diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index a67bc20eb0c63bfee10f08230f30a936de7e4dcf..6802210278eaf0dbb557efa4aa9cc60a4e1e90b4 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -47,7 +47,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                                   cpu_load.ctrlLoad,
                                   cpu_load.batVolt,
                                   0);
-qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
+//qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
             break;
         }
     case MAVLINK_MSG_ID_AIR_DATA://171
@@ -64,7 +64,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CPU_LOAD 170";
                                   air_data.staticPressure,
                                   air_data.temperature,
                                   time);
-qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
+//qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
             break;
         }
     case MAVLINK_MSG_ID_SENSOR_BIAS://172
@@ -87,7 +87,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
                                      sensor_bias.gyBias,
                                      sensor_bias.gzBias,
                                      0);
-               qDebug()<<"------------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SENSOR_BIAS 172";
+          //     qDebug()<<"------------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SENSOR_BIAS 172";
 
 
             break;
@@ -112,7 +112,7 @@ qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_AIR_DATA 171";
                                      diagnostic.diagSh2,
                                      diagnostic.diagSh3,
                                      0);
-qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
+//qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
             break;
         }
     case MAVLINK_MSG_ID_PILOT_CONSOLE://174
@@ -133,7 +133,7 @@ qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
                                           pilot.dr,
                                           pilot.de,
                                           0);
-                qDebug()<<"---------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PILOT_CONSOLE 174";
+             //   qDebug()<<"---------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PILOT_CONSOLE 174";
 
 
             break;
@@ -166,7 +166,7 @@ qDebug()<<"------->>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_DIAGNOSTIC 173";
                               pwm.aux1,
                               pwm.aux2,
                               0);
-qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175";
+//qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175";
 
             break;
         }
@@ -197,7 +197,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
                                      nav.toWP,
                                      time);
 
-            qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_NAVIGATION 176";
+           // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_NAVIGATION 176";
 
             break;
         }
@@ -222,7 +222,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
                                   dataLog.fl_6,
                                   time);
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO LOG DATA 177";
+             //   qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO LOG DATA 177";
 
 
 
@@ -259,7 +259,7 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
 
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO filtering data 178";
+              //  qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO filtering data 178";
 
 
 
@@ -291,52 +291,52 @@ qDebug()<<"----------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PWM_COMMANDS 175"
 
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_GPS_DATE_TIME 179";
+              //  qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_GPS_DATE_TIME 179";
 
 
 
             break;
         }
-    case MAVLINK_MSG_ID_MID_LVL_CMDS://180
-        {
+//    case MAVLINK_MSG_ID_MID_LVL_CMDS://180
+//        {
 
 
-                qDebug()<<"------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_MID_LVL_CMDS 180";
+//             //   qDebug()<<"------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_MID_LVL_CMDS 180";
 
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_CTRL_SRFC_PT://181
-        {
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_CTRL_SRFC_PT://181
+//        {
 
 
-                qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CTRL_SRFC_PT 181";
+//               // qDebug()<<"--------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_CTRL_SRFC_PT 181";
 
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_PID://182
-        {
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_PID://182
+//        {
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PID 182";
+//               // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_PID 182";
 
 
 
-            break;
-        }
-    case MAVLINK_MSG_ID_SLUGS_ACTION://183
-        {
+//            break;
+//        }
+//    case MAVLINK_MSG_ID_SLUGS_ACTION://183
+//        {
 
 
-                qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_ACTION 183";
+//               // qDebug()<<"-------->>>>>>>>>>>>>>> EMITIENDO MAVLINK_MSG_ID_SLUGS_ACTION 183";
 
 
 
-            break;
-        }
+//            break;
+//        }
 #endif
 
     default:
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 38bab37e092e8a030c78401f282fcb43a4ffb780..fb03c520431ee630ada5f868433b4a92abf37209 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -437,6 +437,7 @@ void UASWaypointManager::readWaypoints()
 
 void UASWaypointManager::writeWaypoints()
 {
+    qDebug() << "+++++++++++++++++++>>>> Entro Funcion Write WP";
     if (current_state == WP_IDLE)
     {
         if (waypoints.count() > 0)
@@ -541,6 +542,7 @@ void UASWaypointManager::sendWaypointCount()
     wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpc.count = current_count;
 
+    qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
     emit updateStatusString(QString("start transmitting waypoints..."));
 
     mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index 2b966033048728b5066a008b3945a920b1d6e8af..b834a8f46ca3ab5badfedefd86ae3704f43c65a4 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -432,7 +432,6 @@ void SlugsDataSensorView::slugsDataLogChanged(int systemId,
                                               double logfl_6,
                                               quint64 time)
 {
-    qDebug()<<"----------------------------------------------------->>>>>>>>>>>>>>> ACTUALIZANDO LOG DATA";
      Q_UNUSED(systemId);
     Logfl_1 = logfl_1;
     Logfl_2 = logfl_2;
diff --git a/src/ui/slugshilsim.h b/src/ui/slugshilsim.h
index 57c4e56ac28f3d078d1a19b419f5b013f670c4f8..bad370635aa7d8951040fdd74463d1f3015d633c 100644
--- a/src/ui/slugshilsim.h
+++ b/src/ui/slugshilsim.h
@@ -25,7 +25,9 @@ protected:
     QUdpSocket* txSocket;
     QUdpSocket* rxSocket;
 
-slots:
+public slots:
+    void linkAdded();
+
 
 private:
     Ui::SlugsHilSim *ui;