diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index d17d85f096175c69975d5044ba800aecd614000c..4bd0bd5aaf6cf69798d6b8f120f9ae210e6f7cda 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -206,18 +206,36 @@ void Waypoint::setParam2(double param2)
 
 void Waypoint::setParam3(double param3)
 {
-    if (this->x != param3)
+    if (this->orbit != param3)
     {
-        this->x = param3;
+        this->orbit = param3;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam4(double param4)
 {
-    if (this->y != param4)
+    if (this->x != param4)
     {
-        this->y = param4;
+        this->x = param4;
+        emit changed(this);
+    }
+}
+
+void Waypoint::setParam5(double param5)
+{
+    if (this->y != param5)
+    {
+        this->y = param5;
+        emit changed(this);
+    }
+}
+
+void Waypoint::setParam6(double param6)
+{
+    if (this->z != param6)
+    {
+        this->z = param6;
         emit changed(this);
     }
 }
diff --git a/src/Waypoint.h b/src/Waypoint.h
index a35e49c24810e557cd8a099639791227a8f32a52..7c1f866f477a812a7229fb6d8edca4b9f95ee3b4 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -60,8 +60,10 @@ public:
     double getHoldTime() const { return param2; }
     double getParam1() const { return param1; }
     double getParam2() const { return param2; }
-    double getParam3() const { return x; }
-    double getParam4() const { return y; }
+    double getParam3() const { return orbit; }
+    double getParam4() const { return x; }
+    double getParam5() const { return y; }
+    double getParam6() const { return z; }
     int getTurns() const { return param1; }
     MAV_FRAME getFrame() const { return frame; }
     MAV_ACTION getAction() const { return action; }
@@ -105,6 +107,8 @@ public slots:
     void setParam2(double param2);
     void setParam3(double param3);
     void setParam4(double param4);
+    void setParam5(double param5);
+    void setParam6(double param6);
     void setAcceptanceRadius(double radius);
     void setHoldTime(int holdTime);
     /** @brief Number of turns for loiter waypoints */
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index e8b0965dc339f06fe04807fd78cbc3badd579327..6cc6640e22d71d248a67896fcc89b1a650f5b399 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -82,6 +82,10 @@ void MAVLinkProtocol::loadSettings()
     {
         m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
     }
+    else if (m_logfile == NULL)
+    {
+        m_logfile = new QFile(QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink");
+    }
     // Enable logging
     enableLogging(settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool());
 
@@ -143,7 +147,7 @@ QString MAVLinkProtocol::getLogfileName()
     }
     else
     {
-        return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgrouncontrol_packetlog.mavlink";
+        return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink";
     }
 }
 
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index a1ac9451a7a3c5dc351ee36cb283fa7d52a4c4aa..ac39970c95d4bc42f38275ae37e897946cd318e3 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -129,8 +129,8 @@ void WaypointList::setUAS(UASInterface* uas)
         connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
         connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int,Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
         connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
-        connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
-        connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
+        //connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
+        //connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
 
     }
 }
@@ -148,11 +148,9 @@ void WaypointList::loadWaypoints()
 {
     if (uas)
     {
-
-
         QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
         uas->getWaypointManager()->loadWaypoints(fileName);
-     }
+    }
 }
 
 void WaypointList::transmit()
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 7dc3b71d840c20ca893359389e7e8922f5dd02ee..89e99577251d71922d6050993eb561be979f6a8c 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -103,6 +103,8 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     connect(customCommand->param2SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam2(double)));
     connect(customCommand->param3SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam3(double)));
     connect(customCommand->param4SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam4(double)));
+    connect(customCommand->param5SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam5(double)));
+    connect(customCommand->param6SpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setParam6(double)));
 
     // MISSION ELEMENT WIDGET
     // TODO
@@ -126,7 +128,7 @@ void WaypointView::moveDown()
 void WaypointView::remove()
 {
     emit removeWaypoint(wp);
-    delete this;
+    deleteLater();
 }
 
 void WaypointView::changedAutoContinue(int state)
@@ -473,8 +475,6 @@ void WaypointView::updateValues()
 
     // UPDATE CUSTOM ACTION WIDGET
 
-    qDebug() << "UPDATING CUSTOM ACTION WIDGET";
-
     if (customCommand->commandSpinBox->value() != wp->getAction())
     {
         customCommand->commandSpinBox->setValue(wp->getAction());
@@ -500,6 +500,16 @@ void WaypointView::updateValues()
     {
         customCommand->param4SpinBox->setValue(wp->getParam4());
     }
+    // Param 5
+    if (customCommand->param5SpinBox->value() != wp->getParam5())
+    {
+        customCommand->param5SpinBox->setValue(wp->getParam5());
+    }
+    // Param 6
+    if (customCommand->param6SpinBox->value() != wp->getParam6())
+    {
+        customCommand->param6SpinBox->setValue(wp->getParam6());
+    }
 
     wp->blockSignals(false);
 }
diff --git a/src/ui/mission/QGCCustomWaypointAction.ui b/src/ui/mission/QGCCustomWaypointAction.ui
index 2135283e87ffef4dd32feb071c8c77f9635daaeb..4d1780157ee98de4c559172f5bf7b10b943e1c04 100644
--- a/src/ui/mission/QGCCustomWaypointAction.ui
+++ b/src/ui/mission/QGCCustomWaypointAction.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>791</width>
+    <width>1105</width>
     <height>25</height>
    </rect>
   </property>
@@ -102,7 +102,7 @@
     </widget>
    </item>
    <item>
-    <widget class="QDoubleSpinBox" name="doubleSpinBox">
+    <widget class="QDoubleSpinBox" name="param6SpinBox">
      <property name="prefix">
       <string>Z/P6 </string>
      </property>