diff --git a/src/Base/Rotation.cpp b/src/Base/Rotation.cpp
index 118a7c6563..646731561d 100644
--- a/src/Base/Rotation.cpp
+++ b/src/Base/Rotation.cpp
@@ -673,13 +673,13 @@ void Rotation::getYawPitchRoll(double& y, double& p, double& r) const
     double qd2 = 2.0*(q13-q02);
 
     // handle gimbal lock
-    if (fabs(qd2-1.0) <= DBL_EPSILON) {
+    if (fabs(qd2-1.0) <= 16 * DBL_EPSILON) { // Tolerance copied from OCC "gp_Quaternion.cxx"
         // north pole
         y = 0.0;
         p = D_PI/2.0;
         r = 2.0 * atan2(quat[0],quat[3]);
     }
-    else if (fabs(qd2+1.0) <= DBL_EPSILON) {
+    else if (fabs(qd2+1.0) <= 16 * DBL_EPSILON) { // Tolerance copied from OCC "gp_Quaternion.cxx"
         // south pole
         y = 0.0;
         p = -D_PI/2.0;
diff --git a/src/Gui/Application.cpp b/src/Gui/Application.cpp
index 6af9e09da9..be017ae1cc 100644
--- a/src/Gui/Application.cpp
+++ b/src/Gui/Application.cpp
@@ -2080,6 +2080,12 @@ void Application::runApplication(void)
         WheelEventFilter* filter = new WheelEventFilter(&mainApp);
         mainApp.installEventFilter(filter);
     }
+    
+    //filter keyboard events to substitute decimal separator
+    if (hGrp->GetBool("SubstituteDecimalSeparator", false)) {
+        KeyboardFilter* filter = new KeyboardFilter(&mainApp);
+        mainApp.installEventFilter(filter);
+    }
 
 #if defined(HAVE_QT5_OPENGL)
     {
diff --git a/src/Gui/GuiApplication.cpp b/src/Gui/GuiApplication.cpp
index 2431a5f76d..b254658000 100644
--- a/src/Gui/GuiApplication.cpp
+++ b/src/Gui/GuiApplication.cpp
@@ -26,12 +26,14 @@
 #ifndef _PreComp_
 # include <sstream>
 # include <stdexcept>
+# include <QAbstractSpinBox>
 # include <QByteArray>
 # include <QComboBox>
 # include <QDataStream>
 # include <QDebug>
 # include <QFileInfo>
 # include <QFileOpenEvent>
+# include <QKeyEvent>
 # include <QSessionManager>
 # include <QTimer>
 #endif
@@ -323,5 +325,29 @@ bool WheelEventFilter::eventFilter(QObject* obj, QEvent* ev)
     return false;
 }
 
+KeyboardFilter::KeyboardFilter(QObject* parent)
+  : QObject(parent)
+{
+}
+
+bool KeyboardFilter::eventFilter(QObject* obj, QEvent* ev)
+{
+    if (ev->type() == QEvent::KeyPress || ev->type() == QEvent::KeyRelease) {
+        QKeyEvent *kev = static_cast<QKeyEvent *>(ev);
+        QAbstractSpinBox *target = dynamic_cast<QAbstractSpinBox *>(obj);
+        if (kev->key() == Qt::Key_Period && target)
+        {
+            QChar decimalPoint = QLocale().decimalPoint();
+            QChar groupSeparator = QLocale().groupSeparator();
+            if (decimalPoint != Qt::Key_Period && (groupSeparator != Qt::Key_Period || (kev->modifiers() & Qt::KeypadModifier))) {
+                QKeyEvent modifiedKeyEvent(kev->type(), decimalPoint.digitValue(), kev->modifiers(), QString(decimalPoint), kev->isAutoRepeat(), kev->count());
+                qApp->sendEvent(obj, &modifiedKeyEvent);
+                return true;
+            }
+        }
+    }
+    return false;
+}
+
 
 #include "moc_GuiApplication.cpp"
diff --git a/src/Gui/GuiApplication.h b/src/Gui/GuiApplication.h
index 191148e216..85b7f2cf31 100644
--- a/src/Gui/GuiApplication.h
+++ b/src/Gui/GuiApplication.h
@@ -92,6 +92,15 @@ public:
     bool eventFilter(QObject* obj, QEvent* ev);
 };
 
+class KeyboardFilter : public QObject
+{
+    Q_OBJECT
+
+public:
+    KeyboardFilter(QObject* parent);
+    bool eventFilter(QObject* obj, QEvent* ev);
+};
+
 }
 
 #endif // GUI_APPLICATION_H
diff --git a/src/Mod/PartDesign/App/FeaturePad.cpp b/src/Mod/PartDesign/App/FeaturePad.cpp
index 7558595d58..35755a212a 100644
--- a/src/Mod/PartDesign/App/FeaturePad.cpp
+++ b/src/Mod/PartDesign/App/FeaturePad.cpp
@@ -70,6 +70,7 @@ Pad::Pad()
     ADD_PROPERTY_TYPE(Length2, (100.0), "Pad", App::Prop_None,"Second Pad length");
     ADD_PROPERTY_TYPE(UseCustomVector, (false), "Pad", App::Prop_None, "Use custom vector for pad direction");
     ADD_PROPERTY_TYPE(Direction, (Base::Vector3d(1.0, 1.0, 1.0)), "Pad", App::Prop_None, "Pad direction vector");
+    ADD_PROPERTY_TYPE(ReferenceAxis, (0), "Pad", App::Prop_None, "Reference axis of direction");
     ADD_PROPERTY_TYPE(AlongSketchNormal, (true), "Pad", App::Prop_None, "Measure pad length along the sketch normal direction");
     ADD_PROPERTY_TYPE(UpToFace, (0), "Pad", App::Prop_None, "Face where pad will end");
     ADD_PROPERTY_TYPE(Offset, (0.0), "Pad", App::Prop_None, "Offset from face in which pad will end");
@@ -79,10 +80,6 @@ Pad::Pad()
     // Remove the constraints and keep the type to allow to accept negative values
     // https://forum.freecadweb.org/viewtopic.php?f=3&t=52075&p=448410#p447636
     Length2.setConstraints(nullptr);
-
-    // for new pads UseCustomVector is false, thus disable Direction and AlongSketchNormal
-    AlongSketchNormal.setReadOnly(true);
-    Direction.setReadOnly(true);
 }
 
 short Pad::mustExecute() const
@@ -93,6 +90,7 @@ short Pad::mustExecute() const
         Length2.isTouched() ||
         UseCustomVector.isTouched() ||
         Direction.isTouched() ||
+        ReferenceAxis.isTouched() ||
         AlongSketchNormal.isTouched() ||
         Offset.isTouched() ||
         UpToFace.isTouched())
@@ -121,7 +119,8 @@ App::DocumentObjectExecReturn *Pad::execute(void)
     try {
         obj = getVerifiedObject();
         sketchshape = getVerifiedFace();
-    } catch (const Base::Exception& e) {
+    }
+    catch (const Base::Exception& e) {
         return new App::DocumentObjectExecReturn(e.what());
     }
 
@@ -129,7 +128,8 @@ App::DocumentObjectExecReturn *Pad::execute(void)
     TopoDS_Shape base;
     try {
         base = getBaseShape();
-    } catch (const Base::Exception&) {
+    }
+    catch (const Base::Exception&) {
         base = TopoDS_Shape();
     }
 
@@ -147,29 +147,50 @@ App::DocumentObjectExecReturn *Pad::execute(void)
         Base::Vector3d paddingDirection;
         
         if (!UseCustomVector.getValue()) {
-            // use sketch's normal vector for direction
-            paddingDirection = SketchVector;
+            if (ReferenceAxis.getValue() == nullptr) {
+                // use sketch's normal vector for direction
+                paddingDirection = SketchVector;
+                AlongSketchNormal.setReadOnly(true);
+            }
+            else {
+                // update Direction from ReferenceAxis
+                try {
+                    App::DocumentObject* pcReferenceAxis = ReferenceAxis.getValue();
+                    const std::vector<std::string>& subReferenceAxis = ReferenceAxis.getSubValues();
+                    Base::Vector3d base;
+                    Base::Vector3d dir;
+                    getAxis(pcReferenceAxis, subReferenceAxis, base, dir, false);
+                    paddingDirection = dir;
+                }
+                catch (const Base::Exception& e) {
+                    return new App::DocumentObjectExecReturn(e.what());
+                }
+            }
         }
         else {
             // use the given vector
             // if null vector, use SketchVector
             if ( (fabs(Direction.getValue().x) < Precision::Confusion())
                 && (fabs(Direction.getValue().y) < Precision::Confusion())
-                && (fabs(Direction.getValue().z) < Precision::Confusion()) )
-            {
+                && (fabs(Direction.getValue().z) < Precision::Confusion()) ) {
                 Direction.setValue(SketchVector);
             }
-
             paddingDirection = Direction.getValue();
         }
 
         // disable options of UseCustomVector  
-        AlongSketchNormal.setReadOnly(!UseCustomVector.getValue());
         Direction.setReadOnly(!UseCustomVector.getValue());
+        ReferenceAxis.setReadOnly(UseCustomVector.getValue());
+        // UseCustomVector allows AlongSketchNormal but !UseCustomVector does not forbid it
+        if (UseCustomVector.getValue())
+            AlongSketchNormal.setReadOnly(false);
 
         // create vector in padding direction with length 1
         gp_Dir dir(paddingDirection.x, paddingDirection.y, paddingDirection.z);
 
+        // store the finally used direction to display it in the dialog
+        Direction.setValue(dir.X(), dir.Y(), dir.Z());
+
         // The length of a gp_Dir is 1 so the resulting pad would have
         // the length L in the direction of dir. But we want to have its height in the
         // direction of the normal vector.
@@ -384,4 +405,3 @@ App::DocumentObjectExecReturn *Pad::execute(void)
         return new App::DocumentObjectExecReturn(e.what());
     }
 }
-
diff --git a/src/Mod/PartDesign/App/FeaturePad.h b/src/Mod/PartDesign/App/FeaturePad.h
index 6d38b0fedd..775102f1b4 100644
--- a/src/Mod/PartDesign/App/FeaturePad.h
+++ b/src/Mod/PartDesign/App/FeaturePad.h
@@ -47,6 +47,7 @@ public:
     App::PropertyVector      Direction;
     App::PropertyBool        AlongSketchNormal;
     App::PropertyLength      Offset;
+    App::PropertyLinkSub     ReferenceAxis;
 
     /** @name methods override feature */
     //@{
diff --git a/src/Mod/PartDesign/App/FeatureSketchBased.cpp b/src/Mod/PartDesign/App/FeatureSketchBased.cpp
index 05a7fc77b3..497f3ea6be 100644
--- a/src/Mod/PartDesign/App/FeatureSketchBased.cpp
+++ b/src/Mod/PartDesign/App/FeatureSketchBased.cpp
@@ -1070,6 +1070,10 @@ void ProfileBased::getAxis(const App::DocumentObject *pcReferenceAxis, const std
                 hasValidAxis = true;
                 axis = sketch->getAxis(Part::Part2DObject::H_Axis);
             }
+            else if (subReferenceAxis[0] == "N_Axis") {
+                hasValidAxis = true;
+                axis = sketch->getAxis(Part::Part2DObject::N_Axis);
+            }
             else if (subReferenceAxis[0].size() > 4 && subReferenceAxis[0].substr(0, 4) == "Axis") {
                 int AxId = std::atoi(subReferenceAxis[0].substr(4, 4000).c_str());
                 if (AxId >= 0 && AxId < sketch->getAxisCount()) {
diff --git a/src/Mod/PartDesign/Gui/Command.cpp b/src/Mod/PartDesign/Gui/Command.cpp
index 77a65c45a2..83b13b9874 100644
--- a/src/Mod/PartDesign/Gui/Command.cpp
+++ b/src/Mod/PartDesign/Gui/Command.cpp
@@ -1256,6 +1256,9 @@ void CmdPartDesignPad::activated(int iMsg)
         Gui::Command::updateActive();
 
         Part::Part2DObject* sketch = dynamic_cast<Part::Part2DObject*>(profile);
+
+        FCMD_OBJ_CMD(Feat, "ReferenceAxis = (" << getObjectCmd(sketch) << ",['N_Axis'])");
+
         finishProfileBased(cmd, sketch, Feat);
         cmd->adjustCameraPosition();
     };
diff --git a/src/Mod/PartDesign/Gui/TaskHelixParameters.cpp b/src/Mod/PartDesign/Gui/TaskHelixParameters.cpp
index eeb1e6bb83..029a63c661 100644
--- a/src/Mod/PartDesign/Gui/TaskHelixParameters.cpp
+++ b/src/Mod/PartDesign/Gui/TaskHelixParameters.cpp
@@ -235,8 +235,10 @@ void TaskHelixParameters::fillAxisCombo(bool forceRefill)
     App::DocumentObject* ax = propReferenceAxis->getValue();
     const std::vector<std::string> &subList = propReferenceAxis->getSubValues();
     for (size_t i = 0; i < axesInList.size(); i++) {
-        if (ax == axesInList[i]->getValue() && subList == axesInList[i]->getSubValues())
+        if (ax == axesInList[i]->getValue() && subList == axesInList[i]->getSubValues()) {
             indexOfCurrent = i;
+            break;
+        }
     }
     if (indexOfCurrent == -1  &&  ax) {
         assert(subList.size() <= 1);
@@ -260,7 +262,7 @@ void TaskHelixParameters::addAxisToCombo(App::DocumentObject* linkObj,
 {
     this->ui->axis->addItem(itemText);
     this->axesInList.emplace_back(new App::PropertyLinkSub);
-    App::PropertyLinkSub &lnk = *(axesInList[axesInList.size()-1]);
+    App::PropertyLinkSub &lnk = *(axesInList.back());
     lnk.setValue(linkObj,std::vector<std::string>(1,linkSubname));
 }
 
diff --git a/src/Mod/PartDesign/Gui/TaskPadParameters.cpp b/src/Mod/PartDesign/Gui/TaskPadParameters.cpp
index 326010aef9..941b600781 100644
--- a/src/Mod/PartDesign/Gui/TaskPadParameters.cpp
+++ b/src/Mod/PartDesign/Gui/TaskPadParameters.cpp
@@ -34,6 +34,7 @@
 #include "TaskPadParameters.h"
 #include <App/Application.h>
 #include <App/Document.h>
+#include <App/Origin.h>
 #include <Base/Console.h>
 #include <Base/UnitsApi.h>
 #include <Gui/Application.h>
@@ -43,6 +44,7 @@
 #include <Gui/Selection.h>
 #include <Gui/ViewProvider.h>
 #include <Gui/WaitCursor.h>
+#include <Mod/PartDesign/App/Body.h>
 #include <Mod/PartDesign/App/FeaturePad.h>
 #include <Mod/Sketcher/App/SketchObject.h>
 #include "TaskSketchBasedParameters.h"
@@ -75,7 +77,7 @@ TaskPadParameters::TaskPadParameters(ViewProviderPad *PadView, QWidget *parent,
     PartDesign::Pad* pcPad = static_cast<PartDesign::Pad*>(vp->getObject());
     Base::Quantity l = pcPad->Length.getQuantityValue();
     Base::Quantity l2 = pcPad->Length2.getQuantityValue();
-    bool alongCustom = pcPad->AlongSketchNormal.getValue();
+    bool alongNormal = pcPad->AlongSketchNormal.getValue();
     bool useCustom = pcPad->UseCustomVector.getValue();
     double xs = pcPad->Direction.getValue().x;
     double ys = pcPad->Direction.getValue().y;
@@ -104,9 +106,14 @@ TaskPadParameters::TaskPadParameters(ViewProviderPad *PadView, QWidget *parent,
     // Fill data into dialog elements
     ui->lengthEdit->setValue(l);
     ui->lengthEdit2->setValue(l2);
+    // the direction combobox is filled later in updateUI()
     ui->checkBoxDirection->setChecked(useCustom);
     onDirectionToggled(useCustom);
-    ui->checkBoxAlongDirection->setChecked(alongCustom);
+    ui->checkBoxAlongDirection->setChecked(alongNormal);
+    // dis/enable length and direction
+    ui->directionCB->setEnabled(!useCustom);
+    if (useCustom)
+        ui->checkBoxAlongDirection->setEnabled(useCustom);
     ui->XDirectionEdit->setValue(xs);
     ui->YDirectionEdit->setValue(ys);
     ui->ZDirectionEdit->setValue(zs);
@@ -157,6 +164,8 @@ TaskPadParameters::TaskPadParameters(ViewProviderPad *PadView, QWidget *parent,
             this, SLOT(onLengthChanged(double)));
     connect(ui->lengthEdit2, SIGNAL(valueChanged(double)),
             this, SLOT(onLength2Changed(double)));
+    connect(ui->directionCB, SIGNAL(activated(int)),
+        this, SLOT(onDirectionCBChanged(int)));
     connect(ui->checkBoxAlongDirection, SIGNAL(toggled(bool)),
         this, SLOT(onAlongSketchNormalChanged(bool)));
     connect(ui->checkBoxDirection, SIGNAL(toggled(bool)),
@@ -182,12 +191,14 @@ TaskPadParameters::TaskPadParameters(ViewProviderPad *PadView, QWidget *parent,
     connect(ui->checkBoxUpdateView, SIGNAL(toggled(bool)),
             this, SLOT(onUpdateView(bool)));
 
+    this->propReferenceAxis = &(pcPad->ReferenceAxis);
+
     // Due to signals attached after changes took took into effect we should update the UI now.
     updateUI(index);
 
     // if it is a newly created object use the last value of the history
     // TODO: newObj doesn't supplied normally by any caller (2015-07-24, Fat-Zer)
-    if(newObj){
+    if (newObj) {
         ui->lengthEdit->setToLastUsedValue();
         ui->lengthEdit->selectNumber();
         ui->lengthEdit2->setToLastUsedValue();
@@ -199,6 +210,9 @@ TaskPadParameters::TaskPadParameters(ViewProviderPad *PadView, QWidget *parent,
 
 void TaskPadParameters::updateUI(int index)
 {
+    // update direction combobox
+    fillDirectionCombo();
+    
     // disable/hide everything unless we are sure we don't need it
     // exception: the direction parameters are in any case visible
     bool isLengthEditVisible  = false;
@@ -280,23 +294,38 @@ void TaskPadParameters::updateUI(int index)
 void TaskPadParameters::onSelectionChanged(const Gui::SelectionChanges& msg)
 {
     if (msg.Type == Gui::SelectionChanges::AddSelection) {
-        QString refText = onAddSelection(msg);
-        if (refText.length() > 0) {
-            ui->lineFaceName->blockSignals(true);
-            ui->lineFaceName->setText(refText);
-            ui->lineFaceName->setProperty("FeatureName", QByteArray(msg.pObjectName));
-            ui->lineFaceName->setProperty("FaceName", QByteArray(msg.pSubName));
-            ui->lineFaceName->blockSignals(false);
-            // Turn off reference selection mode
-            onButtonFace(false);
-        } else {
-            ui->lineFaceName->blockSignals(true);
-            ui->lineFaceName->clear();
-            ui->lineFaceName->setProperty("FeatureName", QVariant());
-            ui->lineFaceName->setProperty("FaceName", QVariant());
-            ui->lineFaceName->blockSignals(false);
+        // if we have an edge selection for the pad direction
+        if (!selectionFace) {
+            std::vector<std::string> edge;
+            App::DocumentObject* selObj;
+            if (getReferencedSelection(vp->getObject(), msg, selObj, edge) && selObj) {
+                exitSelectionMode();
+                propReferenceAxis->setValue(selObj, edge);
+                recomputeFeature();
+                // update direction combobox
+                fillDirectionCombo();
+            }
         }
-    } else if (msg.Type == Gui::SelectionChanges::ClrSelection) {
+        else { // if we have a selection of a face
+            QString refText = onAddSelection(msg);
+            if (refText.length() > 0) {
+                ui->lineFaceName->blockSignals(true);
+                ui->lineFaceName->setText(refText);
+                ui->lineFaceName->setProperty("FeatureName", QByteArray(msg.pObjectName));
+                ui->lineFaceName->setProperty("FaceName", QByteArray(msg.pSubName));
+                ui->lineFaceName->blockSignals(false);
+                // Turn off reference selection mode
+                onButtonFace(false);
+            }
+            else {
+                ui->lineFaceName->blockSignals(true);
+                ui->lineFaceName->clear();
+                ui->lineFaceName->setProperty("FeatureName", QVariant());
+                ui->lineFaceName->setProperty("FaceName", QVariant());
+                ui->lineFaceName->blockSignals(false);
+            }
+        }
+    } else if (msg.Type == Gui::SelectionChanges::ClrSelection && selectionFace) {
         ui->lineFaceName->blockSignals(true);
         ui->lineFaceName->clear();
         ui->lineFaceName->setProperty("FeatureName", QVariant());
@@ -319,6 +348,119 @@ void TaskPadParameters::onLength2Changed(double len)
     recomputeFeature();
 }
 
+void TaskPadParameters::fillDirectionCombo()
+{
+    bool oldVal_blockUpdate = blockUpdate;
+    blockUpdate = true;
+
+    if (axesInList.empty()) {
+        ui->directionCB->clear();
+        this->axesInList.clear();
+        // add sketch normal
+        PartDesign::ProfileBased* pcFeat = static_cast<PartDesign::ProfileBased*>(vp->getObject());
+        Part::Part2DObject* pcSketch = dynamic_cast<Part::Part2DObject*>(pcFeat->Profile.getValue());
+        if (pcSketch)
+            addAxisToCombo(pcSketch, "N_Axis", QObject::tr("Sketch normal"));
+        // add "Select reference"
+        addAxisToCombo(0, std::string(), tr("Select reference..."));
+    }
+
+    // add current link, if not in list
+    // first, figure out the item number for current axis
+    int indexOfCurrent = -1;
+    App::DocumentObject* ax = propReferenceAxis->getValue();
+    const std::vector<std::string>& subList = propReferenceAxis->getSubValues();
+    for (size_t i = 0; i < axesInList.size(); i++) {
+        if (ax == axesInList[i]->getValue() && subList == axesInList[i]->getSubValues()) {
+            indexOfCurrent = i;
+            break;
+        }
+    }
+    if (indexOfCurrent == -1 && ax) {
+        assert(subList.size() <= 1);
+        std::string sub;
+        if (!subList.empty())
+            sub = subList[0];
+        addAxisToCombo(ax, sub, getRefStr(ax, subList));
+        indexOfCurrent = axesInList.size() - 1;
+    }
+
+    // highlight current index
+    if (indexOfCurrent != -1)
+        ui->directionCB->setCurrentIndex(indexOfCurrent);
+
+    // disable AlongSketchNormal when the direction is already normal
+    if (ui->directionCB->currentIndex() == 0)
+        ui->checkBoxAlongDirection->setEnabled(false);
+    else
+        ui->checkBoxAlongDirection->setEnabled(true);
+
+    blockUpdate = oldVal_blockUpdate;
+}
+
+void TaskPadParameters::addAxisToCombo(App::DocumentObject* linkObj,
+    std::string linkSubname, QString itemText)
+{
+    this->ui->directionCB->addItem(itemText);
+    this->axesInList.emplace_back(new App::PropertyLinkSub);
+    App::PropertyLinkSub& lnk = *(axesInList.back());
+    lnk.setValue(linkObj, std::vector<std::string>(1, linkSubname));
+}
+
+void TaskPadParameters::onDirectionCBChanged(int num)
+{
+    PartDesign::Pad* pcPad = static_cast<PartDesign::Pad*>(vp->getObject());
+
+    if (axesInList.empty() || !pcPad)
+        return;
+
+    App::DocumentObject* oldRefAxis = propReferenceAxis->getValue();
+    std::vector<std::string> oldSubRefAxis = propReferenceAxis->getSubValues();
+    std::string oldRefName;
+    if (!oldSubRefAxis.empty())
+        oldRefName = oldSubRefAxis.front();
+
+    App::PropertyLinkSub& lnk = *(axesInList[num]);
+    if (lnk.getValue() == 0) {
+        // enter reference selection mode
+        this->blockConnection(false);
+        // to distinguish that this is the direction selection
+        selectionFace = false;
+        TaskSketchBasedParameters::onSelectReference(true, true, false, true, true);
+        return;
+    }
+    else {
+        if (!pcPad->getDocument()->isIn(lnk.getValue())) {
+            Base::Console().Error("Object was deleted\n");
+            return;
+        }
+        propReferenceAxis->Paste(lnk);
+        // in case user is in selection mode, but changed his mind before selecting anything
+        exitSelectionMode();
+    }
+
+    try {
+        App::DocumentObject* newRefAxis = propReferenceAxis->getValue();
+        const std::vector<std::string>& newSubRefAxis = propReferenceAxis->getSubValues();
+        std::string newRefName;
+        if (!newSubRefAxis.empty())
+            newRefName = newSubRefAxis.front();
+
+        recomputeFeature();
+    }
+    catch (const Base::Exception& e) {
+        e.ReportException();
+    }
+
+    // disable AlongSketchNormal when the direction is already normal
+    if (num == 0)
+        ui->checkBoxAlongDirection->setEnabled(false);
+    else
+        ui->checkBoxAlongDirection->setEnabled(true);
+    // update the direction
+    updateDirectionEdits();
+}
+
 void TaskPadParameters::onAlongSketchNormalChanged(bool on)
 {
     PartDesign::Pad* pcPad = static_cast<PartDesign::Pad*>(vp->getObject());
@@ -334,7 +476,8 @@ void TaskPadParameters::onDirectionToggled(bool on)
     ui->checkBoxAlongDirection->setEnabled(on);
     if (on) {
         ui->groupBoxDirection->show();
-    } else {
+    }
+    else {
         ui->checkBoxAlongDirection->setChecked(!on);
         ui->groupBoxDirection->hide();
     }
@@ -410,6 +553,8 @@ void TaskPadParameters::onReversedChanged(bool on)
     // midplane is not sensible when reversed
     ui->checkBoxMidplane->setEnabled(!on);
     recomputeFeature();
+    // update the direction
+    updateDirectionEdits();
 }
 
 void TaskPadParameters::onModeChanged(int index)
@@ -437,6 +582,9 @@ void TaskPadParameters::onButtonFace(const bool pressed)
 {
     this->blockConnection(!pressed);
 
+    // to distinguish that this is the direction selection
+    selectionFace = true;
+
     // only faces are allowed
     TaskSketchBasedParameters::onSelectReference(pressed, false, true, false);
 
@@ -489,6 +637,14 @@ bool   TaskPadParameters::getCustom(void) const
     return ui->checkBoxDirection->isChecked();
 }
 
+std::string TaskPadParameters::getReferenceAxis(void) const
+{
+    std::vector<std::string> sub;
+    App::DocumentObject* obj;
+    getReferenceAxis(obj, sub);
+    return buildLinkSingleSubPythonStr(obj, sub);
+}
+
 double TaskPadParameters::getXDirection(void) const
 {
     return ui->XDirectionEdit->value();
@@ -550,10 +706,16 @@ void TaskPadParameters::changeEvent(QEvent *e)
         ui->XDirectionEdit->blockSignals(true);
         ui->YDirectionEdit->blockSignals(true);
         ui->ZDirectionEdit->blockSignals(true);
+        ui->directionCB->blockSignals(true);
+        int index = ui->directionCB->currentIndex();
+        ui->directionCB->addItem(tr("Sketch normal"));
+        ui->directionCB->addItem(tr("Select reference..."));
+        ui->directionCB->clear();
+        ui->directionCB->setCurrentIndex(index);
         ui->offsetEdit->blockSignals(true);
         ui->lineFaceName->blockSignals(true);
         ui->changeMode->blockSignals(true);
-        int index = ui->changeMode->currentIndex();
+        index = ui->changeMode->currentIndex();
         ui->retranslateUi(proxy);
         ui->changeMode->clear();
         ui->changeMode->addItem(tr("Dimension"));
@@ -563,9 +725,7 @@ void TaskPadParameters::changeEvent(QEvent *e)
         ui->changeMode->addItem(tr("Two dimensions"));
         ui->changeMode->setCurrentIndex(index);
 
-#if QT_VERSION >= 0x040700
         ui->lineFaceName->setPlaceholderText(tr("No face selected"));
-#endif
         QVariant featureName = ui->lineFaceName->property("FeatureName");
         if (featureName.isValid()) {
             QStringList parts = ui->lineFaceName->text().split(QChar::fromLatin1(':'));
@@ -592,12 +752,33 @@ void TaskPadParameters::changeEvent(QEvent *e)
         ui->XDirectionEdit->blockSignals(false);
         ui->YDirectionEdit->blockSignals(false);
         ui->ZDirectionEdit->blockSignals(false);
+        ui->directionCB->blockSignals(false);
         ui->offsetEdit->blockSignals(false);
         ui->lineFaceName->blockSignals(false);
         ui->changeMode->blockSignals(false);
     }
 }
 
+void TaskPadParameters::getReferenceAxis(App::DocumentObject*& obj, std::vector<std::string>& sub) const
+{
+    if (axesInList.empty())
+        throw Base::RuntimeError("Not initialized!");
+
+    int num = ui->directionCB->currentIndex();
+    const App::PropertyLinkSub& lnk = *(axesInList[num]);
+    if (lnk.getValue() == 0) {
+        throw Base::RuntimeError("Still in reference selection mode; reference wasn't selected yet");
+    }
+    else {
+        PartDesign::ProfileBased* pcDirection = static_cast<PartDesign::ProfileBased*>(vp->getObject());
+        if (!pcDirection->getDocument()->isIn(lnk.getValue()))
+            throw Base::RuntimeError("Object was deleted");
+
+        obj = lnk.getValue();
+        sub = lnk.getSubValues();
+    }
+}
+
 void TaskPadParameters::saveHistory(void)
 {
     // save the user values to history
@@ -615,6 +796,7 @@ void TaskPadParameters::apply()
     FCMD_OBJ_CMD(obj, "UseCustomVector = " << (getCustom() ? 1 : 0));
     FCMD_OBJ_CMD(obj, "Direction = ("
         << getXDirection() << ", " << getYDirection() << ", " << getZDirection() << ")");
+    FCMD_OBJ_CMD(obj, "ReferenceAxis = " << getReferenceAxis());
     FCMD_OBJ_CMD(obj, "AlongSketchNormal = " << (getAlongSketchNormal() ? 1 : 0));
     FCMD_OBJ_CMD(obj,"Type = " << getMode());
     QString facename = getFaceName();
diff --git a/src/Mod/PartDesign/Gui/TaskPadParameters.h b/src/Mod/PartDesign/Gui/TaskPadParameters.h
index f5e9846efa..1a30d0d932 100644
--- a/src/Mod/PartDesign/Gui/TaskPadParameters.h
+++ b/src/Mod/PartDesign/Gui/TaskPadParameters.h
@@ -55,9 +55,13 @@ public:
     virtual void saveHistory() override;
     virtual void apply() override;
 
+    void fillDirectionCombo();
+    void addAxisToCombo(App::DocumentObject* linkObj, std::string linkSubname, QString itemText);
+
 private Q_SLOTS:
     void onLengthChanged(double);
     void onLength2Changed(double);
+    void onDirectionCBChanged(int);
     void onAlongSketchNormalChanged(bool);
     void onDirectionToggled(bool);
     void onXDirectionEditChanged(double);
@@ -72,12 +76,15 @@ private Q_SLOTS:
 
 protected:
     void changeEvent(QEvent *e) override;
+    App::PropertyLinkSub* propReferenceAxis;
+    void getReferenceAxis(App::DocumentObject*& obj, std::vector<std::string>& sub) const;
 
 private:
     double getLength(void) const;
     double getLength2(void) const;
     bool   getAlongSketchNormal(void) const;
     bool   getCustom(void) const;
+    std::string getReferenceAxis(void) const;
     double getXDirection(void) const;
     double getYDirection(void) const;
     double getZDirection(void) const;
@@ -93,6 +100,8 @@ private:
 private:
     QWidget* proxy;
     std::unique_ptr<Ui_TaskPadParameters> ui;
+    bool selectionFace;
+    std::vector<std::unique_ptr<App::PropertyLinkSub>> axesInList;
 };
 
 /// simulation dialog for the TaskView
diff --git a/src/Mod/PartDesign/Gui/TaskPadParameters.ui b/src/Mod/PartDesign/Gui/TaskPadParameters.ui
index b0a680b51c..dbc9c341a6 100644
--- a/src/Mod/PartDesign/Gui/TaskPadParameters.ui
+++ b/src/Mod/PartDesign/Gui/TaskPadParameters.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>280</width>
-    <height>497</height>
+    <width>300</width>
+    <height>436</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_2">
+  <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <layout class="QGridLayout" name="gridLayout">
      <item row="0" column="0">
@@ -52,116 +52,157 @@
     </layout>
    </item>
    <item>
-    <widget class="QCheckBox" name="checkBoxDirection">
-     <property name="text">
-      <string>Use custom direction</string>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Direction</string>
      </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBoxDirection">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="toolTip">
-      <string>Use custom vector for pad direction otherwise
-the sketch plane's normal vector will be used</string>
-     </property>
-     <property name="checkable">
-      <bool>false</bool>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_2">
+     <layout class="QGridLayout" name="gridLayout_4">
       <item row="0" column="0">
-       <widget class="QLabel" name="labelXSkew">
-        <property name="text">
-         <string>x</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="Gui::DoubleSpinBox" name="XDirectionEdit">
-        <property name="toolTip">
-         <string>x-component of direction vector</string>
-        </property>
-        <property name="keyboardTracking">
-         <bool>false</bool>
-        </property>
-        <property name="minimum">
-         <double>-100.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>100.000000000000000</double>
-        </property>
-        <property name="singleStep">
-         <double>0.100000000000000</double>
-        </property>
-        <property name="unit" stdset="0">
-         <string notr="true"/>
-        </property>
-       </widget>
+       <layout class="QGridLayout" name="gridLayout_3">
+        <item row="0" column="0">
+         <widget class="QLabel" name="labelEdge">
+          <property name="text">
+           <string>Direction/edge:</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QComboBox" name="directionCB">
+          <property name="toolTip">
+           <string>Either along the sketch normal
+or select an edge as reference</string>
+          </property>
+          <item>
+           <property name="text">
+            <string>Sketch normal</string>
+           </property>
+          </item>
+          <item>
+           <property name="text">
+            <string>Select reference...</string>
+           </property>
+          </item>
+         </widget>
+        </item>
+       </layout>
       </item>
       <item row="1" column="0">
-       <widget class="QLabel" name="labelYSkew">
+       <widget class="QCheckBox" name="checkBoxDirection">
         <property name="text">
-         <string>y</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="Gui::DoubleSpinBox" name="YDirectionEdit">
-        <property name="toolTip">
-         <string>y-component of direction vector</string>
-        </property>
-        <property name="keyboardTracking">
-         <bool>false</bool>
-        </property>
-        <property name="minimum">
-         <double>-100.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>100.000000000000000</double>
-        </property>
-        <property name="singleStep">
-         <double>0.100000000000000</double>
-        </property>
-        <property name="unit" stdset="0">
-         <string notr="true"/>
+         <string>Use custom direction</string>
         </property>
        </widget>
       </item>
       <item row="2" column="0">
-       <widget class="QLabel" name="labelZSkew">
-        <property name="text">
-         <string>z</string>
+       <widget class="QGroupBox" name="groupBoxDirection">
+        <property name="enabled">
+         <bool>true</bool>
         </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="Gui::DoubleSpinBox" name="ZDirectionEdit">
         <property name="toolTip">
-         <string>z-component of direction vector</string>
+         <string>Use custom vector for pad direction, otherwise
+the sketch plane's normal vector will be used</string>
         </property>
-        <property name="keyboardTracking">
+        <property name="checkable">
          <bool>false</bool>
         </property>
-        <property name="minimum">
-         <double>-100.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>100.000000000000000</double>
-        </property>
-        <property name="singleStep">
-         <double>0.100000000000000</double>
-        </property>
-        <property name="value">
-         <double>1.000000000000000</double>
-        </property>
-        <property name="unit" stdset="0">
-         <string notr="true"/>
+        <property name="checked">
+         <bool>false</bool>
         </property>
+        <layout class="QGridLayout" name="gridLayout_2">
+         <item row="0" column="1">
+          <widget class="Gui::DoubleSpinBox" name="XDirectionEdit">
+           <property name="toolTip">
+            <string>x-component of direction vector</string>
+           </property>
+           <property name="keyboardTracking">
+            <bool>false</bool>
+           </property>
+           <property name="minimum">
+            <double>-100.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>100.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.100000000000000</double>
+           </property>
+           <property name="unit" stdset="0">
+            <string notr="true"/>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="labelZSkew">
+           <property name="text">
+            <string>z</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="Gui::DoubleSpinBox" name="YDirectionEdit">
+           <property name="toolTip">
+            <string>y-component of direction vector</string>
+           </property>
+           <property name="keyboardTracking">
+            <bool>false</bool>
+           </property>
+           <property name="minimum">
+            <double>-100.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>100.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.100000000000000</double>
+           </property>
+           <property name="unit" stdset="0">
+            <string notr="true"/>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="labelYSkew">
+           <property name="text">
+            <string>y</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="Gui::DoubleSpinBox" name="ZDirectionEdit">
+           <property name="toolTip">
+            <string>z-component of direction vector</string>
+           </property>
+           <property name="keyboardTracking">
+            <bool>false</bool>
+           </property>
+           <property name="minimum">
+            <double>-100.000000000000000</double>
+           </property>
+           <property name="maximum">
+            <double>100.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.100000000000000</double>
+           </property>
+           <property name="value">
+            <double>1.000000000000000</double>
+           </property>
+           <property name="unit" stdset="0">
+            <string notr="true"/>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="labelXSkew">
+           <property name="text">
+            <string>x</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </widget>
       </item>
-      <item row="3" column="0" colspan="2">
+      <item row="3" column="0">
        <widget class="QCheckBox" name="checkBoxAlongDirection">
         <property name="enabled">
          <bool>true</bool>
@@ -173,9 +214,6 @@ measured along the specified direction</string>
         <property name="text">
          <string>Length along sketch normal</string>
         </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
        </widget>
       </item>
      </layout>
@@ -244,15 +282,15 @@ measured along the specified direction</string>
     </layout>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
-     <item>
+    <layout class="QGridLayout" name="gridLayout_5">
+     <item row="0" column="0">
       <widget class="QPushButton" name="buttonFace">
        <property name="text">
         <string>Face</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QLineEdit" name="lineFaceName"/>
      </item>
     </layout>