diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index c53e6a070e535ecb6ca0c80de04a0d917568809c..64fda12cf11c4ae4fc63279313dfbeb8b34234b5 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -69,6 +69,10 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
+      case MAVLINK_MSG_ID_RAW_IMU:
+        mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
+      break;
+
       case MAVLINK_MSG_ID_BOOT:
         mavlink_msg_boot_decode(&message,&mlBoot);
         emit slugsBootMsg(uasId, mlBoot);
@@ -132,7 +136,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
 
-            break;
+      break;
 
       case MAVLINK_MSG_ID_PID:              //182
           memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
@@ -140,8 +144,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         //  qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
 
           emit slugsPidValues(uasId, mlSinglePid);
-
-
       break;
 
       case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
@@ -174,10 +176,9 @@ void SlugsMAV::emitSignals (void){
 
     case 3:
       emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
-       emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
-        emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
-         emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
-          emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
 
       emit slugsPWM(uasId, mlPwmCommands);
     break;
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 54011b14f5b2cff36d85e2f54819b5f00adb8ae3..fbdcbe86287d8ef669243e12ba222d992aa19794 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -215,7 +215,8 @@ void MainWindow::buildPxWidgets()
 void MainWindow::buildSlugsWidgets()
 {
     // Center widgets
-    linechartWidget   = new Linecharts(this);
+//    linechartWidget   = new Linecharts(this);
+//    addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
 
     // Dock widgets
     headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
@@ -1145,7 +1146,7 @@ void MainWindow::presentView() {
         if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()){
           tmpHud->start();
           addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
-                        hsiDockWidget);
+                        headUpDockWidget);
           headUpDockWidget->show();
         } else {
           tmpHud->stop();
@@ -1547,7 +1548,7 @@ void MainWindow::load3DView()
  ========== ATTIC =================
  ==================================
 
-void MainWindow::buildCommonWidgets()
+void MainWindow::buildWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
     QStringList* acceptList = new QStringList();
@@ -1690,7 +1691,7 @@ void MainWindow::connectWidgets()
 
 }
 
-void MainWindow::arrangeCommonCenterStack()
+void MainWindow::arrangeCenterStack()
 {
 
     QStackedWidget *centerStack = new QStackedWidget(this);