diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index dd9350fa6efed9b7095d2fb1cb60b767e9463c41..dee9bc78926b789d1a5e272953690ccb88d3fb36 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -120,16 +120,11 @@ void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
 
 void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
 {
-    if (qIsNaN(vehicle->altitudeAMSL()->rawValue().toDouble())) {
-        qgcApp()->showMessage(QStringLiteral("Unable to takeoff, vehicle position not known."));
-        return;
-    }
-
     vehicle->sendMavCommand(vehicle->defaultComponentId(),
                             MAV_CMD_NAV_TAKEOFF,
                             true, // show error
                             0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
-                            vehicle->altitudeAMSL()->rawValue().toFloat() +  altitudeRel); // AMSL meters
+                            altitudeRel);
 }
 
 void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
diff --git a/src/FlightDisplay/FlightDisplayViewWidgets.qml b/src/FlightDisplay/FlightDisplayViewWidgets.qml
index 094a3fa25e16acf1fc6aeb647d52116e2bad8fa1..7492de0d029e7c8e4f5cd4fb631d863ae72b6e7b 100644
--- a/src/FlightDisplay/FlightDisplayViewWidgets.qml
+++ b/src/FlightDisplay/FlightDisplayViewWidgets.qml
@@ -437,7 +437,7 @@ Item {
                 break;
             case confirmChangeAlt:
                 altitudeSlider.visible = true
-                altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeAMSL.value)
+                altitudeSlider.setInitialValueAppSettingsDistanceUnits(_activeVehicle.altitudeRelative.value)
                 guidedModeConfirm.confirmText = qsTr("change altitude")
                 break;
             case confirmGoTo:
diff --git a/src/Vehicle/GPSFact.json b/src/Vehicle/GPSFact.json
index 938e3dd37e7b1832a658ff478176afe264471737..db76da950ce7c0da85f943c415f995fd25b63bfc 100644
--- a/src/Vehicle/GPSFact.json
+++ b/src/Vehicle/GPSFact.json
@@ -29,7 +29,6 @@
 {
     "name":             "count",
     "shortDescription": "Sat Count",
-    "type":             "double",
-    "decimalPlaces":    0
+    "type":             "uint32"
 }
 ]
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 6c0740bc7cd6aeb6441610defab489cc8a182ffa..df7b8afa370686d9b91435b17cac4b2ebe698e41 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -85,11 +85,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _currentWarningCount(0)
     , _currentNormalCount(0)
     , _currentMessageType(MessageNone)
-    , _navigationAltitudeError(0.0f)
-    , _navigationSpeedError(0.0f)
-    , _navigationCrosstrackError(0.0f)
-    , _navigationTargetBearing(0.0f)
-    , _refreshTimer(new QTimer(this))
     , _updateCount(0)
     , _rcRSSI(255)
     , _rcRSSIstore(255)
@@ -99,6 +94,9 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
     , _onboardControlSensorsUnhealthy(0)
+    , _useGpsRawIntForPosition(true)
+    , _useGpsRawIntForAltitude(true)
+    , _useAltitudeForAltitude(false)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
@@ -150,11 +148,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(this, &Vehicle::armedChanged,               this, &Vehicle::_announceArmedChanged);
     _uas = new UAS(_mavlink, this, _firmwarePluginManager);
 
-    setLatitude(_uas->getLatitude());
-    setLongitude(_uas->getLongitude());
-
-    connect(_uas, &UAS::latitudeChanged,                this, &Vehicle::setLatitude);
-    connect(_uas, &UAS::longitudeChanged,               this, &Vehicle::setLongitude);
     connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
     connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);
 
@@ -164,11 +157,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     // connect this vehicle to the follow me handle manager
     connect(this, &Vehicle::flightModeChanged,qgcApp()->toolbox()->followMe(), &FollowMe::followMeHandleManager);
 
-    // Refresh timer
-    connect(_refreshTimer, &QTimer::timeout, this, &Vehicle::_checkUpdate);
-    _refreshTimer->setInterval(UPDATE_TIMER);
-    _refreshTimer->start(UPDATE_TIMER);
-
     // PreArm Error self-destruct timer
     connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
     _prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
@@ -196,11 +184,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
     connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));
 
-    connect(_mav, &UASInterface::speedChanged, this, &Vehicle::_updateSpeed);
-    connect(_mav, &UASInterface::altitudeChanged, this, &Vehicle::_updateAltitude);
-    connect(_mav, &UASInterface::navigationControllerErrorsChanged,this, &Vehicle::_updateNavigationControllerErrors);
-    connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
-
     _loadSettings();
 
     _missionManager = new MissionManager(this);
@@ -284,11 +267,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _currentWarningCount(0)
     , _currentNormalCount(0)
     , _currentMessageType(MessageNone)
-    , _navigationAltitudeError(0.0f)
-    , _navigationSpeedError(0.0f)
-    , _navigationCrosstrackError(0.0f)
-    , _navigationTargetBearing(0.0f)
-    , _refreshTimer(new QTimer(this))
     , _updateCount(0)
     , _rcRSSI(255)
     , _rcRSSIstore(255)
@@ -298,6 +276,9 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _onboardControlSensorsEnabled(0)
     , _onboardControlSensorsHealth(0)
     , _onboardControlSensorsUnhealthy(0)
+    , _useGpsRawIntForPosition(true)
+    , _useGpsRawIntForAltitude(true)
+    , _useAltitudeForAltitude(false)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
@@ -496,6 +477,18 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
         _handleMavlinkLoggingDataAcked(message);
         break;
+    case MAVLINK_MSG_ID_GPS_RAW_INT:
+        _handleGpsRawInt(message);
+        break;
+    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
+        _handleGlobalPositionInt(message);
+        break;
+    case MAVLINK_MSG_ID_ALTITUDE:
+        _handleAltitude(message);
+        break;
+    case MAVLINK_MSG_ID_VFR_HUD:
+        _handleVfrHud(message);
+        break;
 
     // Following are ArduPilot dialect messages
 
@@ -509,6 +502,70 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     _uas->receiveMessage(message);
 }
 
+void Vehicle::_handleVfrHud(mavlink_message_t& message)
+{
+    mavlink_vfr_hud_t vfrHud;
+    mavlink_msg_vfr_hud_decode(&message, &vfrHud);
+
+    _airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
+    _groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
+    _climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
+}
+
+void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
+{
+    mavlink_gps_raw_int_t gpsRawInt;
+    mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);
+
+    if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
+        if (_useGpsRawIntForPosition) {
+            setLatitude(gpsRawInt.lat / (double)1E7);
+            setLongitude(gpsRawInt.lon / (double)1E7);
+        }
+        if (_useGpsRawIntForAltitude) {
+            _altitudeRelativeFact.setRawValue(gpsRawInt.alt / 1000.0);
+        }
+    }
+
+    _gpsFactGroup.count()->setRawValue(gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
+    _gpsFactGroup.hdop()->setRawValue(gpsRawInt.eph == UINT16_MAX ? 1e10f : gpsRawInt.eph / 100.0);
+    _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? 1e10f : gpsRawInt.epv / 100.0);
+    _gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? 0.0 : gpsRawInt.cog / 100.0);
+    _gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
+
+    if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
+        _setCoordinateValid(true);
+    }
+}
+
+void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
+{
+    mavlink_global_position_int_t globalPositionInt;
+    mavlink_msg_global_position_int_decode(&message, &globalPositionInt);
+
+    _useGpsRawIntForPosition = false;
+    _useGpsRawIntForAltitude = false;
+
+    setLatitude(globalPositionInt.lat / (double)1E7);
+    setLongitude(globalPositionInt.lon / (double)1E7);
+    if (!_useAltitudeForAltitude) {
+        _altitudeRelativeFact.setRawValue(globalPositionInt.relative_alt / 1000.0);
+        _altitudeAMSLFact.setRawValue(globalPositionInt.alt / 1000.0);
+    }
+}
+
+void Vehicle::_handleAltitude(mavlink_message_t& message)
+{
+    mavlink_altitude_t altitude;
+    mavlink_msg_altitude_decode(&message, &altitude);
+
+    _useAltitudeForAltitude = true;
+    _useGpsRawIntForAltitude = false;
+    _altitudeRelativeFact.setRawValue(altitude.altitude_relative / 1000.0);
+    _altitudeAMSLFact.setRawValue(altitude.altitude_amsl / 1000.0);
+
+}
+
 void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
 {
     mavlink_autopilot_version_t autopilotVersion;
@@ -986,31 +1043,6 @@ void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch,
     _updateAttitude(uas, roll, pitch, yaw, timestamp);
 }
 
-void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
-{
-    _groundSpeedFact.setRawValue(groundSpeed);
-    _airSpeedFact.setRawValue(airSpeed);
-}
-
-void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64)
-{
-    _altitudeAMSLFact.setRawValue(altitudeAMSL);
-    _altitudeRelativeFact.setRawValue(altitudeRelative);
-    _climbRateFact.setRawValue(climbRate);
-}
-
-void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
-    _navigationAltitudeError   = altitudeError;
-    _navigationSpeedError      = speedError;
-    _navigationCrosstrackError = xtrackError;
-}
-
-void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
-    if (_mav == uas) {
-        _navigationTargetBearing = targetBearing;
-    }
-}
-
 int Vehicle::motorCount(void)
 {
     switch (_vehicleType) {
@@ -1046,19 +1078,6 @@ bool Vehicle::xConfigMotors(void)
  * Internal
  */
 
-void Vehicle::_checkUpdate()
-{
-    // Update current location
-    if(_mav) {
-        if(latitude() != _mav->getLatitude()) {
-            setLatitude(_mav->getLatitude());
-        }
-        if(longitude() != _mav->getLongitude()) {
-            setLongitude(_mav->getLongitude());
-        }
-    }
-}
-
 QString Vehicle::getMavIconColor()
 {
     // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
@@ -2115,53 +2134,6 @@ void Vehicle::setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData)
 void VehicleGPSFactGroup::setVehicle(Vehicle* vehicle)
 {
     _vehicle = vehicle;
-
-    if (!vehicle) {
-        // Disconnected Vehicle
-        return;
-    }
-
-    connect(_vehicle->uas(), &UASInterface::localizationChanged, this, &VehicleGPSFactGroup::_setSatLoc);
-
-    UAS* pUas = dynamic_cast<UAS*>(_vehicle->uas());
-    connect(pUas, &UAS::satelliteCountChanged,  this, &VehicleGPSFactGroup::_setSatelliteCount);
-    connect(pUas, &UAS::satRawHDOPChanged,      this, &VehicleGPSFactGroup::_setSatRawHDOP);
-    connect(pUas, &UAS::satRawVDOPChanged,      this, &VehicleGPSFactGroup::_setSatRawVDOP);
-    connect(pUas, &UAS::satRawCOGChanged,       this, &VehicleGPSFactGroup::_setSatRawCOG);
-}
-
-void VehicleGPSFactGroup::_setSatelliteCount(double val, QString)
-{
-    // I'm assuming that a negative value or over 99 means there is no GPS
-    if(val < 0.0)  val = -1.0;
-    if(val > 99.0) val = -1.0;
-
-    _countFact.setRawValue(val);
-}
-
-void VehicleGPSFactGroup::_setSatRawHDOP(double val)
-{
-    _hdopFact.setRawValue(val);
-}
-
-void VehicleGPSFactGroup::_setSatRawVDOP(double val)
-{
-    _vdopFact.setRawValue(val);
-}
-
-void VehicleGPSFactGroup::_setSatRawCOG(double val)
-{
-    _courseOverGroundFact.setRawValue(val);
-}
-
-void VehicleGPSFactGroup::_setSatLoc(UASInterface*, int fix)
-{
-    _lockFact.setRawValue(fix);
-
-    // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
-    if (fix > 2) {
-        _vehicle->_setCoordinateValid(true);
-    }
 }
 
 const char* VehicleBatteryFactGroup::_voltageFactName =                     "voltage";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 1f8eb3cb39fc25e690526bffe07d6d8c55e98779..2d6bdcd4e64fb1e2e49f5fcc81c038bf6c478bff 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -137,13 +137,6 @@ public:
     static const char* _countFactName;
     static const char* _lockFactName;
 
-private slots:
-    void _setSatelliteCount(double val, QString);
-    void _setSatRawHDOP(double val);
-    void _setSatRawVDOP(double val);
-    void _setSatRawCOG(double val);
-    void _setSatLoc(UASInterface*, int fix);
-
 private:
     Vehicle*    _vehicle;
     Fact        _hdopFact;
@@ -683,11 +676,6 @@ private slots:
     void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
     /** @brief Attitude from one specific component / redundant autopilot */
     void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
-    void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
-    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp);
-    void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
-    void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
-    void _checkUpdate                       ();
     void _updateState                       (UASInterface* system, QString name, QString description);
     /** @brief A new camera image has arrived */
     void _imageReady                        (UASInterface* uas);
@@ -716,6 +704,10 @@ private:
     void _handleCommandAck(mavlink_message_t& message);
     void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message);
     void _handleHilActuatorControls(mavlink_message_t& message);
+    void _handleGpsRawInt(mavlink_message_t& message);
+    void _handleGlobalPositionInt(mavlink_message_t& message);
+    void _handleAltitude(mavlink_message_t& message);
+    void _handleVfrHud(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _geoFenceManagerError(int errorCode, const QString& errorMsg);
     void _rallyPointManagerError(int errorCode, const QString& errorMsg);
@@ -763,11 +755,6 @@ private:
     int             _currentNormalCount;
     MessageType_t   _currentMessageType;
     QString         _latestError;
-    float           _navigationAltitudeError;
-    float           _navigationSpeedError;
-    float           _navigationCrosstrackError;
-    float           _navigationTargetBearing;
-    QTimer*         _refreshTimer;
     QString         _currentState;
     int             _updateCount;
     QString         _formatedMessage;
@@ -779,6 +766,9 @@ private:
     uint32_t        _onboardControlSensorsEnabled;
     uint32_t        _onboardControlSensorsHealth;
     uint32_t        _onboardControlSensorsUnhealthy;
+    bool            _useGpsRawIntForPosition;
+    bool            _useGpsRawIntForAltitude;
+    bool            _useAltitudeForAltitude;
 
     typedef struct {
         int     component;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index b7ada3e587ca496a245bb1ae46d7a74dce634c67..a7c74fab347ce4280a45c6d120581f7b33a84e8e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -7,14 +7,7 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file
- *   @brief Represents one unmanned aerial vehicle
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
+// THIS CLASS IS DEPRECATED. ALL NEW FUNCTIONALITY SHOULD GO INTO Vehicle class
 
 #include <QList>
 #include <QTimer>
@@ -47,13 +40,7 @@
 
 QGC_LOGGING_CATEGORY(UASLog, "UASLog")
 
-/**
-* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
-* by calling readSettings. This means the new UAS will have the same settings
-* as the previous one created unless one calls deleteSettings in the code after
-* creating the UAS.
-*/
-
+// THIS CLASS IS DEPRECATED. ALL NEW FUNCTIONALITY SHOULD GO INTO Vehicle class
 UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager) : UASInterface(),
     lipoFull(4.2f),
     lipoEmpty(3.5f),
@@ -77,30 +64,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     manualYawAngle(0),
     manualThrust(0),
 
-    isGlobalPositionKnown(false),
-
-    latitude(0.0),
-    longitude(0.0),
-    altitudeAMSL(0.0),
-    altitudeAMSLFT(0.0),
-    altitudeRelative(0.0),
-
-    satRawHDOP(1e10f),
-    satRawVDOP(1e10f),
-    satRawCOG(0.0),
-
-    globalEstimatorActive(false),
-
-    latitude_gps(0.0),
-    longitude_gps(0.0),
-    altitude_gps(0.0),
-
-    speedX(0.0),
-    speedY(0.0),
-    speedZ(0.0),
-
-    airSpeed(std::numeric_limits<double>::quiet_NaN()),
-    groundSpeed(std::numeric_limits<double>::quiet_NaN()),
 #ifndef __mobile__
     fileManager(this, vehicle),
 #endif
@@ -283,14 +246,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
             emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
 
-            if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
-            {
-                this->status = state.system_status;
-                getStatusForCode((int)state.system_status, uasState, stateDescription);
-                emit statusChanged(this, uasState, stateDescription);
-                emit statusChanged(this->status);
-            }
-
             // We got the mode
             receivedMode = true;
         }
@@ -318,25 +273,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit valueChanged(uasId, name.arg("errors_count4"), "-", state.errors_count4, time);
 
             // Process CPU load.
-            emit loadChanged(this,state.load/10.0f);
             emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
-
-            // control_sensors_enabled:
-            // relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
-            emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
-            emit positionYawControlEnabled(state.onboard_control_sensors_enabled & (1 << 12));
-            emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
-            emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));
-
-            // Trigger drop rate updates as needed. Here we convert the incoming
-            // drop_rate_comm value from 1/100 of a percent in a uint16 to a true
-            // percentage as a float. We also cap the incoming value at 100% as defined
-            // by the MAVLink specifications.
-            if (state.drop_rate_comm > 10000)
-            {
-                state.drop_rate_comm = 10000;
-            }
-            emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
             emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm/100.0f, time);
         }
             break;
@@ -357,7 +294,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 
                 attitudeKnown = true;
                 emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
-                emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
             }
         }
             break;
@@ -418,7 +354,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 
                 attitudeKnown = true;
                 emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
-                emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
             }
         }
             break;
@@ -434,41 +369,12 @@ void UAS::receiveMessage(mavlink_message_t message)
             mavlink_vfr_hud_t hud;
             mavlink_msg_vfr_hud_decode(&message, &hud);
             quint64 time = getUnixTime();
-            // Display updated values
-            emit thrustChanged(this, hud.throttle/100.0);
 
             if (!attitudeKnown)
             {
                 setYaw(QGC::limitAngleToPMPId((((double)hud.heading)/180.0)*M_PI));
                 emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
             }
-
-            setAltitudeAMSL(hud.alt);
-            setGroundSpeed(hud.groundspeed);
-            if (!qIsNaN(hud.airspeed))
-                setAirSpeed(hud.airspeed);
-            speedZ = -hud.climb;
-            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
-            emit speedChanged(this, groundSpeed, airSpeed, time);
-        }
-            break;
-        case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
-            //std::cerr << std::endl;
-            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
-        {
-            mavlink_local_position_ned_t pos;
-            mavlink_msg_local_position_ned_decode(&message, &pos);
-            quint64 time = getUnixTime(pos.time_boot_ms);
-
-            if (!wrongComponent)
-            {
-                speedX = pos.vx;
-                speedY = pos.vy;
-                speedZ = pos.vz;
-
-                // Emit
-                emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
-            }
         }
             break;
         case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
@@ -479,114 +385,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
         }
             break;
-        case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
-            //std::cerr << std::endl;
-            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
-        {
-            mavlink_global_position_int_t pos;
-            mavlink_msg_global_position_int_decode(&message, &pos);
-
-            quint64 time = getUnixTime();
-
-            setLatitude(pos.lat/(double)1E7);
-            setLongitude(pos.lon/(double)1E7);
-            setAltitudeRelative(pos.relative_alt/1000.0);
-
-            globalEstimatorActive = true;
-
-            speedX = pos.vx/100.0;
-            speedY = pos.vy/100.0;
-            speedZ = pos.vz/100.0;
-
-            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
-            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
-            // We had some frame mess here, global and local axes were mixed.
-            emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
-
-            setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY));
-            emit speedChanged(this, groundSpeed, airSpeed, time);
-
-            isGlobalPositionKnown = true;
-        }
-            break;
-        case MAVLINK_MSG_ID_GPS_RAW_INT:
-        {
-            mavlink_gps_raw_int_t pos;
-            mavlink_msg_gps_raw_int_decode(&message, &pos);
-
-            quint64 time = getUnixTime(pos.time_usec);
-
-            // TODO: track localization state not only for gps but also for other loc. sources
-            int loc_type = pos.fix_type;
-            if (loc_type == 1)
-            {
-                loc_type = 0;
-            }
-            setSatelliteCount(pos.satellites_visible);
-
-            if (pos.fix_type > 2)
-            {
-                isGlobalPositionKnown = true;
-
-                latitude_gps  = pos.lat/(double)1E7;
-                longitude_gps = pos.lon/(double)1E7;
-                altitude_gps  = pos.alt/1000.0;
-
-                // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
-                if (!globalEstimatorActive) {
-                    setLatitude(latitude_gps);
-                    setLongitude(longitude_gps);
-                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
-                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
-
-                    float vel = pos.vel/100.0f;
-                    // Smaller than threshold and not NaN
-                    if ((vel < 1000000) && !qIsNaN(vel) && !qIsInf(vel)) {
-                        setGroundSpeed(vel);
-                        emit speedChanged(this, groundSpeed, airSpeed, time);
-                    } else {
-                        emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_NOTICE, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
-                    }
-                }
-            }
-
-            double dtmp;
-            //-- Raw GPS data
-            dtmp = pos.eph == 0xFFFF ? 1e10f : pos.eph / 100.0;
-            if(dtmp != satRawHDOP)
-            {
-                satRawHDOP = dtmp;
-                emit satRawHDOPChanged(satRawHDOP);
-            }
-            dtmp = pos.epv == 0xFFFF ? 1e10f : pos.epv / 100.0;
-            if(dtmp != satRawVDOP)
-            {
-                satRawVDOP = dtmp;
-                emit satRawVDOPChanged(satRawVDOP);
-            }
-            dtmp = pos.cog == 0xFFFF ? 0.0 : pos.cog / 100.0;
-            if(dtmp != satRawCOG)
-            {
-                satRawCOG = dtmp;
-                emit satRawCOGChanged(satRawCOG);
-            }
-
-            // Emit this signal after the above signals. This way a trigger on gps lock signal which then asks for vehicle position
-            // gets a good position.
-            emit localizationChanged(this, loc_type);
-        }
-            break;
-        case MAVLINK_MSG_ID_GPS_STATUS:
-        {
-            mavlink_gps_status_t pos;
-            mavlink_msg_gps_status_decode(&message, &pos);
-            for(int i = 0; i < (int)pos.satellites_visible; i++)
-            {
-                emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
-            }
-            setSatelliteCount(pos.satellites_visible);
-        }
-            break;
 
         case MAVLINK_MSG_ID_PARAM_VALUE:
         {
@@ -610,7 +408,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             float roll, pitch, yaw;
             mavlink_quaternion_to_euler(out.q, &roll, &pitch, &yaw);
             quint64 time = getUnixTimeFromMs(out.time_boot_ms);
-            emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, out.thrust, time);
 
             // For plotting emit roll sp, pitch sp and yaw sp values
             emit valueChanged(uasId, "roll sp", "rad", roll, time);
@@ -619,25 +416,6 @@ void UAS::receiveMessage(mavlink_message_t message)
         }
             break;
 
-        case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
-        {
-            if (multiComponentSourceDetected && wrongComponent)
-            {
-                break;
-            }
-            mavlink_position_target_local_ned_t p;
-            mavlink_msg_position_target_local_ned_decode(&message, &p);
-            quint64 time = getUnixTimeFromMs(p.time_boot_ms);
-            emit positionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */, time);
-        }
-            break;
-        case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
-        {
-            mavlink_set_position_target_local_ned_t p;
-            mavlink_msg_set_position_target_local_ned_decode(&message, &p);
-            emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */);
-        }
-            break;
         case MAVLINK_MSG_ID_STATUSTEXT:
         {
             QByteArray b;
@@ -718,17 +496,6 @@ void UAS::receiveMessage(mavlink_message_t message)
         }
             break;
 
-        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
-        {
-            mavlink_nav_controller_output_t p;
-            mavlink_msg_nav_controller_output_decode(&message,&p);
-            setDistToWaypoint(p.wp_dist);
-            setBearingToWaypoint(p.nav_bearing);
-            emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error);
-            emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist);
-        }
-            break;
-
         case MAVLINK_MSG_ID_LOG_ENTRY:
         {
             mavlink_log_entry_t log;
@@ -1388,8 +1155,6 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
         }
 
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
-        // Emit an update in control values to other UI elements, like the HSI display
-        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
 }
 
@@ -1428,8 +1193,6 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
                                                             MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate);
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
         qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGES: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw;
-
-        //emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
     }
     else
     {
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index ad9b9464645c69c5c1e011255de629a953f8fed9..4dad4d5fda8c5c9052b553db57801099c0955e16 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -65,197 +65,13 @@ public:
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
 
-    Q_PROPERTY(double   latitude                READ getLatitude            WRITE setLatitude           NOTIFY latitudeChanged)
-    Q_PROPERTY(double   longitude               READ getLongitude           WRITE setLongitude          NOTIFY longitudeChanged)
-    Q_PROPERTY(double   satelliteCount          READ getSatelliteCount      WRITE setSatelliteCount     NOTIFY satelliteCountChanged)
-    Q_PROPERTY(bool     isGlobalPositionKnown   READ globalPositionKnown)
     Q_PROPERTY(double   roll                    READ getRoll                WRITE setRoll               NOTIFY rollChanged)
     Q_PROPERTY(double   pitch                   READ getPitch               WRITE setPitch              NOTIFY pitchChanged)
     Q_PROPERTY(double   yaw                     READ getYaw                 WRITE setYaw                NOTIFY yawChanged)
-    Q_PROPERTY(double   distToWaypoint          READ getDistToWaypoint      WRITE setDistToWaypoint     NOTIFY distToWaypointChanged)
-    Q_PROPERTY(double   airSpeed                READ getGroundSpeed         WRITE setGroundSpeed        NOTIFY airSpeedChanged)
-    Q_PROPERTY(double   groundSpeed             READ getGroundSpeed         WRITE setGroundSpeed        NOTIFY groundSpeedChanged)
-    Q_PROPERTY(double   bearingToWaypoint       READ getBearingToWaypoint   WRITE setBearingToWaypoint  NOTIFY bearingToWaypointChanged)
-    Q_PROPERTY(double   altitudeAMSL            READ getAltitudeAMSL        WRITE setAltitudeAMSL       NOTIFY altitudeAMSLChanged)
-    Q_PROPERTY(double   altitudeAMSLFT          READ getAltitudeAMSLFT                                  NOTIFY altitudeAMSLFTChanged)
-    Q_PROPERTY(double   altitudeRelative        READ getAltitudeRelative    WRITE setAltitudeRelative   NOTIFY altitudeRelativeChanged)
-    Q_PROPERTY(double   satRawHDOP              READ getSatRawHDOP                                      NOTIFY satRawHDOPChanged)
-    Q_PROPERTY(double   satRawVDOP              READ getSatRawVDOP                                      NOTIFY satRawVDOPChanged)
-    Q_PROPERTY(double   satRawCOG               READ getSatRawCOG                                       NOTIFY satRawCOGChanged)
 
     /// Vehicle is about to go away
     void shutdownVehicle(void);
 
-    void setGroundSpeed(double val)
-    {
-        groundSpeed = val;
-        emit groundSpeedChanged(val,"groundSpeed");
-        emit valueChanged(this->uasId,"groundSpeed","m/s",QVariant(val),getUnixTime());
-    }
-    double getGroundSpeed() const
-    {
-        return groundSpeed;
-    }
-
-    void setAirSpeed(double val)
-    {
-        airSpeed = val;
-        emit airSpeedChanged(val,"airSpeed");
-        emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
-    }
-
-    double getAirSpeed() const
-    {
-        return airSpeed;
-    }
-
-    void setLocalX(double val)
-    {
-        localX = val;
-        emit localXChanged(val,"localX");
-        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
-    }
-
-    double getLocalX() const
-    {
-        return localX;
-    }
-
-    void setLocalY(double val)
-    {
-        localY = val;
-        emit localYChanged(val,"localY");
-        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
-    }
-    double getLocalY() const
-    {
-        return localY;
-    }
-
-    void setLocalZ(double val)
-    {
-        localZ = val;
-        emit localZChanged(val,"localZ");
-        emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
-    }
-    double getLocalZ() const
-    {
-        return localZ;
-    }
-
-    void setLatitude(double val)
-    {
-        latitude = val;
-        emit latitudeChanged(val,"latitude");
-        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
-    }
-
-    double getLatitude() const
-    {
-        return latitude;
-    }
-
-    void setLongitude(double val)
-    {
-        longitude = val;
-        emit longitudeChanged(val,"longitude");
-        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
-    }
-
-    double getLongitude() const
-    {
-        return longitude;
-    }
-
-    void setAltitudeAMSL(double val)
-    {
-        altitudeAMSL = val;
-        emit altitudeAMSLChanged(val, "altitudeAMSL");
-        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(altitudeAMSL),getUnixTime());
-        altitudeAMSLFT = 3.28084 * altitudeAMSL;
-        emit altitudeAMSLFTChanged(val, "altitudeAMSLFT");
-        emit valueChanged(this->uasId,"altitudeAMSLFT","m",QVariant(altitudeAMSLFT),getUnixTime());
-    }
-
-    double getAltitudeAMSL() const
-    {
-        return altitudeAMSL;
-    }
-
-    double getAltitudeAMSLFT() const
-    {
-        return altitudeAMSLFT;
-    }
-
-    void setAltitudeRelative(double val)
-    {
-        altitudeRelative = val;
-        emit altitudeRelativeChanged(val, "altitudeRelative");
-        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
-    }
-
-    double getAltitudeRelative() const
-    {
-        return altitudeRelative;
-    }
-
-    double getSatRawHDOP() const
-    {
-        return satRawHDOP;
-    }
-
-    double getSatRawVDOP() const
-    {
-        return satRawVDOP;
-    }
-
-    double getSatRawCOG() const
-    {
-        return satRawCOG;
-    }
-
-    void setSatelliteCount(double val)
-    {
-        satelliteCount = val;
-        emit satelliteCountChanged(val,"satelliteCount");
-        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
-    }
-
-    double getSatelliteCount() const
-    {
-        return satelliteCount;
-    }
-
-    virtual bool globalPositionKnown() const
-    {
-        return isGlobalPositionKnown;
-    }
-
-    void setDistToWaypoint(double val)
-    {
-        distToWaypoint = val;
-        emit distToWaypointChanged(val,"distToWaypoint");
-        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
-    }
-
-    double getDistToWaypoint() const
-    {
-        return distToWaypoint;
-    }
-
-    void setBearingToWaypoint(double val)
-    {
-        bearingToWaypoint = val;
-        emit bearingToWaypointChanged(val,"bearingToWaypoint");
-        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
-    }
-
-    double getBearingToWaypoint() const
-    {
-        return bearingToWaypoint;
-    }
-
-
     void setRoll(double val)
     {
         roll = val;
@@ -377,34 +193,6 @@ protected: //COMMENTS FOR TEST UNIT
     /// POSITION
     bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
 
-    double localX;
-    double localY;
-    double localZ;
-
-    double latitude;            ///< Global latitude as estimated by position estimator
-    double longitude;           ///< Global longitude as estimated by position estimator
-    double altitudeAMSL;        ///< Global altitude as estimated by position estimator, AMSL
-    double altitudeAMSLFT;      ///< Global altitude as estimated by position estimator, AMSL
-    double altitudeRelative;    ///< Altitude above home as estimated by position estimator
-
-    double satRawHDOP;
-    double satRawVDOP;
-    double satRawCOG;
-
-    double satelliteCount;      ///< Number of satellites visible to raw GPS
-    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
-    double latitude_gps;        ///< Global latitude as estimated by raw GPS
-    double longitude_gps;       ///< Global longitude as estimated by raw GPS
-    double altitude_gps;        ///< Global altitude as estimated by raw GPS
-    double speedX;              ///< True speed in X axis
-    double speedY;              ///< True speed in Y axis
-    double speedZ;              ///< True speed in Z axis
-
-    /// WAYPOINT NAVIGATION
-    double distToWaypoint;       ///< Distance to next waypoint
-    double airSpeed;             ///< Airspeed
-    double groundSpeed;          ///< Groundspeed
-    double bearingToWaypoint;    ///< Bearing to next waypoint
 #ifndef __mobile__
     FileManager   fileManager;
 #endif
@@ -545,34 +333,16 @@ public slots:
     /** @brief Send command to disable all bindings/maps between RC and parameters */
     void unsetRCToParameterMap();
 signals:
-    void loadChanged(UASInterface* uas, double load);
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */
     void imageReady(UASInterface* uas);
     /** @brief HIL controls have changed */
     void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
 
-    void localXChanged(double val,QString name);
-    void localYChanged(double val,QString name);
-    void localZChanged(double val,QString name);
-    void longitudeChanged(double val,QString name);
-    void latitudeChanged(double val,QString name);
-    void altitudeAMSLChanged(double val,QString name);
-    void altitudeAMSLFTChanged(double val,QString name);
-    void altitudeRelativeChanged(double val,QString name);
-
-    void satRawHDOPChanged  (double value);
-    void satRawVDOPChanged  (double value);
-    void satRawCOGChanged   (double value);
-
     void rollChanged(double val,QString name);
     void pitchChanged(double val,QString name);
     void yawChanged(double val,QString name);
-    void satelliteCountChanged(double val,QString name);
-    void distToWaypointChanged(double val,QString name);
-    void groundSpeedChanged(double val, QString name);
-    void airSpeedChanged(double val, QString name);
-    void bearingToWaypointChanged(double val,QString name);
+
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 8ae866f9b41f9b3cb76a8d9354bb0cb6ae7ef49e..8ce2460b9749afcb758598276ce991f1fafb50b2 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -50,12 +50,6 @@ public:
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-    virtual double getLatitude() const = 0;
-    virtual double getLongitude() const = 0;
-    virtual double getAltitudeAMSL() const = 0;
-    virtual double getAltitudeRelative() const = 0;
-    virtual bool globalPositionKnown() const = 0;
-
     virtual double getRoll() const = 0;
     virtual double getPitch() const = 0;
     virtual double getYaw() const = 0;
@@ -172,16 +166,6 @@ protected:
     QColor color;
 
 signals:
-    /** @brief The robot state has changed */
-    void statusChanged(int stateFlag);
-    /** @brief The robot state has changed
-     *
-     * @param uas this robot
-     * @param status short description of status, e.g. "connected"
-     * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
-     */
-    void statusChanged(UASInterface* uas, QString status, QString description);
-
     /** @brief A text message from the system has been received */
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
 
@@ -200,13 +184,6 @@ signals:
      */
     void errCountChanged(int uasid, QString component, QString device, int count);
 
-    /**
-     * @brief Drop rate of communication link updated
-     *
-     * @param systemId id of the air system
-     * @param receiveDrop drop rate of packets this MAV receives (sent from GCS or other MAVs)
-     */
-    void dropRateChanged(int systemId,  float receiveDrop);
     /** @brief The robot is connected **/
     void connected();
     /** @brief The robot is disconnected **/
@@ -238,39 +215,12 @@ signals:
      */
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
     void statusChanged(UASInterface* uas, QString status);
-    void thrustChanged(UASInterface*, double thrust);
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
-    void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
-    void attitudeThrustSetPointChanged(UASInterface*, float rollDesired, float pitchDesired, float yawDesired, float thrustDesired, quint64 usec);
-    /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
-    void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
-    /** @brief A user (or an autonomous mission or obstacle avoidance planner) requested to set a new setpoint */
-    void userPositionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired);
-    void globalPositionChanged(UASInterface*, double lat, double lon, double altAMSL, quint64 usec);
-    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64 usec);
-    /** @brief Update the status of one satellite used for localization */
-    void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
-
-    // The horizontal speed (a scalar)
-    void speedChanged(UASInterface* uas, double groundSpeed, double airSpeed, quint64 usec);
-    // Consider adding a MAV_FRAME parameter to this; could help specifying what the 3 scalars are.
-    void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
-
-    void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
-    void NavigationControllerDataChanged(UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDist);
 
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
 
-    /** @brief Attitude control enabled/disabled */
-    void attitudeControlEnabled(bool enabled);
-    /** @brief Position 2D control enabled/disabled */
-    void positionXYControlEnabled(bool enabled);
-    /** @brief Altitude control enabled/disabled */
-    void positionZControlEnabled(bool enabled);
-    /** @brief Heading control enabled/disabled */
-    void positionYawControlEnabled(bool enabled);
     /** @brief Optical flow status changed */
     void opticalFlowStatusChanged(bool supported, bool enabled, bool ok);
     /** @brief Vision based localization status changed */
@@ -288,12 +238,6 @@ signals:
     /** @brief Differential pressure / airspeed status changed */
     void airspeedStatusChanged(bool supported, bool enabled, bool ok);
 
-    /**
-     * @brief Localization quality changed
-     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
-     */
-    void localizationChanged(UASInterface* uas, int fix);
-
     // ERROR AND STATUS SIGNALS
     /** @brief Name of system changed */
     void nameChanged(QString newName);