diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 6fff0b851c58b018cf8e82cffe68af82c039dd5d..98f74b81556fa1f302c0e5521c883862348c4184 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2095,7 +2095,7 @@ void UAS::halt()
 {
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
-    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
+    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HOLD);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 826761c70d4d537368005224c0c79664805af7c5..2c36172714e6fa7a20e73c1268ac58bf1ff5c072 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -103,7 +103,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     userSetPointSet(false),
     dragStarted(false),
     leftDragStarted(false),
-    mouseHasMoved(false)
+    mouseHasMoved(false),
+    actionPending(false)
 {
     refreshTimer->setInterval(updateInterval);
 
@@ -568,10 +569,10 @@ void HSIDisplay::mouseReleaseEvent(QMouseEvent * event)
         {
             if (leftDragStarted)
             {
-                qDebug() << "Z CHANGED" << uiZSetCoordinate;
-                setStatusMessage(QString("SENT NEW Z: %1").arg(uiZSetCoordinate));
-                setBodySetpointCoordinateZ(uiZSetCoordinate);
-                leftDragStarted = false;
+//                qDebug() << "Z CHANGED" << uiZSetCoordinate;
+//                setStatusMessage(QString("SENT NEW Z: %1").arg(uiZSetCoordinate));
+//                setBodySetpointCoordinateZ(uiZSetCoordinate);
+//                leftDragStarted = false;
             }
         }
     }
@@ -606,14 +607,29 @@ void HSIDisplay::mouseMoveEvent(QMouseEvent * event)
 
         if (leftDragStarted)
         {
-            uiZSetCoordinate -= 0.06f*(startY - event->y()) / this->frameSize().height();
-            setStatusMessage(QString("NEW Z: %1").arg(uiZSetCoordinate));
+//            uiZSetCoordinate -= 0.06f*(startY - event->y()) / this->frameSize().height();
+//            setStatusMessage(QString("NEW Z: %1").arg(uiZSetCoordinate));
         }
 
         if (leftDragStarted || dragStarted) mouseHasMoved = true;
     }
 }
 
+void HSIDisplay::keyPressEvent(QKeyEvent* event)
+{
+    if (event->key() == Qt::Key_Enter || event->key() == Qt::Key_S)
+    {
+        actionPending = false;
+        statusMessage = "SETPOINT SENT";
+        statusClearTimer.start();
+        sendBodySetPointCoordinates();
+    }
+    else
+    {
+        HDDisplay::keyPressEvent(event);
+    }
+}
+
 void HSIDisplay::contextMenuEvent (QContextMenuEvent* event)
 {
     event->ignore();
@@ -703,7 +719,10 @@ void HSIDisplay::setBodySetpointCoordinateXY(double x, double y)
 
     if (uas && mavInitialized)
     {
-        sendBodySetPointCoordinates();
+        //sendBodySetPointCoordinates();
+        statusMessage = "POSITION SET, PRESS <ENTER> TO SEND";
+        actionPending = true;
+        statusClearTimer.start();
         qDebug() << "Setting new setpoint at x: " << x << "metric y:" << y;
     }
 }
@@ -713,7 +732,10 @@ void HSIDisplay::setBodySetpointCoordinateZ(double z)
     userSetPointSet = true;
     // Set coordinates and send them out to MAV
     uiZSetCoordinate = z;
-    sendBodySetPointCoordinates();
+    statusMessage = "Z SET, PRESS <ENTER> TO SEND";
+    actionPending = true;
+    statusClearTimer.start();
+    //sendBodySetPointCoordinates();
 }
 
 void HSIDisplay::setBodySetpointCoordinateYaw(double yaw)
@@ -733,7 +755,10 @@ void HSIDisplay::setBodySetpointCoordinateYaw(double yaw)
     // Set coordinates and send them out to MAV
     uiYawSet = atan2(sin(yaw), cos(yaw));
     qDebug() << "YAW IN" << yaw << "YAW OUT" << uiYawSet;
-    sendBodySetPointCoordinates();
+    statusMessage = "YAW SET, PRESS <ENTER> TO SEND";
+    statusClearTimer.start();
+    actionPending = true;
+    //sendBodySetPointCoordinates();
 }
 
 void HSIDisplay::sendBodySetPointCoordinates()
@@ -791,7 +816,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
     {
         uiXSetCoordinate = bodyXSetCoordinate;
         uiYSetCoordinate = bodyYSetCoordinate;
-        uiZSetCoordinate = bodyZSetCoordinate;
+//        uiZSetCoordinate = bodyZSetCoordinate;
         uiYawSet= bodyYawSet;
     }
 }
diff --git a/src/ui/HSIDisplay.h b/src/ui/HSIDisplay.h
index 585a69513dab3fba3a95df9c98bb8d151fc24932..ac3c3aeaf7515ef88364838d22cd3da60ba6225e 100644
--- a/src/ui/HSIDisplay.h
+++ b/src/ui/HSIDisplay.h
@@ -89,6 +89,7 @@ public slots:
     void clearStatusMessage()
     {
         statusMessage = "";
+        actionPending = false;
     }
 
 signals:
@@ -123,6 +124,8 @@ protected slots:
     void mouseMoveEvent(QMouseEvent * event);
     /** @brief Receive mouse wheel events */
     void wheelEvent(QWheelEvent* event);
+    /** @brief Read out send keys */
+    void keyPressEvent(QKeyEvent* event);
     /** @brief Ignore context menu event */
     void contextMenuEvent (QContextMenuEvent* event);
     /** @brief Set status message on screen */
@@ -166,6 +169,7 @@ protected:
     float startY;
     QTimer statusClearTimer;
     QString statusMessage;
+    bool actionPending;
 
     /**
      * @brief Private data container class to be used within the HSI widget