diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 5e13a39972573a9753913c004f17eb644bb86832..aa5129b7c3d9cd058bfcab99191eda502148bda6 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -451,6 +451,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 stopLowBattAlarm();
             }
 
+
+            // control_sensors_enabled:
+            // relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
+            emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
+            emit positionYawControlEnabled(state.onboard_control_sensors_enabled & (1 << 12));
+            emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
+            emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));
+
 			// Trigger drop rate updates as needed. Here we convert the incoming
 			// drop_rate_comm value from 1/100 of a percent in a uint16 to a true
 			// percentage as a float. We also cap the incoming value at 100% as defined
@@ -580,6 +588,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             speedZ = pos.vz/100.0;
             emit globalPositionChanged(this, latitude, longitude, altitude, time);
             emit speedChanged(this, speedX, speedY, speedZ, time);
+
             // Set internal state
             if (!positionLock)
             {
@@ -601,6 +610,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             // only accept values in a realistic range
             // quint64 time = getUnixTime(pos.time_usec);
             quint64 time = getUnixTime(pos.time_usec);
+            
+            emit gpsLocalizationChanged(this, pos.fix_type);
+            // TODO: track localization state not only for gps but also for other loc. sources
+            int loc_type = pos.fix_type;
+            if (loc_type == 1)
+            {
+                loc_type = 0; 
+            }
+            emit localizationChanged(this, loc_type);
 
             if (pos.fix_type > 2)
             {
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index acaf4f019a8e2f4499d6e012eb3a073a5f14813a..295480a69571dc47d930ab5d27693e1ffd6b94ba 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -472,25 +472,45 @@ void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, b
 void HSIDisplay::updatePositionLock(UASInterface* uas, bool lock)
 {
     Q_UNUSED(uas);
+    bool changed = positionLock != lock;
     positionLock = lock;
+    if (changed)
+    {
+        update();
+    }
 }
 
 void HSIDisplay::updateAttitudeControllerEnabled(bool enabled)
 {
+    bool changed = attControlEnabled != enabled;
     attControlEnabled = enabled;
     attControlKnown = true;
+    if (changed)
+    {
+        update();
+    }
 }
 
 void HSIDisplay::updatePositionXYControllerEnabled(bool enabled)
 {
+    bool changed = xyControlEnabled != enabled;
     xyControlEnabled = enabled;
     xyControlKnown = true;
+    if (changed)
+    {
+        update();
+    }
 }
 
 void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
 {
+    bool changed = zControlEnabled != enabled;
     zControlEnabled = enabled;
     zControlKnown = true;
+    if (changed)
+    {
+        update();
+    }
 }
 
 void HSIDisplay::updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance)