diff --git a/settings/parameters_stereo_cam.txt b/settings/parameters_stereo_cam.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aedcae535a647b2520256a4f422a62ffef2072bf
--- /dev/null
+++ b/settings/parameters_stereo_cam.txt
@@ -0,0 +1,86 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	100	SYS_ID	42
+42	200	ACC_NAV_OFFS_X	0
+42	200	ACC_NAV_OFFS_Y	0
+42	200	ACC_NAV_OFFS_Z	-1000
+42	200	ACC_OFFSET_X	0
+42	200	ACC_OFFSET_Y	0
+42	200	ACC_OFFSET_Z	0
+42	200	ATT_KAL_IYAW	1
+42	200	ATT_KAL_KACC	0.0033
+42	200	ATT_OFFSET_X	0
+42	200	ATT_OFFSET_Y	0
+42	200	ATT_OFFSET_Z	-0.08
+42	200	CAM_EXP	100
+42	200	CAM_INTERVAL	36000
+42	200	DEBUG_1	0
+42	200	DEBUG_2	0
+42	200	DEBUG_3	0
+42	200	DEBUG_4	0
+42	200	DEBUG_5	0
+42	200	DEBUG_6	0
+42	200	GYRO_OFFSET_X	29780
+42	200	GYRO_OFFSET_Y	30350
+42	200	GYRO_OFFSET_Z	29847
+42	200	MIX_OFFSET	1
+42	200	MIX_POSITION	0
+42	200	MIX_POS_YAW	0
+42	200	MIX_REMOTE	1
+42	200	MIX_Z_POSITION	0
+42	200	PID_ATT_AWU	0.3
+42	200	PID_ATT_D	30
+42	200	PID_ATT_I	60
+42	200	PID_ATT_P	90
+42	200	PID_POS_AWU	5
+42	200	PID_POS_D	2
+42	200	PID_POS_I	0.4
+42	200	PID_POS_P	1.8
+42	200	PID_POS_Z_AWU	3
+42	200	PID_POS_Z_D	0.2
+42	200	PID_POS_Z_I	0.4
+42	200	PID_POS_Z_LIM	0.3
+42	200	PID_POS_Z_P	0.5
+42	200	PID_YAWPOS_AWU	1
+42	200	PID_YAWPOS_D	1
+42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_P	5
+42	200	PID_YAWSPEED_D	0
+42	200	PID_YAWSPEED_I	10
+42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPE_AWU	1
+42	200	POS_SP_ACCEPT	0
+42	200	POS_SP_X	1.1
+42	200	POS_SP_Y	1.1
+42	200	POS_SP_YAW	0
+42	200	POS_SP_Z	-0.8
+42	200	POS_TIMEOUT	2e+06
+42	200	RC_NICK_CHAN	1
+42	200	RC_ROLL_CHAN	2
+42	200	RC_SAFETY_CHAN	5
+42	200	RC_THRUST_CHAN	3
+42	200	RC_TRIM_CHAN	0
+42	200	RC_TUNE_CHAN1	7
+42	200	RC_TUNE_CHAN2	5
+42	200	RC_TUNE_CHAN3	6
+42	200	RC_TUNE_CHAN4	8
+42	200	RC_YAW_CHAN	4
+42	200	SEND_DEBUGCHAN	0
+42	200	SLOT_ATTITUDE	1
+42	200	SLOT_CONTROL	0
+42	200	SLOT_RAW_IMU	0
+42	200	SLOT_RC	0
+42	200	SYS_COMP_ID	200
+42	200	SYS_ID	42
+42	200	SYS_IMU_RESET	0
+42	200	SYS_SW_VER	2000
+42	200	SYS_TYPE	2
+42	200	UART_0_BAUD	115200
+42	200	UART_1_BAUD	57600
+42	200	VEL_DAMP	0.95
+42	200	VEL_OFFSET_X	0
+42	200	VEL_OFFSET_Y	0
+42	200	VEL_OFFSET_Z	0
+42	200	VIS_OUTL_TRESH	0.2
+42	200	VIS_YAWCORR	0
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index 4ccd724309443daefb8560d4206a0c3d1c9ef8fb..fa78e21c34c78ae8b25e4256bb73796da972ab56 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -65,7 +65,7 @@ private:
 public:
     UASWaypointManager(UAS&);   ///< Standard constructor.
 
-    /** @name Protocol handlers */
+    /** @name Received message handlers */
     /*@{*/
     void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);                            ///< Handles received waypoint count messages
     void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);                        ///< Handles received waypoint messages
@@ -78,6 +78,8 @@ public:
     QVector<Waypoint *> &getWaypointList(void) { return waypoints; }    ///< Returns a reference to the local waypoint list. Gives full access to the internal data structure - Subject to change: Public const access and friend access for the waypoint list widget.
 
 private:
+    /** @name Message send functions */
+    /*@{*/
     void sendWaypointClearAll();
     void sendWaypointSetCurrent(quint16 seq);
     void sendWaypointCount();
@@ -85,6 +87,7 @@ private:
     void sendWaypointRequest(quint16 seq);          ///< Requests a waypoint with sequence number seq
     void sendWaypoint(quint16 seq);                 ///< Sends a waypoint with sequence number seq
     void sendWaypointAck(quint8 type);              ///< Sends a waypoint ack
+    /*@}*/
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
@@ -107,8 +110,8 @@ private:
     quint8 current_partner_systemid;                ///< The current protocol communication target system
     quint8 current_partner_compid;                  ///< The current protocol communication target component
 
-    QVector<Waypoint *> waypoints;                  ///< local waypoint list
-    QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< communication buffer for waypoints
+    QVector<Waypoint *> waypoints;                  ///< local waypoint list (main storage)
+    QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< buffer for waypoints during communication
     QTimer protocol_timer;                          ///< Timer to catch timeouts
 };