diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index 7901330b9a561a8350596491f2db95f510ccb9c5..8dada49c43ef2a37c53ae270c73f7241fe3c91b8 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -75,6 +75,7 @@ bool Waypoint::load(QTextStream &loadStream)
     return false;
 }
 
+
 void Waypoint::setId(quint16 id)
 {
     this->id = id;
diff --git a/src/Waypoint.h b/src/Waypoint.h
index 8e8f40025aa81d307354fc2e07fd439611b37966..7e1a6022955045b1348c050a96c31360b63cb6a2 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -59,6 +59,7 @@ public:
     bool load(QTextStream &loadStream);
 
 
+
 protected:
     quint16 id;
     float x;
diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index 2f497457f8b10db47ca0b8760e3d19bd1f32efd4..24355ce696dd809059eca3ac62de26d78f08dea4 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -348,7 +348,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 #endif
 
     default:
-        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
+        //qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
         break;
     }
 }
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index a4ee35bfc79d6040d4b04c345ea97473c94c67d2..f25e6b28b339636c3e2895cbe91a66dc1f36be39 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -135,6 +135,8 @@ signals:
                          uint8_t gpsvisSat,
                          quint64 time);
 
+
+   // Standart messages MAVLINK used by SLUGS
    void slugsActionAck(int systemId,
                        uint8_t action,
                        uint8_t result);
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index fb03c520431ee630ada5f868433b4a92abf37209..ef3719dab63de49e778173f4c46f6920e31f4503 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -383,9 +383,12 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
     }
     file.close();
 
+    emit loadWPFile();
     emit waypointListChanged();
+
 }
 
+
 void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
 {
 
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index a16c8d3fe9a433a2af487b62f1da8751f042ab7d..f7fb7eace9b32573fb3e507f842fad2b7da1f37f 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -91,6 +91,7 @@ public:
     void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
     void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+
     /*@}*/
 
     /** @name Global waypoint list operations */
@@ -120,6 +121,8 @@ signals:
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
 
+    void loadWPFile();                                ///< emits signal that a file wp has been load
+
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
     quint32 current_retries;                        ///< The current number of retries left
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index eb1ba7f90766d5ac519c632e05f75f13e50d854b..198cbecb636fe8185397fdf10f9ca6e9c21feaae 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -395,6 +395,9 @@ void MainWindow::connectActions()
     // Slugs View
     connect(ui.actionShow_Slugs_View, SIGNAL(triggered()), this, SLOT(loadSlugsView()));
 
+    //GlobalOperatorView
+   // connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
+
 }
 
 void MainWindow::showHelp()
@@ -912,6 +915,7 @@ void MainWindow::loadGlobalOperatorView()
     {
         addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
         waypointsDockWidget->show();
+
     }
 
     // Slugs Data View
diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc
index 14120f79bddb668833ee6ca4dc0ed40c39bd777d..ece5a391a342f8a9c3726481ac7964366dcf8d42 100644
--- a/src/ui/MapWidget.cc
+++ b/src/ui/MapWidget.cc
@@ -396,7 +396,17 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
     str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
-    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    Waypoint2DIcon* tempCirclePoint;
+
+    if (mav)
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+    }
+    else
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+    }
     mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
     Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index b834a8f46ca3ab5badfedefd86ae3704f43c65a4..53558f533f0a2cc49e5dbd939cda23b4552afb44 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -167,10 +167,6 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
         connect(slugsMav, SIGNAL(slugsGPSDateTime(int,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,quint64)),this,SLOT(slugsGPSDateTimeChanged(int,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,quint64)));
 
 
-
-
-
-
         // Set this UAS as active if it is the first one
         if(activeUAS == 0)
         {
@@ -267,12 +263,6 @@ void SlugsDataSensorView::refresh()
             ui->m_pwmAvailable->setText("No Data");
 
 
-
-
-
-
-
-
     }
 
 }
diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp
index 31a10501bdef5faf64b5f0ecb49bd829249d93d5..6fe74d575e2cdb916e039aa47990dc18b2e83960 100644
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -337,5 +337,5 @@ void SlugsPIDControl::connect_Pitch2dT_LineEdit()
 
 void SlugsPIDControl::recibeMensaje(int systemId, uint8_t action, uint8_t result)
 {
-    ui->recepcion_label->setText(QString::number(action));
+    ui->recepcion_label->setText("Mensaje Recibido: " + QString::number(action));
 }
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 1f7f1332338fc7a834f93607dc78a43eebf55d4a..bf75abf33e777cceb3d895d8c91ec7935f2b7871 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -91,6 +91,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     this->setVisible(false);
     isGlobalWP = false;
     isLocalWP = false;
+    loadFileGlobalWP = false;
     centerMapCoordinate.setX(0.0);
     centerMapCoordinate.setY(0.0);
 
@@ -131,6 +132,7 @@ void WaypointList::setUAS(UASInterface* uas)
         connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
         connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
         connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
+        connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
     }
 }
 
@@ -147,9 +149,12 @@ void WaypointList::loadWaypoints()
 {
     if (uas)
     {
+
+
         QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
         uas->getWaypointManager().localLoadWaypoints(fileName);
-    }
+
+     }
 }
 
 void WaypointList::transmit()
@@ -336,6 +341,11 @@ void WaypointList::waypointListChanged()
                 WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
                 wpgv->updateValues();
                 listLayout->addWidget(wpgv);
+                if(loadFileGlobalWP)
+                {
+                    emit createWaypointAtMap(QPointF(wp->getX(),wp->getY()));
+                    qDebug()<<"Emitiendo Pos: "<<wp->getX()<<" - "<<wp->getY();
+                }
             }
 
             }
@@ -391,7 +401,7 @@ void WaypointList::waypointListChanged()
             }
 
 
-
+            loadFileGlobalWP = false;
         }
 
 
@@ -622,3 +632,8 @@ void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
 
     emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
 }
+
+void WaypointList::setIsLoadFileWP()
+{
+    loadFileGlobalWP = true;
+}
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index 24325046f241622707310c749abdc34d2f58153c..027a46927dcef5739fa96f4a69c38ae326c74175 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -65,7 +65,7 @@ public slots:
     /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
     /** @brief Load a waypoint list from a file */
-    void loadWaypoints();    
+    void    loadWaypoints();
     /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
     /** @brief Read the remote waypoint list */
@@ -102,6 +102,8 @@ public slots:
     void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
 
+    void setIsLoadFileWP();
+
 
 
 
@@ -128,6 +130,7 @@ protected:
     bool isGlobalWP;
     bool isLocalWP;
     QPointF centerMapCoordinate;
+    bool loadFileGlobalWP;
 
 private:
     Ui::WaypointList *m_ui;