diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index 2acbb9cc44860d5c7c5e999bad82135a768c0acf..d46eee8423e79693847b3abff997d96bc0c131be 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -86,7 +86,7 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t
 
 }
 
-
+#ifdef MAVLINK_ENABLED_SLUGS
 void SlugsDataSensorView::slugsRCRawChannels(int systemId, const mavlink_rc_channels_raw_t &gpsDateTime)
 {Q_UNUSED(systemId);
 
@@ -109,6 +109,7 @@ void SlugsDataSensorView::slugsRCServo(int systemId, const mavlink_servo_output_
     ui->m_pwmRuddTrim->setText(QString::number(gpsDateTime.servo7_raw));
     ui->m_pwmElevTrim->setText(QString::number(gpsDateTime.servo8_raw));
 }
+#endif
 
 void SlugsDataSensorView::setActiveUAS(UASInterface* uas){
     activeUAS = uas;
diff --git a/src/ui/uas/UASControlParameters.cpp b/src/ui/uas/UASControlParameters.cpp
index f04d77f29b45b0a68cc46945dda0c239ce4610b3..2cd75904e86a109085f24451aa20c4ab0d5c89dc 100644
--- a/src/ui/uas/UASControlParameters.cpp
+++ b/src/ui/uas/UASControlParameters.cpp
@@ -75,17 +75,17 @@ void UASControlParameters::changedMode(int mode)
         break;
 #else
     case (uint8_t)MAV_MODE_AUTO:
-        mode = "AUTO MODE";
+        modeTemp = "AUTO MODE";
         break;
     case (uint8_t)MAV_MODE_GUIDED:
-        mode = "GUIDED MODE";
+        modeTemp = "GUIDED MODE";
         break;
 
     case (uint8_t)MAV_MODE_TEST1:
-        mode = "TEST1 MODE";
+        modeTemp = "TEST1 MODE";
         break;
     case (uint8_t)MAV_MODE_TEST2:
-        mode = "TEST2 MODE";
+        modeTemp = "TEST2 MODE";
         break;
 #endif
     case (uint8_t)MAV_MODE_READY:
@@ -157,6 +157,7 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
 
 void UASControlParameters::setCommands()
 {
+    #ifdef MAVLINK_ENABLED_SLUGS
     if(this->activeUAS)
     {
         UAS* myUas= static_cast<UAS*>(this->activeUAS);
@@ -170,6 +171,7 @@ void UASControlParameters::setCommands()
         mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
         myUas->sendMessage(msg);
     }
+#endif
 }
 
 void UASControlParameters::getCommands()
@@ -181,6 +183,7 @@ void UASControlParameters::getCommands()
 
 void UASControlParameters::setPassthrough()
 {
+    #ifdef MAVLINK_ENABLED_SLUGS
     if(this->activeUAS)
     {
         UAS* myUas= static_cast<UAS*>(this->activeUAS);
@@ -218,6 +221,7 @@ void UASControlParameters::setPassthrough()
         myUas->sendMessage(msg);
         //qDebug()<<tempCtrl.bitfieldPt;
     }
+#endif
 }
 
 void UASControlParameters::updateMode(int uas,QString mode,QString description)
diff --git a/src/ui/uas/UASControlParameters.h b/src/ui/uas/UASControlParameters.h
index c21f5e53dbc2e3b8bae88da086f97d673b88f1a5..ab712fd7beb94157f3a23f51249732f4792a43eb 100644
--- a/src/ui/uas/UASControlParameters.h
+++ b/src/ui/uas/UASControlParameters.h
@@ -44,8 +44,10 @@ private:
     QString REDcolorStyle;
     QPointer<RadioCalibrationData> radio;
     LinkInterface* hilLink;
+#ifdef MAVLINK_ENABLED_SLUGS
     mavlink_mid_lvl_cmds_t tempCmds;
     mavlink_ctrl_srfc_pt_t tempCtrl;
+#endif
 };
 
 #endif // UASCONTROLPARAMETERS_H