diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc
index d0c95be23ffc6d1a45c14d276383d140d5089bde..67582631c296814ce9466222ab74647055ad6ee2 100644
--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -303,9 +303,6 @@ void QGCMapWidget::updateLocalPosition()
         }
 
         // Set new lat/lon position of UAV icon
-        double latitude = UASManager::instance()->getHomeLatitude();
-        double longitude = UASManager::instance()->getHomeLongitude();
-        double altitude = UASManager::instance()->getHomeAltitude();
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
         uav->SetUAVPos(pos_lat_lon, system->getAltitude());
         // Follow status
@@ -317,33 +314,7 @@ void QGCMapWidget::updateLocalPosition()
 
 void QGCMapWidget::updateLocalPositionEstimates()
 {
-    QList<UASInterface*> systems = UASManager::instance()->getUASList();
-    foreach (UASInterface* system, systems)
-    {
-        // Get reference to graphic UAV item
-        mapcontrol::UAVItem* uav = GetUAV(system->getUASID());
-        // Check if reference is valid, else create a new one
-        if (uav == NULL)
-        {
-            MAV2DIcon* newUAV = new MAV2DIcon(map, this, system);
-            AddUAV(system->getUASID(), newUAV);
-            uav = newUAV;
-            uav->SetTrailTime(1);
-            uav->SetTrailDistance(5);
-            uav->SetTrailType(mapcontrol::UAVTrailType::ByTimeElapsed);
-        }
-
-        // Set new lat/lon position of UAV icon
-        double latitude = UASManager::instance()->getHomeLatitude();
-        double longitude = UASManager::instance()->getHomeLongitude();
-        double altitude = UASManager::instance()->getHomeAltitude();
-        internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
-        // Follow status
-        if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
-        // Convert from radians to degrees and apply
-        uav->SetUAVHeading((system->getYaw()/M_PI)*180.0f);
-    }
+    updateLocalPosition();
 }
 
 
diff --git a/src/ui/mavlink/QGCMAVLinkMessageSender.cc b/src/ui/mavlink/QGCMAVLinkMessageSender.cc
index 630d79af303054fc33378be473ad84320e570000..227934f72262897296e8ecc66420f63c5a93fd91 100644
--- a/src/ui/mavlink/QGCMAVLinkMessageSender.cc
+++ b/src/ui/mavlink/QGCMAVLinkMessageSender.cc
@@ -23,7 +23,6 @@ QGCMAVLinkMessageSender::QGCMAVLinkMessageSender(MAVLinkProtocol* mavlink, QWidg
 
 void QGCMAVLinkMessageSender::refresh()
 {
-    unsigned int maxUpdateRate = 0;
     // Send messages
     foreach (unsigned int i, managementItems.keys())
     {
@@ -79,7 +78,7 @@ bool QGCMAVLinkMessageSender::sendMessage(unsigned int msgid)
                     uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
                     for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
                     {
-                        if (field->data(1, Qt::DisplayRole).toString().split(" ").size() > j)
+                        if ((unsigned int)(field->data(1, Qt::DisplayRole).toString().split(" ").size()) > j)
                         {
                             nums[j] = field->data(1, Qt::DisplayRole).toString().split(" ").at(j).toInt();
                         }