diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index b2c8392b282f2c06990b77ecc8e99cc538e7f9f1..17059c30ec1a045e96c1a0a6a7eae498befb4941 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -19,6 +19,9 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     UAS::receiveMessage(link, message);
     mavlink_message_t* msg = &message;
 
+        qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
+
+
     // Handle your special messages
     switch (msg->msgid)
     {
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index c8de323927cf96041882cae582d0a089750542f7..5ec3f53c324c94a7b132c7a3bdfa0f8383334918 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -117,6 +117,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         addLink(link);
     }
 
+    qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;
+
     if (message.sysid == uasId)
     {
         QString uasState;
@@ -368,13 +370,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_gps_raw_t pos;
                 mavlink_msg_gps_raw_decode(&message, &pos);
-                quint64 time = getUnixTime(pos.usec);
+               // quint64 time = getUnixTime(pos.usec);
+                quint64 time = MG::TIME::getGroundTimeNow();
                 emit valueChanged(uasId, "lat", pos.lat, time);
                 emit valueChanged(uasId, "lon", pos.lon, time);
                 emit valueChanged(uasId, "alt", pos.alt, time);
                 emit valueChanged(uasId, "g-vx", pos.vx, time);
                 emit valueChanged(uasId, "g-vy", pos.vy, time);
                 emit valueChanged(uasId, "g-vz", pos.vz, time);
+                qDebug() << "GOT GPS RAW";
+                emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
             }
             break;
         case MAVLINK_MSG_ID_PARAM_VALUE: