diff --git a/src/uas/SlugsMAV.cc b/src/uas/SlugsMAV.cc
index 7728ec387a4e2633c5d1713e273983a232d332a4..edc2a4d3bc6b7c7b2d22927a6d0b10f0648ba054 100644
--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
@@ -169,11 +169,16 @@ void SlugsMAV::emitSignals (void){
     case 2:
       emit slugsAirData(uasId, mlAirData);
       emit slugsDiagnostic(uasId,mlDiagnosticData);
+
     break;
 
     case 3:
       emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
-      emit remoteControlChannelScaledChanged(1,0.75);
+       emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
+        emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
+         emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
+          emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
+
       emit slugsPWM(uasId, mlPwmCommands);
     break;
 
@@ -185,11 +190,13 @@ void SlugsMAV::emitSignals (void){
     case 5:
       emit slugsFilteredData(uasId,mlFilteredData);
       emit slugsGPSDateTime(uasId, mlGpsDateTime);
+
     break;
 
     case 6:
       emit slugsActionAck(uasId,mlActionAck);
       emit emitGpsSignals();
+
     break;
         }
 
@@ -213,20 +220,30 @@ void SlugsMAV::emitSignals (void){
 #ifdef MAVLINK_ENABLED_SLUGS
 void SlugsMAV::emitGpsSignals (void){
 
-  if (mlGpsData.fix_type > 0){
+    qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
+
+
+    //ToDo Uncomment if. it was comment only to test
+
+ // if (mlGpsData.fix_type > 0){
     emit globalPositionChanged(this,
                                mlGpsData.lon,
                                mlGpsData.lat,
                                mlGpsData.alt,
                                0.0);
 
-    // Smaller than threshold and not NaN
-    if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
-      emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
-    } else {
-      emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
-    }
-    }
+     emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
+
+//        // Smaller than threshold and not NaN
+//        if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
+//            // emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
+
+//         }
+//         else {
+//              emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
+//         }
+  //}
+
 }
 
 void SlugsMAV::emitPidSignal()
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index 295c8206530267bda6c4574215251824b628bf10..c30996d32369dbb66290b71af97408fac7cd748b 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -47,6 +47,7 @@ public slots:
 signals:
 
     void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+    void slugsGPSCogSog(int uasId, double cog, double sog);
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
@@ -67,6 +68,8 @@ signals:
     void slugsBootMsg(int uasId, mavlink_boot_t& boot);
     void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
 
+
+
 #endif
 
 protected:
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index b1c48e5c5c740203283d5193b84d2d83bc479c7d..0ad31fddbdd9b6d4a4ba141065b14b613c4d2a93 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -330,6 +330,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Vz", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
+
+//                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
+//                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
+
                 //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                 // Set internal state
                 if (!positionLock)
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index 749f2bd19506eb1e35ea26e0c2523616ffe51b0c..c8a12cd56a61860670c546e09003cc47e434be98 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -41,10 +41,12 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
     connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
     connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
     connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
+    connect(slugsMav,SIGNAL(slugsGPSCogSog(int,double,double)),this,SLOT(slugsGPSCogSog(int,double,double)));
 
 
 
-        //connect slugs especial messages
+
+     //connect slugs especial messages
     connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&)));
     connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&)));
     connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&)));
@@ -53,6 +55,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
     connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
     connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
     connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
+    connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&)));
+
 
     #endif // MAVLINK_ENABLED_SLUGS
         // Set this UAS as active if it is the first one
@@ -69,6 +73,15 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t
  ui->m_Axr->setText(QString::number(rawData.xacc));
  ui->m_Ayr->setText(QString::number(rawData.yacc));
  ui->m_Azr->setText(QString::number(rawData.zacc));
+
+ ui->m_Mxr->setText(QString::number(rawData.xmag));
+ ui->m_Myr->setText(QString::number(rawData.ymag));
+ ui->m_Mzr->setText(QString::number(rawData.zmag));
+
+ ui->m_Gxr->setText(QString::number(rawData.xgyro));
+ ui->m_Gyr->setText(QString::number(rawData.ygyro));
+ ui->m_Gzr->setText(QString::number(rawData.zgyro));
+
 }
 
 void SlugsDataSensorView::setActiveUAS(UASInterface* uas){
@@ -85,9 +98,13 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
  Q_UNUSED(uas);
  Q_UNUSED(time);
 
+
+
  ui->m_GpsLatitude->setText(QString::number(lat));
  ui->m_GpsLongitude->setText(QString::number(lon));
  ui->m_GpsHeight->setText(QString::number(alt));
+
+ qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
 }
 
 
@@ -103,6 +120,8 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas,
   ui->ed_y->setPlainText(QString::number(y));
   ui->ed_z->setPlainText(QString::number(z));
 
+  //qDebug()<<"Local Position = "<<x<<" - "<<y<<" - "<<z;
+
 }
 
 void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
@@ -117,6 +136,9 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
   ui->ed_vy->setPlainText(QString::number(vy));
   ui->ed_vz->setPlainText(QString::number(vz));
 
+  //qDebug()<<"Speed Local Position = "<<vx<<" - "<<vy<<" - "<<vz;
+
+
 }
 
 void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
@@ -132,6 +154,8 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
     ui->m_Pitch->setPlainText(QString::number(slugpitch));
     ui->m_Yaw->setPlainText(QString::number(slugyaw));
 
+     qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
+
 }
 
 
@@ -148,6 +172,7 @@ void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
 
 }
 
+
 void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
                                                         const mavlink_diagnostic_t& diagnostic){
     Q_UNUSED(systemId);
@@ -229,17 +254,75 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
 void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
                                                   const mavlink_gps_date_time_t& gpsDateTime){
     Q_UNUSED(systemId);
-  ui->m_GpsDate->setText(QString::number(gpsDateTime.month) + "/" +
-                         QString::number(gpsDateTime.day) + "/" +
+
+    QString month, day;
+
+    month = QString::number(gpsDateTime.month);
+    day = QString::number(gpsDateTime.day);
+
+    if(gpsDateTime.month < 10) month = "0" + QString::number(gpsDateTime.month);
+    if(gpsDateTime.day < 10) day = "0" + QString::number(gpsDateTime.day);
+
+
+    ui->m_GpsDate->setText(day + "/" +
+                         month + "/" +
                          QString::number(gpsDateTime.year));
 
-  ui->m_GpsTime->setText(QString::number(gpsDateTime.hour) + ":" +
-                         QString::number(gpsDateTime.min) + ":" +
-                         QString::number(gpsDateTime.sec));
+    QString hour, min, sec;
+
+    hour = QString::number(gpsDateTime.hour);
+    min =  QString::number(gpsDateTime.min);
+    sec =  QString::number(gpsDateTime.sec);
+
+    if(gpsDateTime.hour < 10) hour = "0" + QString::number(gpsDateTime.hour);
+    if(gpsDateTime.min < 10) min = "0" + QString::number(gpsDateTime.min);
+    if(gpsDateTime.sec < 10) sec = "0" + QString::number(gpsDateTime.sec);
+
+    ui->m_GpsTime->setText(hour + ":" +
+                           min + ":" +
+                           sec);
 
   ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat));
+
+
+}
+
+/**
+     * @brief Updates the air data widget - 171
+*/
+void SlugsDataSensorView::slugsAirDataChanged(int systemId, const mavlink_air_data_t &airData)
+{
+     Q_UNUSED(systemId);
+     ui->ed_dynamic->setText(QString::number(airData.dynamicPressure));
+     ui->ed_static->setText(QString::number(airData.staticPressure));
+     ui->ed_temp->setText(QString::number(airData.temperature));
+
+//     qDebug()<<"Air Data = "<<airData.dynamicPressure<<" - "
+//                            <<airData.staticPressure<<" - "
+//                            <<airData.temperature;
+
 }
 
+/**
+     * @brief set COG and SOG values
+     *
+     * COG and SOG GPS display on the Widgets
+*/
+void SlugsDataSensorView::slugsGPSCogSog(int systemId,
+                                         double cog,
+                                         double sog)
+
+{
+     Q_UNUSED(systemId);
+
+     ui->m_GpsCog->setText(QString::number(cog));
+     ui->m_GpsSog->setText(QString::number(sog));
+
+}
+
+
+
+
 
 
 #endif // MAVLINK_ENABLED_SLUGS
diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h
index ed0b9f07c7dd2195ddca02c739a7b1e795635fc7..b1adcca6a18b4dd6519858f9e82d0343185946a5 100644
--- a/src/ui/SlugsDataSensorView.h
+++ b/src/ui/SlugsDataSensorView.h
@@ -70,6 +70,9 @@ public slots:
     void setActiveUAS(UASInterface* uas);
 
 
+    /**
+         * @brief Updates the Raw Data widget
+    */
     void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
 
 #ifdef MAVLINK_ENABLED_SLUGS
@@ -114,58 +117,79 @@ public slots:
                                     double lon,
                                     double alt,
                                     quint64 time);
+
     /**
-         * @brief Updates the sensor bias widget
+         * @brief set COG and SOG values
+         *
+         * COG and SOG GPS display on the Widgets
+    */
+    void slugsGPSCogSog(int systemId,
+                        double cog,
+                        double sog);
+
+
+
+    /**
+         * @brief Updates the CPU load widget - 170
+    */
+    void slugsCpuLoadChanged(int systemId,
+                             const mavlink_cpu_load_t& cpuLoad);
+
+    /**
+         * @brief Updates the air data widget - 171
+    */
+    void slugsAirDataChanged(int systemId,
+                             const mavlink_air_data_t& airData);
+
+    /**
+         * @brief Updates the sensor bias widget - 172
     */
     void slugsSensorBiasChanged(int systemId,
                                 const mavlink_sensor_bias_t& sensorBias);
 
     /**
-         * @brief Updates the diagnostic widget
+         * @brief Updates the diagnostic widget - 173
     */
     void slugsDiagnosticMessageChanged(int systemId,
                                        const mavlink_diagnostic_t& diagnostic);
 
-    /**
-         * @brief Updates the CPU load widget
-    */
-    void slugsCpuLoadChanged(int systemId,
-                             const mavlink_cpu_load_t& cpuLoad);
-
 
     /**
-         * @brief Updates the Navigation widget
+         * @brief Updates the Navigation widget - 176
     */
     void slugsNavegationChanged(int systemId,
                                 const mavlink_slugs_navigation_t& slugsNavigation);
 
     /**
-         * @brief Updates the Data Log widget
+         * @brief Updates the Data Log widget - 177
     */
    void  slugsDataLogChanged(int systemId,
                              const mavlink_data_log_t& dataLog);
 
    /**
-        * @brief Updates the PWM Commands widget
+        * @brief Updates the PWM Commands widget - 175
    */
    void slugsPWMChanged(int systemId,
                         const mavlink_pwm_commands_t& pwmCommands);
 
    /**
-        * @brief Updates the filtered sensor measurements widget
+        * @brief Updates the filtered sensor measurements widget - 178
    */
    void slugsFilteredDataChanged(int systemId,
                                  const mavlink_filtered_data_t& filteredData);
 
 
    /**
-        * @brief Updates the gps Date Time widget
+        * @brief Updates the gps Date Time widget - 179
    */
     void slugsGPSDateTimeChanged(int systemId,
                                  const mavlink_gps_date_time_t& gpsDateTime);
 
 
 
+
+
+
 #endif // MAVLINK_ENABLED_SLUGS
 
 protected:
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index 4a6e2de6bc0a1e9004a25ffdd440a16eb4c1a06a..5474afb0abff4307da40cddbe7905e408ca65eb2 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>399</width>
-    <height>667</height>
+    <height>604</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -24,18 +24,18 @@
   </property>
   <property name="maximumSize">
    <size>
-    <width>16777215</width>
-    <height>16777215</height>
+    <width>399</width>
+    <height>604</height>
    </size>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_17">
-   <item>
+  <layout class="QGridLayout" name="gridLayout_23">
+   <item row="0" column="0">
     <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">
@@ -989,7 +989,7 @@
                 <property name="sizeHint" stdset="0">
                  <size>
                   <width>20</width>
-                  <height>13</height>
+                  <height>5</height>
                  </size>
                 </property>
                </spacer>
@@ -1791,8 +1791,8 @@
       <attribute name="title">
        <string>Tab 2</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_11">
-       <item>
+      <layout class="QGridLayout" name="gridLayout_22">
+       <item row="0" column="0">
         <layout class="QVBoxLayout" name="verticalLayout_8">
          <item>
           <widget class="QGroupBox" name="gpsData_groupBox">
@@ -4483,11 +4483,6 @@
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="tab_2">
-      <attribute name="title">
-       <string>Tab 4</string>
-      </attribute>
-     </widget>
     </widget>
    </item>
   </layout>