                            <child>
-                              <object class="GtkEntry">
-                                <property name="visible">True</property>
-                                <property name="can-focus">True</property>
-                                <property name="width-chars">4</property>
-                              </object>
-                              <packing>
-                                <property name="left-attach">1</property>
-                                <property name="top-attach">4</property>
-                              </packing>
-                            </child>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
                           </object>
                           <packing>
                             <property name="expand">False</property>
@@ -1358,184 +1546,202 @@
                             <property name="position">1</property>
                           </packing>
                         </child>
+                        <child>
+                          <object class="GtkButton" id="posctl_btn_a2_max">
+                            <property name="label" translatable="yes">Max</property>
+                            <property name="visible">True</property>
+                            <property name="can-focus">True</property>
+                            <property name="receives-default">True</property>
+                            <signal name="activate" handler="cb_posctl_btn_axismove" swapped="no"/>
+                            <signal name="pressed" handler="cb_posctl_btn_axismove" swapped="no"/>
+                          </object>
+                          <packing>
+                            <property name="expand">False</property>
+                            <property name="fill">True</property>
+                            <property name="position">2</property>
+                          </packing>
+                        </child>
                       </object>
+                      <packing>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">1</property>
+                      </packing>
                     </child>
                   </object>
+                  <packing>
+                    <property name="expand">False</property>
+                    <property name="fill">True</property>
+                    <property name="position">2</property>
+                  </packing>
                 </child>
-                <child type="label">
-                  <object class="GtkLabel">
-                    <property name="visible">True</property>
-                    <property name="can-focus">False</property>
-                    <property name="label" translatable="yes">Axis 2</property>
-                  </object>
-                </child>
-              </object>
-              <packing>
-                <property name="expand">False</property>
-                <property name="fill">True</property>
-                <property name="position">2</property>
-              </packing>
-            </child>
-            <child>
-              <object class="GtkSeparator">
-                <property name="visible">True</property>
-                <property name="can-focus">False</property>
-              </object>
-              <packing>
-                <property name="expand">False</property>
-                <property name="fill">True</property>
-                <property name="position">3</property>
-              </packing>
-            </child>
-            <child>
-              <object class="GtkBox">
-                <property name="visible">True</property>
-                <property name="can-focus">False</property>
-                <property name="orientation">vertical</property>
-                <property name="spacing">4</property>
                 <child>
-                  <object class="GtkLabel">
+                  <object class="GtkSeparator">
                     <property name="visible">True</property>
                     <property name="can-focus">False</property>
-                    <property name="label" translatable="yes">Values</property>
                   </object>
                   <packing>
                     <property name="expand">False</property>
                     <property name="fill">True</property>
-                    <property name="position">0</property>
+                    <property name="position">3</property>
                   </packing>
                 </child>
                 <child>
-                  <!-- n-columns=4 n-rows=3 -->
-                  <object class="GtkGrid">
+                  <object class="GtkBox">
                     <property name="visible">True</property>
                     <property name="can-focus">False</property>
-                    <property name="row-spacing">4</property>
-                    <property name="column-spacing">4</property>
-                    <child>
-                      <object class="GtkLabel">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">X</property>
-                      </object>
-                      <packing>
-                        <property name="left-attach">0</property>
-                        <property name="top-attach">1</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <object class="GtkLabel">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">Y</property>
-                      </object>
-                      <packing>
-                        <property name="left-attach">0</property>
-                        <property name="top-attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <object class="GtkLabel">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">d</property>
-                      </object>
-                      <packing>
-                        <property name="left-attach">1</property>
-                        <property name="top-attach">0</property>
-                      </packing>
-                    </child>
+                    <property name="orientation">vertical</property>
+                    <property name="spacing">4</property>
                     <child>
                       <object class="GtkLabel">
                         <property name="visible">True</property>
                         <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">out</property>
+                        <property name="label" translatable="yes">Values</property>
                       </object>
                       <packing>
-                        <property name="left-attach">3</property>
-                        <property name="top-attach">0</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <object class="GtkLabel" id="posctl_lb_dx">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">---</property>
-                        <attributes>
-                          <attribute name="style" value="oblique"/>
-                        </attributes>
-                      </object>
-                      <packing>
-                        <property name="left-attach">1</property>
-                        <property name="top-attach">1</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <object class="GtkLabel" id="posctl_lb_dy">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">---</property>
-                        <attributes>
-                          <attribute name="style" value="oblique"/>
-                        </attributes>
-                      </object>
-                      <packing>
-                        <property name="left-attach">1</property>
-                        <property name="top-attach">2</property>
-                      </packing>
-                    </child>
-                    <child>
-                      <object class="GtkLabel" id="posctl_lb_outx">
-                        <property name="visible">True</property>
-                        <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">---</property>
-                        <attributes>
-                          <attribute name="style" value="oblique"/>
-                        </attributes>
-                      </object>
-                      <packing>
-                        <property name="left-attach">3</property>
-                        <property name="top-attach">1</property>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">0</property>
                       </packing>
                     </child>
                     <child>
-                      <object class="GtkLabel" id="posctl_lb_outy">
+                      <!-- n-columns=4 n-rows=3 -->
+                      <object class="GtkGrid">
                         <property name="visible">True</property>
                         <property name="can-focus">False</property>
-                        <property name="label" translatable="yes">---</property>
-                        <attributes>
-                          <attribute name="style" value="oblique"/>
-                        </attributes>
+                        <property name="row-spacing">4</property>
+                        <property name="column-spacing">4</property>
+                        <child>
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">X</property>
+                          </object>
+                          <packing>
+                            <property name="left-attach">0</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">Y</property>
+                          </object>
+                          <packing>
+                            <property name="left-attach">0</property>
+                            <property name="top-attach">2</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">d</property>
+                          </object>
+                          <packing>
+                            <property name="left-attach">1</property>
+                            <property name="top-attach">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">out</property>
+                          </object>
+                          <packing>
+                            <property name="left-attach">3</property>
+                            <property name="top-attach">0</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="posctl_lb_dx">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">---</property>
+                            <attributes>
+                              <attribute name="style" value="oblique"/>
+                            </attributes>
+                          </object>
+                          <packing>
+                            <property name="left-attach">1</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="posctl_lb_dy">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">---</property>
+                            <attributes>
+                              <attribute name="style" value="oblique"/>
+                            </attributes>
+                          </object>
+                          <packing>
+                            <property name="left-attach">1</property>
+                            <property name="top-attach">2</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="posctl_lb_outx">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">---</property>
+                            <attributes>
+                              <attribute name="style" value="oblique"/>
+                            </attributes>
+                          </object>
+                          <packing>
+                            <property name="left-attach">3</property>
+                            <property name="top-attach">1</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <object class="GtkLabel" id="posctl_lb_outy">
+                            <property name="visible">True</property>
+                            <property name="can-focus">False</property>
+                            <property name="label" translatable="yes">---</property>
+                            <attributes>
+                              <attribute name="style" value="oblique"/>
+                            </attributes>
+                          </object>
+                          <packing>
+                            <property name="left-attach">3</property>
+                            <property name="top-attach">2</property>
+                          </packing>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
+                        <child>
+                          <placeholder/>
+                        </child>
                       </object>
                       <packing>
-                        <property name="left-attach">3</property>
-                        <property name="top-attach">2</property>
+                        <property name="expand">False</property>
+                        <property name="fill">True</property>
+                        <property name="position">1</property>
                       </packing>
                     </child>
-                    <child>
-                      <placeholder/>
-                    </child>
-                    <child>
-                      <placeholder/>
-                    </child>
-                    <child>
-                      <placeholder/>
-                    </child>
-                    <child>
-                      <placeholder/>
-                    </child>
                   </object>
                   <packing>
                     <property name="expand">False</property>
                     <property name="fill">True</property>
-                    <property name="position">1</property>
+                    <property name="position">4</property>
                   </packing>
                 </child>
               </object>
               <packing>
                 <property name="expand">False</property>
                 <property name="fill">True</property>
-                <property name="position">4</property>
+                <property name="position">1</property>
               </packing>
             </child>
           </object>