diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 5bb0e891524af88b490510a85e5655d34f22811d..b20067a0a9cfe1953205ef7b81533c9745a59790 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -55,7 +55,7 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
         uasid = uas->getUASID();
         connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,double,quint64)));
     }
     else
     {
diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc
index a01796e46256496dc4d08958ec88511e81471070..99969c492e3b936db1c66c657dda8edf2563a01c 100644
--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -421,9 +421,10 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
  * @param alt Altitude over mean sea level
  * @param usec Timestamp of the position message in milliseconds FIXME will move to microseconds
  */
-void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec)
 {
     Q_UNUSED(usec);
+    Q_UNUSED(altAMSL);
 
     // Immediate update
     if (maxUpdateInterval == 0)
@@ -452,7 +453,7 @@ void QGCMapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lo
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(lat, lon);
-        uav->SetUAVPos(pos_lat_lon, alt);
+        uav->SetUAVPos(pos_lat_lon, altWGS84);
         // Follow status
         if (followUAVEnabled && uas->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply
diff --git a/src/ui/map/QGCMapWidget.h b/src/ui/map/QGCMapWidget.h
index 6fc17c6b32816687106c12f12be1b3b468787643..1550c7effc8ada58a56a1fa85ae843b74718ab25 100644
--- a/src/ui/map/QGCMapWidget.h
+++ b/src/ui/map/QGCMapWidget.h
@@ -56,7 +56,7 @@ public slots:
     /** @brief Add system to map view */
     void addUAS(UASInterface* uas);
     /** @brief Update the global position of a system */
-    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
+    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double altAMSL, double altWGS84, quint64 usec);
     /** @brief Update the global position of all systems */
     void updateGlobalPosition();
     /** @brief Update the local position and draw it converted to GPS reference */
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index 4d5e1765d3e9ebcfca42b336d87275371678ddfe..ab86b3175b631dca611098caca76d421f61d8067 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -396,13 +396,14 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
     localFrame = true;
 }
 
-void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
+void UASView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double altAMSL, double altWGS84, quint64 usec)
 {
     Q_UNUSED(uas);
     Q_UNUSED(usec);
+    Q_UNUSED(altAMSL);
     this->lon = lon;
     this->lat = lat;
-    this->alt = alt;
+    this->alt = altWGS84;
     globalFrameKnown = true;
 }
 
diff --git a/src/ui/uas/UASView.h b/src/ui/uas/UASView.h
index 218f3a89584cee8fe0864bf976c197c55007d6be..c536d5be78fa7d2420fe2d64c0178cb898ae0298 100644
--- a/src/ui/uas/UASView.h
+++ b/src/ui/uas/UASView.h
@@ -58,7 +58,7 @@ public slots:
     void updateThrust(UASInterface* uas, double thrust);
     void updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds);
     void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
-    void updateGlobalPosition(UASInterface*, double lon, double lat, double alt, quint64 usec);
+    void updateGlobalPosition(UASInterface*, double lon, double lat, double altAMSL, double altWGS84, quint64 usec);
     void updateSpeed(UASInterface*, double x, double y, double z, quint64 usec);
     void updateState(UASInterface*, QString uasState, QString stateDescription);
     /** @brief Update the MAV mode */