diff --git a/Android/build.gradle b/Android/build.gradle
index daec4d827d..6429ed60bf 100644
--- a/Android/build.gradle
+++ b/Android/build.gradle
@@ -9,8 +9,6 @@ dependencies {
     compile "com.google.android.gms:play-services-location:${play_services_version}"
     compile "com.google.android.gms:play-services-analytics:${play_services_version}"
 
-    compile 'com.sothree.slidinguppanel:library:2.0.2'
-
     compile "com.android.support:support-v4:${support_lib_version}"
     compile "com.android.support:appcompat-v7:${support_lib_version}"
     compile "com.android.support:cardview-v7:${support_lib_version}"
@@ -26,6 +24,7 @@ dependencies {
     compile 'me.grantland:autofittextview:0.2.1'
     compile(name:'shimmer-android-release', ext:'aar')
     compile(name:'libuvccamera-release', ext:'aar')
+    compile(name:'sliding-up-panel-3.3.0', ext:'aar')
 
     compile files('libs/droneapi-java-0.3-SNAPSHOT.jar')
     compile files('libs/protobuf-java-2.5.0.jar')
diff --git a/Android/libs/sliding-up-panel-3.3.0.aar b/Android/libs/sliding-up-panel-3.3.0.aar
new file mode 100644
index 0000000000..4442d50d5c
Binary files /dev/null and b/Android/libs/sliding-up-panel-3.3.0.aar differ
diff --git a/Android/res/layout/fragment_flight_data.xml b/Android/res/layout/fragment_flight_data.xml
index e2a0dc2106..cd17177602 100644
--- a/Android/res/layout/fragment_flight_data.xml
+++ b/Android/res/layout/fragment_flight_data.xml
@@ -1,100 +1,120 @@
 <?xml version="1.0" encoding="utf-8"?>
-<com.sothree.slidinguppanel.SlidingUpPanelLayout
+<RelativeLayout
     xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
-    xmlns:sothree="http://schemas.android.com/apk/res-auto"
-    android:id="@+id/slidingPanelContainer"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:gravity="bottom"
-    sothree:shadowHeight="0dp"
-    sothree:paralaxOffset="0dp"
-    sothree:fadeColor="@android:color/transparent"
-    sothree:dragView="@+id/flightActionsFragment"
-    sothree:overlay="true">
+    android:orientation="vertical">
 
-    <RelativeLayout
+    <FrameLayout
+        android:id="@+id/flight_map_fragment"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <com.sothree.slidinguppanel.SlidingUpPanelLayout
+        android:id="@+id/slidingPanelContainer"
+        xmlns:sothree="http://schemas.android.com/apk/res-auto"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:gravity="center"
-        >
+        android:gravity="bottom"
+        android:layout_above="@+id/warningContainer"
+        sothree:umanoDragView="@+id/flightActionsFragment"
+        sothree:umanoFadeColor="@android:color/transparent"
+        sothree:umanoOverlay="true"
+        sothree:umanoParallaxOffset="0dp"
+        sothree:umanoShadowHeight="0dp">
 
-        <FrameLayout
-            android:id="@+id/flight_map_fragment"
+        <RelativeLayout
             android:layout_width="match_parent"
-            android:layout_height="match_parent"/>
+            android:layout_height="match_parent"
+            >
 
-        <View
-            android:layout_alignParentTop="true"
-            android:layout_marginLeft="10dp"
-            android:layout_marginRight="10dp"
-            android:layout_width="match_parent"
-            android:layout_height="0dp"
-            android:id="@+id/actionbar_shadow"/>
+            <View
+                android:id="@+id/actionbar_shadow"
+                android:layout_width="match_parent"
+                android:layout_height="0dp"
+                android:layout_alignParentTop="true"
+                android:layout_marginLeft="10dp"
+                android:layout_marginRight="10dp"/>
 
-        <TextView
-            android:id="@+id/failsafeTextView"
-            style="@style/editorMissionOverviewText"
-            android:layout_width="match_parent"
-            android:layout_height="64dp"
-            android:background="#D8ee2d3e"
-            android:gravity="start|center_vertical"
-            android:visibility="gone"
-            android:paddingLeft="55dp"
-            android:layout_below="@+id/actionbar_shadow"
-            android:layout_alignLeft="@+id/actionbar_shadow"
-            android:layout_alignStart="@+id/actionbar_shadow"
-            android:layout_alignRight="@+id/actionbar_shadow"
-            android:layout_alignEnd="@+id/actionbar_shadow"
-            />
-
-        <include
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            layout="@layout/button_my_location"
-            android:layout_marginTop="8dp"
-            android:layout_gravity="center_vertical|start"
-            android:layout_below="@+id/actionbar_shadow"
-            android:layout_alignLeft="@+id/actionbar_shadow"
-            android:layout_alignStart="@+id/actionbar_shadow"
-            />
-
-    </RelativeLayout>
-    <!-- Sliding layout -->
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:orientation="vertical"
-        android:focusable="false"
-        android:clickable="false"
-        style="@style/slidingPanelGravity"
-        >
+            <include
+                layout="@layout/button_my_location"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignLeft="@+id/actionbar_shadow"
+                android:layout_alignStart="@+id/actionbar_shadow"
+                android:layout_below="@+id/actionbar_shadow"
+                android:layout_gravity="center_vertical|start"
+                android:layout_marginTop="8dp"
+                />
 
-        <org.droidplanner.android.view.FitsSystemWindowsFrameLayout
-            android:id="@+id/flightActionsFragment"
-            android:layout_width="wrap_content"
+        </RelativeLayout>
+        <!-- Sliding layout -->
+        <LinearLayout
+            style="@style/slidingPanelGravity"
+            android:layout_width="match_parent"
             android:layout_height="wrap_content"
-            tools:layout="@layout/fragment_flight_actions_bar"
-            android:fitsSystemWindows="true"/>
+            android:clickable="false"
+            android:focusable="false"
+            android:orientation="vertical"
+            >
 
-        <android.support.v7.widget.CardView
-            android:layout_width="@dimen/flight_actions_container_width"
-            android:layout_height="wrap_content"
-            android:clickable="true">
+            <org.droidplanner.android.view.FitsSystemWindowsFrameLayout
+                android:id="@+id/flightActionsFragment"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:fitsSystemWindows="true"
+                tools:layout="@layout/fragment_flight_actions_bar"/>
 
-            <ScrollView
+            <android.support.v7.widget.CardView
                 android:layout_width="@dimen/flight_actions_container_width"
                 android:layout_height="wrap_content"
-                android:minHeight="@dimen/flight_actions_container_height"
-                android:background="@color/transparent_light_grey"
-                >
+                android:clickable="true">
 
-                <FrameLayout
-                    android:id="@+id/sliding_drawer_content"
-                    android:layout_width="match_parent"
+                <ScrollView
+                    android:layout_width="@dimen/flight_actions_container_width"
                     android:layout_height="wrap_content"
-                    tools:layout="@layout/fragment_flight_mode_panel"/>
-            </ScrollView>
-        </android.support.v7.widget.CardView>
+                    android:background="@color/transparent_light_grey"
+                    android:minHeight="@dimen/flight_actions_container_height"
+                    >
+
+                    <FrameLayout
+                        android:id="@+id/sliding_drawer_content"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        tools:layout="@layout/fragment_flight_mode_panel"/>
+                </ScrollView>
+            </android.support.v7.widget.CardView>
+        </LinearLayout>
+    </com.sothree.slidinguppanel.SlidingUpPanelLayout>
+
+    <LinearLayout
+        style="@style/warningPanelGravity"
+        android:id="@+id/warningContainer"
+        android:layout_width="@dimen/flight_actions_container_width"
+        android:layout_height="56dp"
+        android:orientation="horizontal"
+        android:visibility="gone"
+        tools:visibility="visible"
+        android:background="#D8ee2d3e"
+        android:layout_alignParentBottom="true">
+
+        <TextView
+            android:id="@+id/failsafeTextView"
+            style="@style/editorMissionOverviewText"
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="1"
+            android:gravity="start|center_vertical"
+            android:background="?attr/selectableItemBackground"
+            />
+
+        <ImageView
+            android:id="@+id/close_warning_view"
+            android:layout_width="56dp"
+            android:layout_height="match_parent"
+            android:background="?attr/selectableItemBackground"
+            android:scaleType="center"
+            android:src="@drawable/close"/>
     </LinearLayout>
-</com.sothree.slidinguppanel.SlidingUpPanelLayout>
\ No newline at end of file
+</RelativeLayout>
\ No newline at end of file
diff --git a/Android/res/values-land/styles.xml b/Android/res/values-land/styles.xml
index be6e5020a1..c597f99ae0 100644
--- a/Android/res/values-land/styles.xml
+++ b/Android/res/values-land/styles.xml
@@ -4,4 +4,10 @@
         <item name="android:gravity">start</item>
         <item name="android:paddingLeft">55dp</item>
     </style>
+
+    <style name="warningPanelGravity">
+        <item name="android:layout_gravity">start</item>
+        <item name="android:layout_marginLeft">55dp</item>
+        <item name="android:layout_alignParentLeft">true</item>
+    </style>
 </resources>
\ No newline at end of file
diff --git a/Android/res/values/styles.xml b/Android/res/values/styles.xml
index 6c177b0149..4f760c2e72 100644
--- a/Android/res/values/styles.xml
+++ b/Android/res/values/styles.xml
@@ -446,6 +446,11 @@
         <item name="android:gravity">center_horizontal</item>
     </style>
 
+    <style name="warningPanelGravity">
+        <item name="android:layout_gravity">center_horizontal</item>
+        <item name="android:layout_centerHorizontal">true</item>
+    </style>
+
     <style name="Telemetry" />
 
     <style name="Telemetry.Entry" >
diff --git a/Android/src/org/droidplanner/android/activities/FlightActivity.java b/Android/src/org/droidplanner/android/activities/FlightActivity.java
index 896c7b0b59..934c0274db 100644
--- a/Android/src/org/droidplanner/android/activities/FlightActivity.java
+++ b/Android/src/org/droidplanner/android/activities/FlightActivity.java
@@ -140,27 +140,22 @@ public void onPanelSlide(View view, float v) {
     }
 
     @Override
-    public void onPanelCollapsed(View view) {
-        resetActionDrawerBottomMargin();
-    }
-
-    @Override
-    public void onPanelExpanded(View view) {
-        //Update the bottom margin for the action drawer
-        final View flightActionBar = ((ViewGroup)view).getChildAt(0);
-        final int[] viewLocs = new int[2];
-        flightActionBar.getLocationInWindow(viewLocs);
-        updateActionDrawerBottomMargin(viewLocs[0] + flightActionBar.getWidth(), view.getHeight());
-    }
-
-    @Override
-    public void onPanelAnchored(View view) {
-
-    }
-
-    @Override
-    public void onPanelHidden(View view) {
-        resetActionDrawerBottomMargin();
+    public void onPanelStateChanged(View panel, SlidingUpPanelLayout.PanelState previousState, SlidingUpPanelLayout.PanelState newState) {
+        switch(newState){
+            case COLLAPSED:
+            case HIDDEN:
+                resetActionDrawerBottomMargin();
+                break;
+
+            case EXPANDED:
+                //Update the bottom margin for the action drawer
+                ViewGroup slidingPanel = (ViewGroup) ((ViewGroup)panel).getChildAt(1);
+                final View flightActionBar = slidingPanel.getChildAt(0);
+                final int[] viewLocs = new int[2];
+                flightActionBar.getLocationInWindow(viewLocs);
+                updateActionDrawerBottomMargin(viewLocs[0] + flightActionBar.getWidth(), slidingPanel.getHeight());
+                break;
+        }
     }
 
     private void updateActionDrawerBottomMargin(int rightEdge, int bottomMargin){
@@ -171,16 +166,24 @@ private void updateActionDrawerBottomMargin(int rightEdge, int bottomMargin){
         actionDrawer.getLocationInWindow(actionDrawerLocs);
 
         if(actionDrawerLocs[0] <= rightEdge) {
-            ViewGroup.MarginLayoutParams lp = (ViewGroup.MarginLayoutParams) actionDrawerParent.getLayoutParams();
-            lp.bottomMargin = bottomMargin;
-            actionDrawerParent.requestLayout();
+            updateActionDrawerBottomMargin(bottomMargin);
         }
     }
 
-    private void resetActionDrawerBottomMargin(){
+    private int getActionDrawerBottomMargin(){
         final ViewGroup actionDrawerParent = (ViewGroup) getActionDrawer();
         ViewGroup.MarginLayoutParams lp = (ViewGroup.MarginLayoutParams) actionDrawerParent.getLayoutParams();
-        lp.bottomMargin = (int) getResources().getDimension(R.dimen.action_drawer_margin_bottom);;
+        return lp.bottomMargin;
+    }
+
+    private void updateActionDrawerBottomMargin(int newBottomMargin){
+        final ViewGroup actionDrawerParent = (ViewGroup) getActionDrawer();
+        ViewGroup.MarginLayoutParams lp = (ViewGroup.MarginLayoutParams) actionDrawerParent.getLayoutParams();
+        lp.bottomMargin = newBottomMargin;
         actionDrawerParent.requestLayout();
     }
+
+    private void resetActionDrawerBottomMargin(){
+        updateActionDrawerBottomMargin((int) getResources().getDimension(R.dimen.action_drawer_margin_bottom));
+    }
 }
diff --git a/Android/src/org/droidplanner/android/fragments/FlightDataFragment.java b/Android/src/org/droidplanner/android/fragments/FlightDataFragment.java
index 217fd57382..cd159f4999 100644
--- a/Android/src/org/droidplanner/android/fragments/FlightDataFragment.java
+++ b/Android/src/org/droidplanner/android/fragments/FlightDataFragment.java
@@ -17,6 +17,7 @@
 import android.view.View;
 import android.view.ViewGroup;
 import android.view.ViewTreeObserver;
+import android.widget.ImageView;
 import android.widget.TextView;
 
 import com.google.android.gms.common.ConnectionResult;
@@ -95,9 +96,9 @@ public void onReceive(Context context, Intent intent) {
                 case AttributeEvent.FOLLOW_START:
                     //Extend the sliding drawer if collapsed.
                     if (!mSlidingPanelCollapsing.get()
-                            && mSlidingPanel.isSlidingEnabled()
-                            && !mSlidingPanel.isPanelExpanded()) {
-                        mSlidingPanel.expandPanel();
+                            && mSlidingPanel.isEnabled()
+                            && mSlidingPanel.getPanelState() != SlidingUpPanelLayout.PanelState.EXPANDED) {
+                        mSlidingPanel.setPanelState(SlidingUpPanelLayout.PanelState.EXPANDED);
                     }
                     break;
 
@@ -122,42 +123,33 @@ public void onPanelSlide(View view, float v) {
                 }
 
                 @Override
-                public void onPanelCollapsed(View view) {
-                    mSlidingPanel.setSlidingEnabled(false);
-                    mSlidingPanel.setPanelHeight(mFlightActionsView.getHeight());
-                    mSlidingPanelCollapsing.set(false);
-
-                    //Remove the panel slide listener
-                    slidingPanelListenerMgr.removePanelSlideListener(disablePanelSlidingLabel);
-                }
-
-                @Override
-                public void onPanelExpanded(View view) {
-                }
-
-                @Override
-                public void onPanelAnchored(View view) {
-                }
-
-                @Override
-                public void onPanelHidden(View view) {
+                public void onPanelStateChanged(View panel, SlidingUpPanelLayout.PanelState previousState, SlidingUpPanelLayout.PanelState newState) {
+                    switch(newState){
+                        case COLLAPSED:
+                            mSlidingPanel.setEnabled(false);
+                            mSlidingPanel.setPanelHeight(mFlightActionsView.getHeight());
+                            mSlidingPanelCollapsing.set(false);
+
+                            //Remove the panel slide listener
+                            slidingPanelListenerMgr.removePanelSlideListener(disablePanelSlidingLabel);
+                            break;
+                    }
                 }
             };
 
-    private final Runnable hideWarningView = new Runnable() {
+    private final Runnable hideWarningViewCb = new Runnable() {
         @Override
         public void run() {
-            handler.removeCallbacks(this);
-
-            if (warningView != null && warningView.getVisibility() != View.GONE)
-                warningView.setVisibility(View.GONE);
+            hideWarningView();
         }
     };
 
     private final Handler handler = new Handler();
 
     private View actionbarShadow;
-    private TextView warningView;
+
+    private View warningContainer;
+    private TextView warningText;
 
     private FlightMapFragment mapFragment;
     private FlightControlManagerFragment flightActions;
@@ -190,30 +182,9 @@ public void onPanelSlide(View view, float v) {
         }
 
         @Override
-        public void onPanelCollapsed(View view) {
-            for(SlidingUpPanelLayout.PanelSlideListener listener: panelListenerClients.values()){
-                listener.onPanelCollapsed(view);
-            }
-        }
-
-        @Override
-        public void onPanelExpanded(View view) {
+        public void onPanelStateChanged(View panel, SlidingUpPanelLayout.PanelState previousState, SlidingUpPanelLayout.PanelState newState) {
             for(SlidingUpPanelLayout.PanelSlideListener listener: panelListenerClients.values()){
-                listener.onPanelExpanded(view);
-            }
-        }
-
-        @Override
-        public void onPanelAnchored(View view) {
-            for(SlidingUpPanelLayout.PanelSlideListener listener: panelListenerClients.values()){
-                listener.onPanelAnchored(view);
-            }
-        }
-
-        @Override
-        public void onPanelHidden(View view) {
-            for(SlidingUpPanelLayout.PanelSlideListener listener: panelListenerClients.values()){
-                listener.onPanelHidden(view);
+                listener.onPanelStateChanged(panel, previousState, newState);
             }
         }
     }
@@ -258,8 +229,17 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
         final FragmentManager fm = getChildFragmentManager();
 
         mSlidingPanel = (SlidingUpPanelLayout) view.findViewById(R.id.slidingPanelContainer);
-        mSlidingPanel.setPanelSlideListener(slidingPanelListenerMgr);
-        warningView = (TextView) view.findViewById(R.id.failsafeTextView);
+        mSlidingPanel.addPanelSlideListener(slidingPanelListenerMgr);
+
+        warningText = (TextView) view.findViewById(R.id.failsafeTextView);
+        warningContainer = view.findViewById(R.id.warningContainer);
+        ImageView closeWarningView = (ImageView) view.findViewById(R.id.close_warning_view);
+        closeWarningView.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                hideWarningView();
+            }
+        });
 
         setupMapFragment();
 
@@ -353,6 +333,13 @@ public void onGlobalLayout() {
         }
     }
 
+    private void hideWarningView(){
+        handler.removeCallbacks(hideWarningViewCb);
+
+        if (warningContainer != null && warningContainer.getVisibility() != View.GONE)
+            warningContainer.setVisibility(View.GONE);
+    }
+
     public void updateActionbarShadow(int shadowHeight){
         if(actionbarShadow == null || actionbarShadow.getLayoutParams().height == shadowHeight)
             return;
@@ -443,18 +430,16 @@ private void enableSlidingUpPanel(Drone api) {
                 (api);
 
         if (isEnabled) {
-            mSlidingPanel.setSlidingEnabled(true);
+            mSlidingPanel.setEnabled(true);
             mSlidingPanel.getViewTreeObserver().addOnGlobalLayoutListener(new ViewTreeObserver.OnGlobalLayoutListener() {
                 @Override
                 public void onGlobalLayout() {
-                    if(mSlidingPanel.isPanelExpanded()){
-                        slidingPanelListenerMgr.onPanelExpanded(mSlidingPanel.getChildAt(1));
-                    }
-                    else if(mSlidingPanel.isPanelAnchored()){
-                        slidingPanelListenerMgr.onPanelAnchored(mSlidingPanel.getChildAt(1));
-                    }
-                    else if(mSlidingPanel.isPanelHidden()){
-                        slidingPanelListenerMgr.onPanelHidden(mSlidingPanel.getChildAt(1));
+                    SlidingUpPanelLayout.PanelState panelState = mSlidingPanel.getPanelState();
+                    switch(panelState){
+                        case EXPANDED:
+                        case ANCHORED:
+                        case HIDDEN:
+                            slidingPanelListenerMgr.onPanelStateChanged(mSlidingPanel.getChildAt(1), panelState, panelState);
                     }
 
                     mSlidingPanel.getViewTreeObserver().removeGlobalOnLayoutListener(this);
@@ -463,12 +448,13 @@ else if(mSlidingPanel.isPanelHidden()){
 
         } else {
             if (!mSlidingPanelCollapsing.get()) {
-                if (mSlidingPanel.isPanelExpanded()) {
+                SlidingUpPanelLayout.PanelState panelState = mSlidingPanel.getPanelState();
+                if (panelState == SlidingUpPanelLayout.PanelState.EXPANDED) {
                     slidingPanelListenerMgr.addPanelSlideListener(disablePanelSlidingLabel, mDisablePanelSliding);
-                    mSlidingPanel.collapsePanel();
+                    mSlidingPanel.setPanelState(SlidingUpPanelLayout.PanelState.COLLAPSED);
                     mSlidingPanelCollapsing.set(true);
                 } else {
-                    mSlidingPanel.setSlidingEnabled(false);
+                    mSlidingPanel.setEnabled(false);
                     mSlidingPanelCollapsing.set(false);
                 }
             }
@@ -500,11 +486,11 @@ private void onAutopilotError(int logLevel, CharSequence errorMsg) {
         switch (logLevel) {
             case Log.ERROR:
             case Log.WARN:
-                handler.removeCallbacks(hideWarningView);
+                handler.removeCallbacks(hideWarningViewCb);
 
-                warningView.setText(errorMsg);
-                warningView.setVisibility(View.VISIBLE);
-                handler.postDelayed(hideWarningView, WARNING_VIEW_DISPLAY_TIMEOUT);
+                warningText.setText(errorMsg);
+                warningContainer.setVisibility(View.VISIBLE);
+                handler.postDelayed(hideWarningViewCb, WARNING_VIEW_DISPLAY_TIMEOUT);
                 break;
         }
     }
diff --git a/Android/src/org/droidplanner/android/utils/NetworkUtils.java b/Android/src/org/droidplanner/android/utils/NetworkUtils.java
index 88d70a8555..948360c579 100644
--- a/Android/src/org/droidplanner/android/utils/NetworkUtils.java
+++ b/Android/src/org/droidplanner/android/utils/NetworkUtils.java
@@ -50,7 +50,9 @@ public static String getCurrentWifiLink(Context context) {
         final WifiManager wifiMgr = (WifiManager) context.getSystemService(Context.WIFI_SERVICE);
 
         final WifiInfo connectedWifi = wifiMgr.getConnectionInfo();
-        final String connectedSSID = connectedWifi == null ? null : connectedWifi.getSSID().replace("\"", "");
+        final String connectedSSID = connectedWifi == null || connectedWifi.getSSID() == null
+            ? null
+            : connectedWifi.getSSID().replace("\"", "");
         return connectedSSID;
     }