diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 44da836045d045a4293d3715615d54d88835877a..d8e80150914f3a99f6fa6cc56ff8d5929411cf3f 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -91,11 +91,6 @@ WaypointList::~WaypointList()
     delete m_ui;
 }
 
-void WaypointList::updateStatusLabel(const QString &string)
-{
-    m_ui->statusLabel->setText(string);
-}
-
 void WaypointList::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
 {
     Q_UNUSED(uas);
@@ -129,17 +124,86 @@ void WaypointList::setUAS(UASInterface* uas)
     }
 }
 
-void WaypointList::waypointReached(quint16 waypointId)
+void WaypointList::saveWaypoints()
+{
+    if (uas)
+    {
+        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
+        uas->getWaypointManager().localSaveWaypoints(fileName);
+    }
+}
+
+void WaypointList::loadWaypoints()
+{
+    if (uas)
+    {
+        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
+        uas->getWaypointManager().localLoadWaypoints(fileName);
+    }
+}
+
+void WaypointList::transmit()
+{
+    if (uas)
+    {
+        uas->getWaypointManager().writeWaypoints();
+    }
+}
+
+void WaypointList::read()
+{
+    if (uas)
+    {
+        uas->getWaypointManager().readWaypoints();
+    }
+}
+
+void WaypointList::add()
+{
+    if (uas)
+    {
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        if (waypoints.size() > 0)
+        {
+            Waypoint *last = waypoints.at(waypoints.size()-1);
+            Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+            uas->getWaypointManager().localAddWaypoint(wp);
+        }
+        else
+        {
+            Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+            uas->getWaypointManager().localAddWaypoint(wp);
+        }
+    }
+}
+
+void WaypointList::addCurrentPositonWaypoint()
 {
-    if (this->uas)
+    if (uas)
     {
-        updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        if (waypoints.size() > 0)
+        {
+            Waypoint *last = waypoints.at(waypoints.size()-1);
+            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+            uas->getWaypointManager().localAddWaypoint(wp);
+        }
+        else
+        {
+            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
+            uas->getWaypointManager().localAddWaypoint(wp);
+        }
     }
 }
 
+void WaypointList::updateStatusLabel(const QString &string)
+{
+    m_ui->statusLabel->setText(string);
+}
+
 void WaypointList::changeCurrentWaypoint(quint16 seq)
 {
-    if (this->uas)
+    if (uas)
     {
         uas->getWaypointManager().setCurrentWaypoint(seq);
     }
@@ -147,7 +211,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
 
 void WaypointList::currentWaypointChanged(quint16 seq)
 {
-    if (this->uas)
+    if (uas)
     {
         const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
@@ -172,7 +236,7 @@ void WaypointList::currentWaypointChanged(quint16 seq)
 
 void WaypointList::waypointListChanged()
 {
-    if (this->uas)
+    if (uas)
     {
         const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
@@ -203,6 +267,7 @@ void WaypointList::waypointListChanged()
             }
         }
 
+        // then add/update the views for each waypoint in the list
         for(int i = 0; i < waypoints.size(); i++)
         {
             Waypoint *wp = waypoints[i];
@@ -224,61 +289,6 @@ void WaypointList::waypointListChanged()
     }
 }
 
-void WaypointList::read()
-{
-    if (uas)
-    {
-        uas->getWaypointManager().readWaypoints();
-    }
-}
-
-void WaypointList::transmit()
-{
-    if (uas)
-    {
-        uas->getWaypointManager().writeWaypoints();
-    }
-}
-
-void WaypointList::add()
-{
-    // Only add waypoints if UAS is present
-    if (uas)
-    {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        if (waypoints.size() > 0)
-        {
-            Waypoint *last = waypoints.at(waypoints.size()-1);
-            Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
-        else
-        {
-            Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
-    }
-}
-
-void WaypointList::addCurrentPositonWaypoint()
-{
-    if (uas)
-    {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-        if (waypoints.size() > 0)
-        {
-            Waypoint *last = waypoints.at(waypoints.size()-1);
-            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
-        else
-        {
-            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
-            uas->getWaypointManager().localAddWaypoint(wp);
-        }
-    }
-}
-
 void WaypointList::moveUp(Waypoint* wp)
 {
     if (uas)
@@ -342,21 +352,3 @@ void WaypointList::changeEvent(QEvent *e)
     }
 }
 
-void WaypointList::saveWaypoints()
-{
-    if (uas)
-    {
-        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
-        uas->getWaypointManager().localSaveWaypoints(fileName);
-    }
-}
-
-void WaypointList::loadWaypoints()
-{
-    if (uas)
-    {
-        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
-        uas->getWaypointManager().localLoadWaypoints(fileName);
-    }
-}
-
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index 0d3ff2745f0f86e56dcd0ddfaf4f0b3cfdeca079..defa1edfac21fe513f60b7467d22ffae0bce627d 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -54,31 +54,39 @@ class WaypointList : public QWidget {
     virtual ~WaypointList();
 
 public slots:
+    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
+
     void setUAS(UASInterface* uas);
 
-    //UI Buttons
+    //Waypoint list operations
+    /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
+    /** @brief Load a waypoint list from a file */
     void loadWaypoints();    
+    /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
+    /** @brief Read the remote waypoint list */
     void read();
     /** @brief Add a waypoint */
     void add();
     /** @brief Add a waypoint at the current MAV position */
     void addCurrentPositonWaypoint();
-    void moveUp(Waypoint* wp);
-    void moveDown(Waypoint* wp);
 
+    //Update events
     /** @brief sets statusLabel string */
     void updateStatusLabel(const QString &string);
-
-    void changeCurrentWaypoint(quint16 seq);    ///< The user wants to change the current waypoint
-    void currentWaypointChanged(quint16 seq);   ///< The waypoint planner changed the current waypoint
-    void waypointListChanged(void);             ///< The waypoint manager informs that the waypoint list was changed
-
+    /** @brief The user wants to change the current waypoint */
+    void changeCurrentWaypoint(quint16 seq);
+    /** @brief The waypoint planner changed the current waypoint */
+    void currentWaypointChanged(quint16 seq);
+    /** @brief The waypoint manager informs that the waypoint list was changed */
+    void waypointListChanged(void);
+
+    // Waypoint operations
+    void moveUp(Waypoint* wp);
+    void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
-    void waypointReached(quint16 waypointId);
-    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
-    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
 
 protected:
     virtual void changeEvent(QEvent *e);