diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index b054e26bf4cc6dd44914723553c3d352406583c0..b6e762966d59ba6bfe46c5685dd71f5d02b8d027 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -158,6 +158,61 @@ void MAVLinkSimulationMAV::mainloop()
     // 25 Hz execution
     if (timer25Hz <= 0)
     {
+
+        // Send a named value with name "FLOAT" and 0.5f as value
+
+        // The message container to be used for sending
+        mavlink_message_t ret;
+        // The C-struct holding the data to be sent
+        mavlink_named_value_float_t val;
+
+        // Fill in the data
+        // Name of the value, maximum 10 characters
+        // see full message specs at:
+        // http://pixhawk.ethz.ch/wiki/mavlink/
+        strcpy(val.name, "FLOAT");
+        // Value, in this case 0.5
+        val.value = 0.5f;
+
+        // Encode the data (adding header and checksums, etc.)
+        mavlink_msg_named_value_float_encode(systemid, MAV_COMP_ID_IMU, &ret, &val);
+        // And send it
+        link->sendMAVLinkMessage(&ret);
+
+        // MICROCONTROLLER SEND CODE:
+
+        // uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+        // int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
+        // uart0_transmit(buf, len);
+
+
+        // SEND INTEGER VALUE
+
+        // We are reusing the "mavlink_message_t ret"
+        // message buffer
+
+        // The C-struct holding the data to be sent
+        mavlink_named_value_int_t valint;
+
+        // Fill in the data
+        // Name of the value, maximum 10 characters
+        // see full message specs at:
+        // http://pixhawk.ethz.ch/wiki/mavlink/
+        strcpy(valint.name, "INTEGER");
+        // Value, in this case 18000
+        valint.value = 18000;
+
+        // Encode the data (adding header and checksums, etc.)
+        mavlink_msg_named_value_int_encode(systemid, MAV_COMP_ID_IMU, &ret, &valint);
+        // And send it
+        link->sendMAVLinkMessage(&ret);
+
+        // MICROCONTROLLER SEND CODE:
+
+        // uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+        // int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
+        // uart0_transmit(buf, len);
+
         timer25Hz = 2;
     }
 
diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc
index c4e5f33f8f367184b9348370afed761318a003a0..645096b60abf00934f473ea4e619d5fcf402603b 100644
--- a/src/comm/MAVLinkSimulationWaypointPlanner.cc
+++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc
@@ -563,7 +563,6 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
 
         case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
         {
-                        qDebug() << "GOT GLOBAL POS" << "sys:" << msg->sysid << "wpid" << current_active_wp_id << "wpsize" << waypoints->size();
                 if(msg->sysid == systemid && current_active_wp_id < waypoints->size())
                 {
                         mavlink_waypoint_t *wp = waypoints->at(current_active_wp_id);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 563bb86507d92280298c5285b9a70ff581cf2a1d..e5b78009b8771893ae2daa301c0b7d412c922148 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -162,11 +162,15 @@ void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
 {
     if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
     {
-
+        mavlink_named_value_float_t val;
+        mavlink_msg_named_value_float_decode(&message, &val);
+        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), val.value, getUnixTime(0));
     }
     else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
     {
-
+        mavlink_named_value_int_t val;
+        mavlink_msg_named_value_int_decode(&message, &val);
+        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), (float)val.value, getUnixTime(0));
     }
 }
 
@@ -190,6 +194,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         QString uasState;
         QString stateDescription;
         QString patternPath;
+
+        // Receive named value message
+        receiveMessageNamedValue(message);
+
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_HEARTBEAT: