diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index bf947d4ad28e5246afa37f77bdb5ad3495bb5cc0..d4e2746913170278a17fb2cdbf438f1b342500a4 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -82,3 +82,23 @@ void Waypoint::setCurrent(bool current)
 {
     this->current = current;
 }
+
+void Waypoint::setX(double x)
+{
+    this->x = x;
+}
+
+void Waypoint::setY(double y)
+{
+    this->y = y;
+}
+
+void Waypoint::setZ(double z)
+{
+    this->z = z;
+}
+
+void Waypoint::setYaw(double yaw)
+{
+    this->yaw = yaw;
+}
diff --git a/src/Waypoint.h b/src/Waypoint.h
index 36698b16fc837dd7d7ce239facc7cd55b611c023..d736af3dfd1c8e2ead32f8f97b63ec6eb83cab34 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -69,6 +69,12 @@ public slots:
     void setYaw(float yaw);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
+
+    //for QDoubleSpin
+    void setX(double x);
+    void setY(double y);
+    void setZ(double z);
+    void setYaw(double yaw);
 };
 
 #endif // WAYPOINT_H
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index b589341b836badfccff968962c99a8a872d9d17d..9ce5e5fd892a7b2e3678fa6a3e320d749de7015f 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -86,12 +86,12 @@ void UASWaypointManager::clearWaypointList()
 
 }
 
-void UASWaypointManager::currentWaypointChanged(int)
+void UASWaypointManager::currentWaypointChanged(quint16)
 {
 
 }
 
-void UASWaypointManager::removeWaypointId(int)
+void UASWaypointManager::removeWaypointId(quint16)
 {
 
 }
@@ -121,7 +121,7 @@ void UASWaypointManager::requestWaypoints()
     }
 }
 
-void UASWaypointManager::sendWaypoints(const QVector<Waypoint *> &list)
+void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
 {
     if (current_state == WP_IDLE)
     {
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index 26e6be1a34af860560ea49eb15853e35d97d0d3d..46c4c97a87e96fdf647251802ec06f5f848bcd7e 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -31,14 +31,14 @@ private:
 
 public slots:
     void clearWaypointList();
-    void currentWaypointChanged(int);
-    void removeWaypointId(int);
+    void currentWaypointChanged(quint16);
+    void removeWaypointId(quint16);
     void requestWaypoints();
     void sendWaypoints(const QVector<Waypoint *> &list);
     void waypointChanged(Waypoint*);
 
 signals:
-    void waypointUpdated(int,int,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
+    void waypointUpdated(int,quint16,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
     void updateStatusString(const QString &);                         ///< updates the current status string
 
 private:
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index f790905f5beebce12360ec6291523fb4ff122129..9512b77aa2408b9fdd7e0087263cb88e7a45b728 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -97,12 +97,12 @@ void WaypointList::setUAS(UASInterface* uas)
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
-        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
-        connect(&uas->getWaypointManager(), SIGNAL(waypointReached(UASInterface*,int)), this, SLOT(waypointReached(UASInterface*,int)));
-        connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
-        connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(int)));
-        connect(this, SIGNAL(requestWaypoints()),           &uas->getWaypointManager(), SLOT(requestWaypoints()));
-        connect(this, SIGNAL(clearWaypointList()),          &uas->getWaypointManager(), SLOT(clearWaypointList()));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
+        //connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
+        //connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(quint16)));
+        connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)),    &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
+        connect(this, SIGNAL(requestWaypoints()),                           &uas->getWaypointManager(), SLOT(requestWaypoints()));
+        connect(this, SIGNAL(clearWaypointList()),                          &uas->getWaypointManager(), SLOT(clearWaypointList()));
 
         connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
 
@@ -113,24 +113,17 @@ void WaypointList::setUAS(UASInterface* uas)
     }
 }
 
-void WaypointList::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
+void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current)
 {
     if (uasId == this->uas->getUASID())
     {
         transmitDelay->start(1000);
-        QString string = "New waypoint";
-
-        if (waypointNames.contains(id))
-        {
-            string = waypointNames.value(id);
-        }
-
         Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
         addWaypoint(wp);
     }
 }
 
-void WaypointList::waypointReached(UASInterface* uas, int waypointId)
+void WaypointList::waypointReached(UASInterface* uas, quint16 waypointId)
 {
     Q_UNUSED(uas);
     qDebug() << "Waypoint reached: " << waypointId;
@@ -170,16 +163,17 @@ void WaypointList::transmit()
     transmitDelay->start(1000);
     m_ui->transmitButton->setEnabled(false);
     emit clearWaypointList();
-    waypointNames.clear();
+
     for(int i = 0; i < waypoints.size(); i++)
     {
         //Waypoint* wp = waypoints[i];
-        /*waypointNames.insert(wp->id, wp->name);
-        emit waypointChanged(wp);
-        if (wp->current)
-            emit currentWaypointChanged(wp->id);*/
+        //emit waypointChanged(wp);
+        //if (wp->current)
+        //    emit currentWaypointChanged(wp->id);
     }
 
+    emit sendWaypoints(waypoints);
+
     while(waypoints.size()>0)
     {
         removeWaypoint(waypoints[0]);
@@ -219,7 +213,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         listLayout->addWidget(wpViews.value(wp));
         connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
         connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
-        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypointAndName(Waypoint*)));
+        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
         connect(wpview, SIGNAL(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
         connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
     }
@@ -293,11 +287,10 @@ void WaypointList::moveDown(Waypoint* wp)
     }
 }
 
-void WaypointList::removeWaypointAndName(Waypoint* wp)
+/*void WaypointList::removeWaypointAndName(Waypoint* wp)
 {
-    waypointNames.remove(wp->getId());
     removeWaypoint(wp);
-}
+}*/
 
 void WaypointList::removeWaypoint(Waypoint* wp)
 {
@@ -382,7 +375,7 @@ void WaypointList::loadWaypoints()
 
     while(waypoints.size()>0)
     {
-        removeWaypointAndName(waypoints[0]);
+        removeWaypoint(waypoints[0]);
     }
 
     QTextStream in(&file);
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index cde1a2891a341bda7a60bb181476496fc85ea94a..403e71e0ce2c7a7913f10020d92bc6dfcea7df0c 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -71,17 +71,15 @@ public slots:
     void updateStatusLabel(const QString &string);
 
     //To be moved to UASWaypointManager (?)
-    void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+    void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
     void addWaypoint(Waypoint* wp);
-    void removeWaypointAndName(Waypoint* wp);
-    void waypointReached(UASInterface* uas, int waypointId);
+    void removeWaypoint(Waypoint* wp);
+    void waypointReached(UASInterface* uas, quint16 waypointId);
 
 protected:
     virtual void changeEvent(QEvent *e);
-    void debugOutputWaypoints();
 
     QVector<Waypoint*> waypoints;
-    QMap<int, QString> waypointNames;
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
     QTimer* transmitDelay;
@@ -89,12 +87,12 @@ protected:
 
 private:
     Ui::WaypointList *m_ui;
-    void removeWaypoint(Waypoint* wp);
 
 signals:
-    void waypointChanged(Waypoint*);
-    void currentWaypointChanged(int);
-    void removeWaypointId(int);
+    //void waypointChanged(Waypoint*);
+    //void currentWaypointChanged(int);
+    //void removeWaypointId(int);
+    void sendWaypoints(const QVector<Waypoint*> &);
     void requestWaypoints();
     void clearWaypointList();
 };