diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 9300cd13759ac75c73c1365a37f3dd397ed7eaf1..9d561b094a2266e4b8e908199b07dd3e3b861f3c 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1132,8 +1132,8 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     manualYawAngle = yaw * yawScaling;
     manualThrust = thrust * thrustScaling;
 
-    if(mode == (int)MAV_MODE_MANUAL)
-    {
+//    if(mode == (int)MAV_MODE_MANUAL)
+//    {
       #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
         mavlink_message_t message;
         mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
@@ -1142,7 +1142,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
 
         emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
       #endif
-    }
+//    }
 }
 
 int UAS::getSystemType()
diff --git a/src/ui/map3D/QMap3DWidget.cc b/src/ui/map3D/QMap3DWidget.cc
index 8facdbe7778c30af26723686e73f1bb59cc9570d..2fa885d21d9ed694ddec106f846b0a6e4daf7fba 100644
--- a/src/ui/map3D/QMap3DWidget.cc
+++ b/src/ui/map3D/QMap3DWidget.cc
@@ -64,7 +64,7 @@ QMap3DWidget::display(void* clientData)
 void
 QMap3DWidget::displayHandler(void)
 {
-    if (cheetahModel.get() == 0)
+    if (cheetahModel.data() == 0)
     {
         cheetahModel.reset(new CheetahModel);
         cheetahModel->init(1.0f, 1.0f, 1.0f);
diff --git a/src/ui/map3D/QMap3DWidget.h b/src/ui/map3D/QMap3DWidget.h
index a7cff2a83a20a654c02ae509fd794aed6678ca3f..2a9221b546542185eb8926455c8c5050c9da1285 100644
--- a/src/ui/map3D/QMap3DWidget.h
+++ b/src/ui/map3D/QMap3DWidget.h
@@ -34,8 +34,8 @@ protected:
 private:
     double lastRedrawTime;
 
-    boost::scoped_ptr<CheetahModel> cheetahModel;
-    boost::scoped_ptr<FTTextureFont> font;
+    QScopedPointer<CheetahModel> cheetahModel;
+    QScopedPointer<FTTextureFont> font;
 };
 
 #endif // QMAP3DWIDGET_H