diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index 7901330b9a561a8350596491f2db95f510ccb9c5..07a4f6f2b6d487eecab4ac1569c7110a29d0a47f 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -100,6 +100,11 @@ void Waypoint::setYaw(float yaw)
     this->yaw = yaw;
 }
 
+void Waypoint::setType(type_enum type)
+{
+    this->type = type;
+}
+
 void Waypoint::setAutocontinue(bool autoContinue)
 {
     this->autocontinue = autoContinue;
diff --git a/src/Waypoint.h b/src/Waypoint.h
index 8e8f40025aa81d307354fc2e07fd439611b37966..777e78488ed7478f42d88bfe44cfc76cd3bfe0af 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include <QObject>
 #include <QString>
 #include <QTextStream>
+#include <inttypes.h>
 
 class Waypoint : public QObject
 {
@@ -58,6 +59,14 @@ public:
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
 
+    enum type_enum
+    {
+        GLOBAL = 0,
+        LOCAL = 1,
+        GLOBAL_ORBIT = 2,
+        LOCAL_ORBIT = 3
+    };
+
 
 protected:
     quint16 id;
@@ -65,6 +74,7 @@ protected:
     float y;
     float z;
     float yaw;
+    type_enum type;
     bool autocontinue;
     bool current;
     float orbit;
@@ -76,6 +86,7 @@ public slots:
     void setY(float y);
     void setZ(float z);
     void setYaw(float yaw);
+    void setType(type_enum type);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
     void setOrbit(float orbit);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 928b0d9046bf90c401d23634520af2011a94238f..48efbcf040cd5d9bca0e246c2e542b63dc4f3a57 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -175,6 +175,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     getStatusForCode((int)state.status, uasState, stateDescription);
                     emit statusChanged(this, uasState, stateDescription);
                     emit statusChanged(this->status);
+                    emit loadChanged(this,state.load/10.0f);
+                    emit UAS::valueChanged(this, "Load", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
                     stateAudio = " changed status to " + uasState;
                 }
 
diff --git a/src/ui/WaypointGlobalView.cc b/src/ui/WaypointGlobalView.cc
index 44a9202f0d5a45a0537ae22ff7e0d3790cf4d519..e5e468ff30d82fa87d60bbf526165a964cb11da3 100644
--- a/src/ui/WaypointGlobalView.cc
+++ b/src/ui/WaypointGlobalView.cc
@@ -12,6 +12,9 @@ WaypointGlobalView::WaypointGlobalView(Waypoint* wp,QWidget *parent) :
 
     ui->m_orbitalSpinBox->hide();
 
+    // set type
+    wp->setType(Waypoint::GLOBAL);
+
     // Read values and set user interface
     updateValues();
 
@@ -197,11 +200,13 @@ void WaypointGlobalView::changeOrbitalState(int state)
     {
         ui->m_orbitalSpinBox->setEnabled(true);
         ui->m_orbitalSpinBox->show();
+        wp->setType(Waypoint::GLOBAL_ORBIT);
     }
     else
     {
         ui->m_orbitalSpinBox->setEnabled(false);
         ui->m_orbitalSpinBox->hide();
+        wp->setType(Waypoint::GLOBAL);
     }
 }
 
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 13c772e2336a79c1a4fe8423da38b2ebba5d3072..4e9ee95db7d2ff5454cbee3172f6c98bd31285af 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -46,6 +46,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->setupUi(this);
 
     this->wp = wp;
+    wp->setType(Waypoint::LOCAL);
+    m_ui->orbitSpinBox->setEnabled(false);
+    m_ui->orbitSpinBox->hide();
 
     // Read values and set user interface
     updateValues();
@@ -64,6 +67,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
 
     connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
     connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
+    connect(m_ui->orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+
+
 
     connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
     connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
@@ -153,3 +159,21 @@ void WaypointView::changeEvent(QEvent *e)
         break;
     }
 }
+
+void WaypointView::changeOrbitalState(int state)
+{
+    Q_UNUSED(state);
+
+    if(m_ui->orbitCheckBox->isChecked())
+    {
+        m_ui->orbitSpinBox->setEnabled(true);
+        m_ui->orbitSpinBox->show();
+        wp->setType(Waypoint::LOCAL_ORBIT);
+    }
+    else
+    {
+        m_ui->orbitSpinBox->setEnabled(false);
+        m_ui->orbitSpinBox->hide();
+        wp->setType(Waypoint::LOCAL);
+    }
+}
diff --git a/src/ui/WaypointView.h b/src/ui/WaypointView.h
index e293064d2c8270e3a4b90bdbeb206ec963cc766e..36710213596d2c0e26f914e63a512e7ae5269088 100644
--- a/src/ui/WaypointView.h
+++ b/src/ui/WaypointView.h
@@ -56,6 +56,7 @@ public slots:
     void moveDown();
     void remove();
     void changedAutoContinue(int);
+    void changeOrbitalState(int state);
     void changedCurrent(int);
     void updateValues(void);
 
diff --git a/src/ui/WaypointView.ui b/src/ui/WaypointView.ui
index ad3680fc77b5b74217f4be87610319893c11e467..4396337c09a5b3ca12524279cda980269b12aef5 100644
--- a/src/ui/WaypointView.ui
+++ b/src/ui/WaypointView.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>763</width>
-    <height>40</height>
+    <width>853</width>
+    <height>30</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -155,7 +155,7 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -343,6 +343,16 @@ QProgressBar::chunk#thrustBar {
         </property>
        </widget>
       </item>
+      <item>
+       <widget class="QCheckBox" name="orbitCheckBox">
+        <property name="toolTip">
+         <string>enable orbital mode (loiter at waypoint)</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
       <item>
        <widget class="QPushButton" name="upButton">
         <property name="minimumSize">