diff --git a/Server/server_gui.py b/Server/server_gui.py
index a9c4ad0..0826274 100644
--- a/Server/server_gui.py
+++ b/Server/server_gui.py
@@ -13,7 +13,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(1220, 613)
+        MainWindow.resize(1220, 750)
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setEnabled(True)
         self.centralwidget.setObjectName("centralwidget")
@@ -43,31 +43,41 @@ class Ui_MainWindow(object):
         self.verticalLayout.setSizeConstraint(QtWidgets.QLayout.SetMaximumSize)
         self.verticalLayout.setObjectName("verticalLayout")
         self.formLayout = QtWidgets.QFormLayout()
-        self.formLayout.setLabelAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
-        self.formLayout.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignTop)
+        self.formLayout.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout.setObjectName("formLayout")
-        self.check_button = QtWidgets.QPushButton(self.centralwidget)
-        self.check_button.setEnabled(True)
-        self.check_button.setObjectName("check_button")
-        self.formLayout.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.check_button)
-        self.start_text = QtWidgets.QLabel(self.centralwidget)
-        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
-        self.start_text.setObjectName("start_text")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
+        self.music_text = QtWidgets.QLabel(self.centralwidget)
+        self.music_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_text.setObjectName("music_text")
+        self.formLayout.setWidget(3, QtWidgets.QFormLayout.LabelRole, self.music_text)
+        self.music_delay_spin = QtWidgets.QDoubleSpinBox(self.centralwidget)
+        self.music_delay_spin.setDecimals(1)
+        self.music_delay_spin.setObjectName("music_delay_spin")
+        self.formLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.music_delay_spin)
+        self.music_checkbox = QtWidgets.QCheckBox(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.music_checkbox.sizePolicy().hasHeightForWidth())
+        self.music_checkbox.setSizePolicy(sizePolicy)
+        self.music_checkbox.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_checkbox.setAutoFillBackground(True)
+        self.music_checkbox.setText("")
+        self.music_checkbox.setChecked(False)
+        self.music_checkbox.setObjectName("music_checkbox")
+        self.formLayout.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.music_checkbox)
+        self.music_play_text = QtWidgets.QLabel(self.centralwidget)
+        self.music_play_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_play_text.setObjectName("music_play_text")
+        self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.music_play_text)
         self.start_delay_spin = QtWidgets.QSpinBox(self.centralwidget)
         self.start_delay_spin.setObjectName("start_delay_spin")
         self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.start_delay_spin)
-        self.start_button = QtWidgets.QPushButton(self.centralwidget)
-        self.start_button.setEnabled(True)
-        self.start_button.setFlat(False)
-        self.start_button.setObjectName("start_button")
-        self.formLayout.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.start_button)
-        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
-        self.pause_button.setObjectName("pause_button")
-        self.formLayout.setWidget(4, QtWidgets.QFormLayout.SpanningRole, self.pause_button)
-        self.stop_button = QtWidgets.QPushButton(self.centralwidget)
-        self.stop_button.setObjectName("stop_button")
-        self.formLayout.setWidget(5, QtWidgets.QFormLayout.SpanningRole, self.stop_button)
+        self.start_text = QtWidgets.QLabel(self.centralwidget)
+        self.start_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
+        self.start_text.setObjectName("start_text")
+        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
         self.verticalLayout.addLayout(self.formLayout)
         self.line = QtWidgets.QFrame(self.centralwidget)
         self.line.setFrameShape(QtWidgets.QFrame.HLine)
@@ -77,15 +87,21 @@ class Ui_MainWindow(object):
         self.formLayout_2 = QtWidgets.QFormLayout()
         self.formLayout_2.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
         self.formLayout_2.setObjectName("formLayout_2")
-        self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_button.setObjectName("disarm_button")
-        self.formLayout_2.setWidget(7, QtWidgets.QFormLayout.SpanningRole, self.disarm_button)
-        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
-        self.emergency_button.setObjectName("emergency_button")
-        self.formLayout_2.setWidget(6, QtWidgets.QFormLayout.SpanningRole, self.emergency_button)
-        self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_all_button.setObjectName("disarm_all_button")
-        self.formLayout_2.setWidget(8, QtWidgets.QFormLayout.SpanningRole, self.disarm_all_button)
+        self.stop_button = QtWidgets.QPushButton(self.centralwidget)
+        self.stop_button.setObjectName("stop_button")
+        self.formLayout_2.setWidget(10, QtWidgets.QFormLayout.FieldRole, self.stop_button)
+        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
+        self.pause_button.setObjectName("pause_button")
+        self.formLayout_2.setWidget(9, QtWidgets.QFormLayout.FieldRole, self.pause_button)
+        self.start_button = QtWidgets.QPushButton(self.centralwidget)
+        self.start_button.setEnabled(True)
+        self.start_button.setFlat(False)
+        self.start_button.setObjectName("start_button")
+        self.formLayout_2.setWidget(8, QtWidgets.QFormLayout.FieldRole, self.start_button)
+        self.check_button = QtWidgets.QPushButton(self.centralwidget)
+        self.check_button.setEnabled(True)
+        self.check_button.setObjectName("check_button")
+        self.formLayout_2.setWidget(7, QtWidgets.QFormLayout.FieldRole, self.check_button)
         self.verticalLayout.addLayout(self.formLayout_2)
         self.line_2 = QtWidgets.QFrame(self.centralwidget)
         self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
@@ -96,19 +112,15 @@ class Ui_MainWindow(object):
         self.formLayout_3.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
         self.formLayout_3.setVerticalSpacing(6)
         self.formLayout_3.setObjectName("formLayout_3")
-        self.leds_button = QtWidgets.QPushButton(self.centralwidget)
-        self.leds_button.setObjectName("leds_button")
-        self.formLayout_3.setWidget(0, QtWidgets.QFormLayout.SpanningRole, self.leds_button)
-        self.takeoff_button = QtWidgets.QPushButton(self.centralwidget)
-        self.takeoff_button.setEnabled(True)
-        self.takeoff_button.setObjectName("takeoff_button")
-        self.formLayout_3.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.takeoff_button)
-        self.flip_button = QtWidgets.QPushButton(self.centralwidget)
-        self.flip_button.setObjectName("flip_button")
-        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.flip_button)
-        self.land_button = QtWidgets.QPushButton(self.centralwidget)
-        self.land_button.setObjectName("land_button")
-        self.formLayout_3.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.land_button)
+        self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_all_button.setObjectName("disarm_all_button")
+        self.formLayout_3.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.disarm_all_button)
+        self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_button.setObjectName("disarm_button")
+        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.disarm_button)
+        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
+        self.emergency_button.setObjectName("emergency_button")
+        self.formLayout_3.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.emergency_button)
         self.verticalLayout.addLayout(self.formLayout_3)
         self.line_3 = QtWidgets.QFrame(self.centralwidget)
         self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
@@ -116,18 +128,40 @@ class Ui_MainWindow(object):
         self.line_3.setObjectName("line_3")
         self.verticalLayout.addWidget(self.line_3)
         self.formLayout_4 = QtWidgets.QFormLayout()
-        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignBottom|QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft)
+        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
         self.formLayout_4.setObjectName("formLayout_4")
+        self.land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_button.setObjectName("land_button")
+        self.formLayout_4.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.land_button)
+        self.flip_button = QtWidgets.QPushButton(self.centralwidget)
+        self.flip_button.setObjectName("flip_button")
+        self.formLayout_4.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.flip_button)
+        self.takeoff_button = QtWidgets.QPushButton(self.centralwidget)
+        self.takeoff_button.setEnabled(True)
+        self.takeoff_button.setObjectName("takeoff_button")
+        self.formLayout_4.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.takeoff_button)
+        self.leds_button = QtWidgets.QPushButton(self.centralwidget)
+        self.leds_button.setObjectName("leds_button")
+        self.formLayout_4.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.leds_button)
+        self.verticalLayout.addLayout(self.formLayout_4)
+        self.line_4 = QtWidgets.QFrame(self.centralwidget)
+        self.line_4.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_4.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_4.setObjectName("line_4")
+        self.verticalLayout.addWidget(self.line_4)
+        self.formLayout_6 = QtWidgets.QFormLayout()
+        self.formLayout_6.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_6.setObjectName("formLayout_6")
         self.reboot_fcu = QtWidgets.QPushButton(self.centralwidget)
         self.reboot_fcu.setObjectName("reboot_fcu")
-        self.formLayout_4.setWidget(0, QtWidgets.QFormLayout.SpanningRole, self.reboot_fcu)
+        self.formLayout_6.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.reboot_fcu)
         self.calibrate_gyro = QtWidgets.QPushButton(self.centralwidget)
         self.calibrate_gyro.setObjectName("calibrate_gyro")
-        self.formLayout_4.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.calibrate_gyro)
+        self.formLayout_6.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.calibrate_gyro)
         self.calibrate_level = QtWidgets.QPushButton(self.centralwidget)
         self.calibrate_level.setObjectName("calibrate_level")
-        self.formLayout_4.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.calibrate_level)
-        self.verticalLayout.addLayout(self.formLayout_4)
+        self.formLayout_6.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.calibrate_level)
+        self.verticalLayout.addLayout(self.formLayout_6)
         self.horizontalLayout.addLayout(self.verticalLayout)
         self.horizontalLayout.setStretch(0, 1)
         self.gridLayout.addLayout(self.horizontalLayout, 0, 0, 1, 1)
@@ -143,6 +177,10 @@ class Ui_MainWindow(object):
         self.menuTable.setObjectName("menuTable")
         self.menuAnimation = QtWidgets.QMenu(self.menubar)
         self.menuAnimation.setObjectName("menuAnimation")
+        self.menuDrone = QtWidgets.QMenu(self.menubar)
+        self.menuDrone.setObjectName("menuDrone")
+        self.menuMusic = QtWidgets.QMenu(self.menubar)
+        self.menuMusic.setObjectName("menuMusic")
         MainWindow.setMenuBar(self.menubar)
         self.action_send_animations = QtWidgets.QAction(MainWindow)
         self.action_send_animations.setObjectName("action_send_animations")
@@ -166,6 +204,16 @@ class Ui_MainWindow(object):
         self.action_set_start_to_current_position.setObjectName("action_set_start_to_current_position")
         self.action_reset_start = QtWidgets.QAction(MainWindow)
         self.action_reset_start.setObjectName("action_reset_start")
+        self.action_set_z_offset_to_ground = QtWidgets.QAction(MainWindow)
+        self.action_set_z_offset_to_ground.setObjectName("action_set_z_offset_to_ground")
+        self.action_reset_z_offset = QtWidgets.QAction(MainWindow)
+        self.action_reset_z_offset.setObjectName("action_reset_z_offset")
+        self.action_select_music_file = QtWidgets.QAction(MainWindow)
+        self.action_select_music_file.setObjectName("action_select_music_file")
+        self.action_play_music = QtWidgets.QAction(MainWindow)
+        self.action_play_music.setObjectName("action_play_music")
+        self.action_test_music_after = QtWidgets.QAction(MainWindow)
+        self.action_test_music_after.setObjectName("action_test_music_after")
         self.menuDeveloper_mode.addAction(self.action_send_launch_file)
         self.menuDeveloper_mode.addAction(self.action_restart_clever)
         self.menuDeveloper_mode.addAction(self.action_restart_clever_show)
@@ -178,35 +226,40 @@ class Ui_MainWindow(object):
         self.menuTable.addAction(self.action_select_all_rows)
         self.menuAnimation.addAction(self.action_set_start_to_current_position)
         self.menuAnimation.addAction(self.action_reset_start)
+        self.menuDrone.addAction(self.action_set_z_offset_to_ground)
+        self.menuDrone.addAction(self.action_reset_z_offset)
+        self.menuMusic.addAction(self.action_select_music_file)
+        self.menuMusic.addAction(self.action_play_music)
+        self.menuMusic.addAction(self.action_test_music_after)
         self.menubar.addAction(self.menuOptions.menuAction())
         self.menubar.addAction(self.menuAnimation.menuAction())
+        self.menubar.addAction(self.menuDrone.menuAction())
+        self.menubar.addAction(self.menuMusic.menuAction())
         self.menubar.addAction(self.menuTable.menuAction())
 
         self.retranslateUi(MainWindow)
         QtCore.QMetaObject.connectSlotsByName(MainWindow)
-        MainWindow.setTabOrder(self.check_button, self.start_delay_spin)
-        MainWindow.setTabOrder(self.start_delay_spin, self.start_button)
-        MainWindow.setTabOrder(self.start_button, self.pause_button)
-        MainWindow.setTabOrder(self.pause_button, self.stop_button)
-        MainWindow.setTabOrder(self.stop_button, self.disarm_button)
-        MainWindow.setTabOrder(self.disarm_button, self.tableView)
+        MainWindow.setTabOrder(self.start_delay_spin, self.tableView)
 
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "Clever Drone Animation Player"))
-        self.check_button.setText(_translate("MainWindow", "Preflight check"))
-        self.start_text.setText(_translate("MainWindow", "Start after"))
-        self.start_delay_spin.setSuffix(_translate("MainWindow", " seconds"))
-        self.start_button.setText(_translate("MainWindow", "Start animation"))
-        self.pause_button.setText(_translate("MainWindow", "Pause"))
+        self.music_text.setText(_translate("MainWindow", "  Music after"))
+        self.music_delay_spin.setSuffix(_translate("MainWindow", " s"))
+        self.music_play_text.setText(_translate("MainWindow", "  Play music"))
+        self.start_delay_spin.setSuffix(_translate("MainWindow", " s"))
+        self.start_text.setText(_translate("MainWindow", "  Start after"))
         self.stop_button.setText(_translate("MainWindow", "Stop and land all"))
+        self.pause_button.setText(_translate("MainWindow", "Pause"))
+        self.start_button.setText(_translate("MainWindow", "Start animation"))
+        self.check_button.setText(_translate("MainWindow", "Preflight check"))
+        self.disarm_all_button.setText(_translate("MainWindow", "Disarm ALL"))
         self.disarm_button.setText(_translate("MainWindow", "Disarm selected"))
         self.emergency_button.setText(_translate("MainWindow", "Emergency land"))
-        self.disarm_all_button.setText(_translate("MainWindow", "Disarm ALL"))
-        self.leds_button.setText(_translate("MainWindow", "Test leds"))
-        self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
-        self.flip_button.setText(_translate("MainWindow", "Flip"))
         self.land_button.setText(_translate("MainWindow", "Land"))
+        self.flip_button.setText(_translate("MainWindow", "Flip"))
+        self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
+        self.leds_button.setText(_translate("MainWindow", "Test leds"))
         self.reboot_fcu.setText(_translate("MainWindow", "Reboot FCU"))
         self.calibrate_gyro.setText(_translate("MainWindow", "Calibrate gyro"))
         self.calibrate_level.setText(_translate("MainWindow", "Calibrate level"))
@@ -214,6 +267,8 @@ class Ui_MainWindow(object):
         self.menuDeveloper_mode.setTitle(_translate("MainWindow", "Developer mode"))
         self.menuTable.setTitle(_translate("MainWindow", "Table"))
         self.menuAnimation.setTitle(_translate("MainWindow", "Animation"))
+        self.menuDrone.setTitle(_translate("MainWindow", "Drone"))
+        self.menuMusic.setTitle(_translate("MainWindow", "Music"))
         self.action_send_animations.setText(_translate("MainWindow", "Send Animations"))
         self.action_send_configurations.setText(_translate("MainWindow", "Send Configurations"))
         self.action_send_Aruco_map.setText(_translate("MainWindow", "Send Aruco map"))
@@ -224,5 +279,10 @@ class Ui_MainWindow(object):
         self.action_restart_clever_show.setText(_translate("MainWindow", "Restart clever-show service"))
         self.action_select_all_rows.setText(_translate("MainWindow", "Select All"))
         self.action_select_all_rows.setShortcut(_translate("MainWindow", "Ctrl+A"))
-        self.action_set_start_to_current_position.setText(_translate("MainWindow", "Set start to current position"))
+        self.action_set_start_to_current_position.setText(_translate("MainWindow", "Set start X Y to current position"))
         self.action_reset_start.setText(_translate("MainWindow", "Reset start position"))
+        self.action_set_z_offset_to_ground.setText(_translate("MainWindow", "Set Z offset to ground"))
+        self.action_reset_z_offset.setText(_translate("MainWindow", "Reset Z offset"))
+        self.action_select_music_file.setText(_translate("MainWindow", "Select music file"))
+        self.action_play_music.setText(_translate("MainWindow", "Play music"))
+        self.action_test_music_after.setText(_translate("MainWindow", "Test music after"))
diff --git a/Server/server_gui.ui b/Server/server_gui.ui
index 4c45f2d..abeb6af 100644
--- a/Server/server_gui.ui
+++ b/Server/server_gui.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1220</width>
-    <height>613</height>
+    <height>750</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -68,62 +68,80 @@
         <item>
          <layout class="QFormLayout" name="formLayout">
           <property name="labelAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignCenter</set>
           </property>
           <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+           <set>Qt::AlignCenter</set>
           </property>
-          <item row="1" column="0" colspan="2">
-           <widget class="QPushButton" name="check_button">
-            <property name="enabled">
-             <bool>true</bool>
+          <item row="3" column="0">
+           <widget class="QLabel" name="music_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
             </property>
             <property name="text">
-             <string>Preflight check</string>
+             <string>  Music after</string>
             </property>
            </widget>
           </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="start_text">
-            <property name="text">
-             <string>Start after</string>
+          <item row="3" column="1">
+           <widget class="QDoubleSpinBox" name="music_delay_spin">
+            <property name="suffix">
+             <string> s</string>
             </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
+            <property name="decimals">
+             <number>1</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QCheckBox" name="music_checkbox">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="autoFillBackground">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="music_play_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="text">
+             <string>  Play music</string>
             </property>
            </widget>
           </item>
           <item row="2" column="1">
            <widget class="QSpinBox" name="start_delay_spin">
             <property name="suffix">
-             <string> seconds</string>
+             <string> s</string>
             </property>
            </widget>
           </item>
-          <item row="3" column="0" colspan="2">
-           <widget class="QPushButton" name="start_button">
-            <property name="enabled">
-             <bool>true</bool>
+          <item row="2" column="0">
+           <widget class="QLabel" name="start_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
             </property>
             <property name="text">
-             <string>Start animation</string>
+             <string>  Start after</string>
             </property>
-            <property name="flat">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0" colspan="2">
-           <widget class="QPushButton" name="pause_button">
-            <property name="text">
-             <string>Pause</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0" colspan="2">
-           <widget class="QPushButton" name="stop_button">
-            <property name="text">
-             <string>Stop and land all</string>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
             </property>
            </widget>
           </item>
@@ -141,24 +159,40 @@
           <property name="formAlignment">
            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
           </property>
-          <item row="7" column="0" colspan="2">
-           <widget class="QPushButton" name="disarm_button">
+          <item row="10" column="1">
+           <widget class="QPushButton" name="stop_button">
             <property name="text">
-             <string>Disarm selected</string>
+             <string>Stop and land all</string>
             </property>
            </widget>
           </item>
-          <item row="6" column="0" colspan="2">
-           <widget class="QPushButton" name="emergency_button">
+          <item row="9" column="1">
+           <widget class="QPushButton" name="pause_button">
             <property name="text">
-             <string>Emergency land</string>
+             <string>Pause</string>
             </property>
            </widget>
           </item>
-          <item row="8" column="0" colspan="2">
-           <widget class="QPushButton" name="disarm_all_button">
+          <item row="8" column="1">
+           <widget class="QPushButton" name="start_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
             <property name="text">
-             <string>Disarm ALL</string>
+             <string>Start animation</string>
+            </property>
+            <property name="flat">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QPushButton" name="check_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string>Preflight check</string>
             </property>
            </widget>
           </item>
@@ -179,34 +213,24 @@
           <property name="verticalSpacing">
            <number>6</number>
           </property>
-          <item row="0" column="0" colspan="2">
-           <widget class="QPushButton" name="leds_button">
+          <item row="3" column="1">
+           <widget class="QPushButton" name="disarm_all_button">
             <property name="text">
-             <string>Test leds</string>
+             <string>Disarm ALL</string>
             </property>
            </widget>
           </item>
-          <item row="1" column="0" colspan="2">
-           <widget class="QPushButton" name="takeoff_button">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="disarm_button">
             <property name="text">
-             <string>Takeoff</string>
+             <string>Disarm selected</string>
             </property>
            </widget>
           </item>
-          <item row="2" column="0" colspan="2">
-           <widget class="QPushButton" name="flip_button">
+          <item row="0" column="1">
+           <widget class="QPushButton" name="emergency_button">
             <property name="text">
-             <string>Flip</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0" colspan="2">
-           <widget class="QPushButton" name="land_button">
-            <property name="text">
-             <string>Land</string>
+             <string>Emergency land</string>
             </property>
            </widget>
           </item>
@@ -222,23 +246,68 @@
         <item>
          <layout class="QFormLayout" name="formLayout_4">
           <property name="formAlignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
           </property>
-          <item row="0" column="0" colspan="2">
+          <item row="3" column="1">
+           <widget class="QPushButton" name="land_button">
+            <property name="text">
+             <string>Land</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="flip_button">
+            <property name="text">
+             <string>Flip</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="takeoff_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string>Takeoff</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="leds_button">
+            <property name="text">
+             <string>Test leds</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_4">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_6">
+          <property name="formAlignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <item row="0" column="1">
            <widget class="QPushButton" name="reboot_fcu">
             <property name="text">
              <string>Reboot FCU</string>
             </property>
            </widget>
           </item>
-          <item row="1" column="0" colspan="2">
+          <item row="1" column="1">
            <widget class="QPushButton" name="calibrate_gyro">
             <property name="text">
              <string>Calibrate gyro</string>
             </property>
            </widget>
           </item>
-          <item row="2" column="0" colspan="2">
+          <item row="2" column="1">
            <widget class="QPushButton" name="calibrate_level">
             <property name="text">
              <string>Calibrate level</string>
@@ -294,8 +363,25 @@
     <addaction name="action_set_start_to_current_position"/>
     <addaction name="action_reset_start"/>
    </widget>
+   <widget class="QMenu" name="menuDrone">
+    <property name="title">
+     <string>Drone</string>
+    </property>
+    <addaction name="action_set_z_offset_to_ground"/>
+    <addaction name="action_reset_z_offset"/>
+   </widget>
+   <widget class="QMenu" name="menuMusic">
+    <property name="title">
+     <string>Music</string>
+    </property>
+    <addaction name="action_select_music_file"/>
+    <addaction name="action_play_music"/>
+    <addaction name="action_test_music_after"/>
+   </widget>
    <addaction name="menuOptions"/>
    <addaction name="menuAnimation"/>
+   <addaction name="menuDrone"/>
+   <addaction name="menuMusic"/>
    <addaction name="menuTable"/>
   </widget>
   <action name="action_send_animations">
@@ -348,7 +434,7 @@
   </action>
   <action name="action_set_start_to_current_position">
    <property name="text">
-    <string>Set start to current position</string>
+    <string>Set start X Y to current position</string>
    </property>
   </action>
   <action name="action_reset_start">
@@ -356,14 +442,34 @@
     <string>Reset start position</string>
    </property>
   </action>
+  <action name="action_set_z_offset_to_ground">
+   <property name="text">
+    <string>Set Z offset to ground</string>
+   </property>
+  </action>
+  <action name="action_reset_z_offset">
+   <property name="text">
+    <string>Reset Z offset</string>
+   </property>
+  </action>
+  <action name="action_select_music_file">
+   <property name="text">
+    <string>Select music file</string>
+   </property>
+  </action>
+  <action name="action_play_music">
+   <property name="text">
+    <string>Play music</string>
+   </property>
+  </action>
+  <action name="action_test_music_after">
+   <property name="text">
+    <string>Test music after</string>
+   </property>
+  </action>
  </widget>
  <tabstops>
-  <tabstop>check_button</tabstop>
   <tabstop>start_delay_spin</tabstop>
-  <tabstop>start_button</tabstop>
-  <tabstop>pause_button</tabstop>
-  <tabstop>stop_button</tabstop>
-  <tabstop>disarm_button</tabstop>
   <tabstop>tableView</tabstop>
  </tabstops>
  <resources/>
diff --git a/Server/server_qt.py b/Server/server_qt.py
index 3ba0fe9..898a9d4 100644
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -1,12 +1,14 @@
 import os
 import glob
 import math
+import asyncio
 
-from PyQt5 import QtWidgets
+from PyQt5 import QtWidgets, QtMultimedia
 from PyQt5.QtGui import QStandardItemModel, QStandardItem
-from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal, QObject
+from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal, QObject, QUrl
 
 from PyQt5.QtWidgets import QFileDialog, QMessageBox
+from quamash import QEventLoop
 
 # Importing gui form
 from server_gui import Ui_MainWindow
@@ -17,6 +19,16 @@ from emergency import *
 
 import threading
 
+def wait(end, interrupter=threading.Event(), maxsleep=0.1):
+    # Added features to interrupter sleep and set max sleeping interval
+
+    while not interrupter.is_set():  # Basic implementation of pause module until()
+        now = time.time()
+        diff = min(end - now, maxsleep)
+        if diff <= 0:
+            break
+        else:
+            time.sleep(diff / 2)
 
 def confirmation_required(text="Are you sure?", label="Confirm operation?"):
     def inner(f):
@@ -41,7 +53,7 @@ def confirmation_required(text="Are you sure?", label="Confirm operation?"):
 
 # noinspection PyArgumentList,PyCallByClass
 class MainWindow(QtWidgets.QMainWindow):
-    def __init__(self):
+    def __init__(self, loop):
         super(MainWindow, self).__init__()
 
         self.ui = Ui_MainWindow()
@@ -54,6 +66,8 @@ class MainWindow(QtWidgets.QMainWindow):
         self.gyro_calibrated = {}
         self.level_calibrated = {}
         self.first_col_is_checked = False
+        self.player = QtMultimedia.QMediaPlayer()
+        self.loop = loop
 
         self.init_model()
         
@@ -123,6 +137,9 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.action_update_client_repo.triggered.connect(self.update_client_repo)
         self.ui.action_set_start_to_current_position.triggered.connect(self.update_start_to_current_position)
         self.ui.action_reset_start.triggered.connect(self.reset_start)
+        self.ui.action_select_music_file.triggered.connect(self.select_music_file)
+        self.ui.action_play_music.triggered.connect(self.play_music)
+        self.ui.action_test_music_after.triggered.connect(self.test_music_after)
 
         # Set most safety-important buttons disabled
         self.ui.start_button.setEnabled(False)
@@ -178,6 +195,11 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def send_starttime_selected(self, **kwargs):
         dt = self.ui.start_delay_spin.value()
+        logging.info('Wait {} seconds to start animation'.format(dt))
+        if self.ui.music_checkbox.checked:
+            music_dt = self.ui.music_delay_spin.value()
+            asyncio.ensure_future(self.play_music_after(music_dt), loop=self.loop)
+            logging.info('Wait {} seconds to play music'.format(music_dt))
         self.selfcheck_selected()
         for copter in self.model.user_selected():
             if all_checks(copter):
@@ -351,6 +373,49 @@ class MainWindow(QtWidgets.QMainWindow):
         for copter in self.model.user_selected():
             copter.client.send_message("reset_start")
 
+    @pyqtSlot()
+    def select_music_file(self):
+        path = QFileDialog.getOpenFileName(self, "Select music file", filter="Music files (*.mp3)")[0]
+        if path:
+            media = QUrl.fromLocalFile(path)
+            content = QtMultimedia.QMediaContent(media)           
+            self.player.setMedia(content)
+
+    @pyqtSlot()
+    def play_music(self):
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.InvalidMedia:
+            logger.info("Can't play media")
+            return
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.NoMedia:
+            logger.info("No media file")
+            return
+        
+        if self.player.state() == QtMultimedia.QMediaPlayer.StoppedState or \
+            self.player.state() == QtMultimedia.QMediaPlayer.PausedState:
+            self.player.play()
+        else:
+            self.player.pause()
+        
+    
+    @asyncio.coroutine
+    def play_music_after(self, delay=0.):
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.InvalidMedia:
+            logger.info("Can't play media")
+            return
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.NoMedia:
+            logger.info("No media file")
+            return
+        self.player.stop()
+        wait(time.time()+delay)
+        logging.info("Play music")
+        self.player.play()
+
+    @pyqtSlot()
+    def test_music_after(self):
+        dt = self.ui.music_delay_spin.value()
+        asyncio.ensure_future(self.play_music_after(dt), loop=self.loop)
+        logging.info('Wait {} seconds to play music'.format(dt))
+
     @pyqtSlot()
     def emergency(self):
         client_row_min = 0
@@ -401,13 +466,18 @@ class MainWindow(QtWidgets.QMainWindow):
 
 if __name__ == "__main__":
     app = QtWidgets.QApplication(sys.argv)
-    window = MainWindow()
+    loop = QEventLoop(app)
+    asyncio.set_event_loop(loop)
+    window = MainWindow(loop)
 
     Client.on_first_connect = window.client_connected
 
     server = Server(on_stop=app.quit)
     server.start()
 
-    app.exec_()
+    #app.exec_()
+    with loop:
+        loop.run_forever()
+
     server.stop()
     sys.exit()