diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index e2bac965b57b0cc7f069c8323920183d5f1d1477..8a719dc5e36222335cfc97a3ba346c53ddbf019f 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1838,19 +1838,6 @@ bool Vehicle::xConfigMotors(void)
     return _firmwarePlugin->multiRotorXConfig(this);
 }
 
-/*
- * Internal
- */
-
-QString Vehicle::getMavIconColor()
-{
-    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
-    if(_mav)
-        return _mav->getColor().name();
-    else
-        return QString("black");
-}
-
 QString Vehicle::formatedMessages()
 {
     QString messages;
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 735280c35603e48203a62eaf9ad34184f16ceb0c..6d927d7ad635c7ed188ad5fcadcf34d8a75c0c6f 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -556,8 +556,6 @@ public:
     /// @return -1: reserver all buttons, >0 number of buttons to reserve
     Q_PROPERTY(int manualControlReservedButtonCount READ manualControlReservedButtonCount CONSTANT)
 
-    Q_INVOKABLE QString     getMavIconColor();
-
     // Called when the message drop-down is invoked to clear current count
     Q_INVOKABLE void        resetMessages();
 
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index ea5c8f8148f4f7142f6c6e584b6f16ba784f5e54..f65a7fed7e03805a8170c81e69ad36871ab4f13f 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -1064,7 +1064,7 @@ void QGCXPlaneLink::setRandomPosition()
                         _vehicle->altitudeAMSL()->rawValue().toDouble() + offAlt,
                         _vehicle->roll()->rawValue().toDouble(),
                         _vehicle->pitch()->rawValue().toDouble(),
-                        _vehicle->uas()->getYaw());
+                        _vehicle->heading()->rawValue().toDouble());
 }
 
 void QGCXPlaneLink::setRandomAttitude()
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 039d373faffd67703e203be8304399b33fe28531..cec9a70b7f08b274998d6e675772e309ad9efc1d 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -73,10 +73,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     attitudeStamped(false),
     lastAttitude(0),
 
-    roll(0.0),
-    pitch(0.0),
-    yaw(0.0),
-
     imagePackets(0),    // We must initialize to 0, otherwise extended data packets maybe incorrectly thought to be images
 
     blockHomePositionChanges(false),
@@ -133,7 +129,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
 
 #ifndef __mobile__
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
-    color = UASInterface::getNextColor();
 #endif
 
 }
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 421941a52d7531daf7ff9b274712c6b79525289c..92cb0cf1623901a33e1a16b80be566e837b6a386 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -60,46 +60,9 @@ public:
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
 
-    Q_PROPERTY(double   roll                    READ getRoll                WRITE setRoll               NOTIFY rollChanged)
-    Q_PROPERTY(double   pitch                   READ getPitch               WRITE setPitch              NOTIFY pitchChanged)
-    Q_PROPERTY(double   yaw                     READ getYaw                 WRITE setYaw                NOTIFY yawChanged)
-
-    /// Vehicle is about to go away
-    void shutdownVehicle(void);
-
-    void setRoll(double val)
-    {
-        roll = val;
-        emit rollChanged(val,"roll");
-    }
-
-    double getRoll() const
-    {
-        return roll;
-    }
-
-    void setPitch(double val)
-    {
-        pitch = val;
-        emit pitchChanged(val,"pitch");
-    }
-
-    double getPitch() const
-    {
-        return pitch;
-    }
-
-    void setYaw(double val)
-    {
-        yaw = val;
-        emit yawChanged(val,"yaw");
-    }
-
-    double getYaw() const
-    {
-        return yaw;
-    }
-
+	/// Vehicle is about to go away
+	void shutdownVehicle(void);
+	
     // Setters for HIL noise variance
     void setXaccVar(float var){
         xacc_var = var;
@@ -196,9 +159,6 @@ protected: //COMMENTS FOR TEST UNIT
     bool attitudeKnown;             ///< True if attitude was received, false else
     bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
     quint64 lastAttitude;           ///< Timestamp of last attitude measurement
-    double roll;
-    double pitch;
-    double yaw;
 
     // dongfang: This looks like a candidate for being moved off to a separate class.
     /// IMAGING
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index bd162d1c603c07c253b0996f9f9cf8c96b6ef133..ffee6b2f6af55657a173572dc4698b7209a4127a 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -45,62 +45,12 @@ public:
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-    virtual double getRoll() const = 0;
-    virtual double getPitch() const = 0;
-    virtual double getYaw() const = 0;
-
 #ifndef __mobile__
     virtual FileManager* getFileManager() = 0;
 #endif
 
-    /**
-     * @brief Get the color for this UAS
-     *
-     * This static function holds a color map that allows to draw a new color for each robot
-     *
-     * @return The next color in the color map. The map holds 20 colors and starts from the beginning
-     *         if the colors are exceeded.
-     */
-#if !defined(__mobile__)
-    static QColor getNextColor() {
-        /* Create color map */
-        static QList<QColor> colors = QList<QColor>()
-        << QColor(231,72,28)
-        << QColor(104,64,240)
-        << QColor(203,254,121)
-        << QColor(161,252,116)
-                << QColor(232,33,47)
-        << QColor(116,251,110)
-        << QColor(234,38,107)
-        << QColor(104,250,138)
-                << QColor(235,43,165)
-        << QColor(98,248,176)
-        << QColor(236,48,221)
-        << QColor(92,247,217)
-                << QColor(200,54,238)
-        << QColor(87,231,246)
-        << QColor(151,59,239)
-        << QColor(81,183,244)
-                << QColor(75,133,243)
-        << QColor(242,255,128)
-        << QColor(230,126,23);
-
-        static int nextColor = -1;
-        if(nextColor == 18){//if at the end of the list
-            nextColor = -1;//go back to the beginning
-        }
-        nextColor++;
-        return colors[nextColor];//return the next color
-   }
-#endif
-
     virtual QMap<int, QString> getComponents() = 0;
 
-    QColor getColor()
-    {
-        return color;
-    }
-
     enum StartCalibrationType {
         StartCalibrationRadio,
         StartCalibrationGyro,
@@ -160,9 +110,6 @@ public slots:
     /** @brief Send command to disable all bindings/maps between RC and parameters */
     virtual void unsetRCToParameterMap() = 0;
 
-protected:
-    QColor color;
-
 signals:
     /** @brief A text message from the system has been received */
     void textMessageReceived(int uasid, int componentid, int severity, QString text);