diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index ca5bd4bfb5ce1bfd682d1cc3322cccd93428bb41..4c537c5f2edf0b3984f4ff860eb0e18a13957c22 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -661,15 +661,17 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         // Iterate through all components, through all parameters and emit them
                         QMap<QString, float>::iterator i;
                         // Iterate through all components / subsystems
+                        int j = 0;
                         for (i = onboardParams.begin(); i != onboardParams.end(); ++i)
                         {
                             // Pack message and get size of encoded byte string
-                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value());
+                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
                             // Allocate buffer with packet data
                             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                             //add data into datastream
                             memcpy(stream+streampointer,buffer, bufferlength);
                             streampointer+=bufferlength;
+                            j++;
                         }
 
                         /*
@@ -715,7 +717,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                             onboardParams.insert(key, set.param_value);
 
                             // Pack message and get size of encoded byte string
-                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value);
+                            mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), 0);
                             // Allocate buffer with packet data
                             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
                             //add data into datastream
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 9a54fcf786e5d0bbddd85b1d33df39c7ae8487b9..c15601bfa6e0db9a512deb54f08bb47bfebac9ed 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
         if(wp->seq == current_wp_id)
         {
             //update the UI FIXME
-            emit waypointUpdated(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
+            emit waypointUpdated(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
 
             //get next waypoint
             current_wp_id++;
@@ -237,8 +237,10 @@ void UASWaypointManager::sendWaypoints()
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent();
-                cur_d->orbit = cur_s->getOrbit();
-                cur_d->hold_time = cur_s->getHoldTime();
+                cur_d->orbit = 0;
+                cur_d->orbit_direction = 0;
+                cur_d->param1 = cur_s->getOrbit();
+                cur_d->param2 = cur_s->getHoldTime();
                 cur_d->type = 1;        //FIXME
                 cur_d->seq = i;
                 cur_d->x = cur_s->getX();