diff --git a/files/pixhawk/hexrotor/widgets/mavconn.qgw b/files/pixhawk/hexarotor/widgets/mavconn.qgw
similarity index 57%
rename from files/pixhawk/hexrotor/widgets/mavconn.qgw
rename to files/pixhawk/hexarotor/widgets/mavconn.qgw
index e7b6e644f1ec9a866d50d7bec4aedd9fcf7e4d94..ff33f3786baccbb9cf2237611ab28dc946c90b8a 100644
--- a/files/pixhawk/hexrotor/widgets/mavconn.qgw
+++ b/files/pixhawk/hexarotor/widgets/mavconn.qgw
@@ -1,6 +1,6 @@
 [MAVCONN%20Control]
 QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=START Recording
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=DO: Control Video
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=CAPTURE
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=200
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
@@ -12,7 +12,7 @@ QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
 QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=STOP Recording
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=DO: Control Video
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=STOP
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=200
 QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
@@ -35,4 +35,28 @@ QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
 QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\size=3
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Setpoint ON<->OFF
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=1
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=0
+QGC_TOOL_WIDGET_ITEMS\5\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DESCRIPTION=Glob. Loc ON<->OFF
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_PARAMID=
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_COMPONENTID=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MIN=1
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MAX=0
+QGC_TOOL_WIDGET_ITEMS\6\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DESCRIPTION=GPS ENU HL<->ASL
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_PARAMID=
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_COMPONENTID=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\7\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DESCRIPTION=Yaw PX<->ASL
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_PARAMID=
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_COMPONENTID=0
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\size=7
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 405dbbc0cd3d865377c0e1df593f62378d284e09..b12a82c7aebbb30c7e9d1112d11776a2174bb9f0 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -202,6 +202,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //	    }
 //#endif
 #ifdef QGC_PROTOBUF_ENABLED
+
             if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
             {
                 mavlink_extended_message_t extended_message;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index fc5ad717715aa9e98bb86f75bc65bcef13d67b0b..c8269d75f6cb90cc477be5a07094d394a7738f22 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -987,7 +987,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 #ifdef QGC_PROTOBUF_ENABLED
 void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
 {
-    if (!link) return;
+    if (!link)
+    {
+        return;
+    }
     if (!links->contains(link))
     {
         addLink(link);
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 6119f43aa29d4b5cbe6f419bf2bfd916e532dc2d..91c65cd376ca17a7c00ff25bab4e3c70acdee864 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -61,6 +61,11 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
     }
 }
 
+UASWaypointManager::~UASWaypointManager()
+{
+
+}
+
 void UASWaypointManager::timeout()
 {
     if (current_retries > 0) {
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index d195fcd4976f5dc0c791565f3478e69b51fc3767..207d11ec429c24dd4667e02e5ff305a3bc989806 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -65,6 +65,7 @@ private:
 
 public:
     UASWaypointManager(UAS* uas=NULL);   ///< Standard constructor
+    ~UASWaypointManager();
 
     /** @name Received message handlers */
     /*@{*/
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index eb59d361b38e138bbb7d083d67ef5ad7c52dd1b3..9f29858b484dc78dfa65202ac58169a4dd398d02 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -155,7 +155,10 @@ void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch,
 
 void WaypointList::setUAS(UASInterface* uas)
 {
-    //if (this->uas == NULL && uas != NULL)
+    if (this->uas == NULL && uas != NULL)
+    {
+        WPM = uas->getWaypointManager();
+    }
     if (this->uas == NULL)
     {
         this->uas = uas;