diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 13ff2dc06f452008305730b463382a5dcd452e27..44001d4edb043cc56a228a85399476df145cab39 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -140,7 +140,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCPxImuFirmwareUpdate.ui \
     src/ui/QGCDataPlot2D.ui \
     src/ui/QGCRemoteControlView.ui \
-    src/ui/WaypointGlobalView.ui \
     src/ui/QMap3D.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index d885cbb7f04b64c907c3e54d41a1a4c467bf5d4a..b629f3355a0205f99fc065d25cbd68f64d27b431 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -9,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
-    
+
     QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
-    
+
     You should have received a copy of the GNU General Public License
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-    
+
 ======================================================================*/
 
 /**
@@ -32,7 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include <QStringList>
 
-Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
+Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
     : id(_id),
     x(_x),
     y(_y),
@@ -50,7 +50,7 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
 
 Waypoint::~Waypoint()
 {
-    
+
 }
 
 void Waypoint::save(QTextStream &saveStream)
@@ -94,7 +94,7 @@ void Waypoint::setId(quint16 id)
     emit changed(this);
 }
 
-void Waypoint::setX(float x)
+void Waypoint::setX(double x)
 {
     if (this->x != x)
     {
@@ -103,7 +103,7 @@ void Waypoint::setX(float x)
     }
 }
 
-void Waypoint::setY(float y)
+void Waypoint::setY(double y)
 {
     if (this->y != y)
     {
@@ -112,7 +112,7 @@ void Waypoint::setY(float y)
     }
 }
 
-void Waypoint::setZ(float z)
+void Waypoint::setZ(double z)
 {
     if (this->z != z)
     {
@@ -121,7 +121,7 @@ void Waypoint::setZ(float z)
     }
 }
 
-void Waypoint::setYaw(float yaw)
+void Waypoint::setYaw(double yaw)
 {
     if (this->yaw != yaw)
     {
@@ -166,7 +166,7 @@ void Waypoint::setCurrent(bool current)
     }
 }
 
-void Waypoint::setOrbit(float orbit)
+void Waypoint::setOrbit(double orbit)
 {
     if (this->orbit != orbit)
     {
@@ -184,47 +184,47 @@ void Waypoint::setHoldTime(int holdTime)
     }
 }
 
-void Waypoint::setX(double x)
-{
-    if (this->x != static_cast<float>(x))
-    {
-        this->x = x;
-        emit changed(this);
-    }
-}
-
-void Waypoint::setY(double y)
-{
-    if (this->y != static_cast<float>(y))
-    {
-        this->y = y;
-        emit changed(this);
-    }
-}
-
-void Waypoint::setZ(double z)
-{
-    if (this->z != static_cast<float>(z))
-    {
-        this->z = z;
-        emit changed(this);
-    }
-}
-
-void Waypoint::setYaw(double yaw)
-{
-    if (this->yaw != static_cast<float>(yaw))
-    {
-        this->yaw = yaw;
-        emit changed(this);
-    }
-}
-
-void Waypoint::setOrbit(double orbit)
-{
-    if (this->orbit != static_cast<float>(orbit))
-    {
-        this->orbit = orbit;
-        emit changed(this);
-    }
-}
+//void Waypoint::setX(double x)
+//{
+//    if (this->x != static_cast<double>(x))
+//    {
+//        this->x = x;
+//        emit changed(this);
+//    }
+//}
+
+//void Waypoint::setY(double y)
+//{
+//    if (this->y != static_cast<double>(y))
+//    {
+//        this->y = y;
+//        emit changed(this);
+//    }
+//}
+
+//void Waypoint::setZ(double z)
+//{
+//    if (this->z != static_cast<double>(z))
+//    {
+//        this->z = z;
+//        emit changed(this);
+//    }
+//}
+
+//void Waypoint::setYaw(double yaw)
+//{
+//    if (this->yaw != static_cast<double>(yaw))
+//    {
+//        this->yaw = yaw;
+//        emit changed(this);
+//    }
+//}
+
+//void Waypoint::setOrbit(double orbit)
+//{
+//    if (this->orbit != static_cast<double>(orbit))
+//    {
+//        this->orbit = orbit;
+//        emit changed(this);
+//    }
+//}
diff --git a/src/Waypoint.h b/src/Waypoint.h
index be350cfcc1c8a310a4442149ce129e4cbe8bd97a..afe529668108a4b7f260a49ced39659384fe20cf 100644
--- a/src/Waypoint.h
+++ b/src/Waypoint.h
@@ -43,20 +43,20 @@ class Waypoint : public QObject
     Q_OBJECT
 
 public:
-    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
-             bool current = false, float orbit = 0.15f, int holdTime = 0,
+    Waypoint(quint16 id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false,
+             bool current = false, double orbit = 0.15f, int holdTime = 0,
              MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
     ~Waypoint();
 
     quint16 getId() const { return id; }
-    float getX() const { return x; }
-    float getY() const { return y; }
-    float getZ() const { return z; }
-    float getYaw() const { return yaw; }
+    double getX() const { return x; }
+    double getY() const { return y; }
+    double getZ() const { return z; }
+    double getYaw() const { return yaw; }
     bool getAutoContinue() const { return autocontinue; }
     bool getCurrent() const { return current; }
-    float getOrbit() const { return orbit; }
-    float getHoldTime() const { return holdTime; }
+    double getOrbit() const { return orbit; }
+    double getHoldTime() const { return holdTime; }
     MAV_FRAME getFrame() const { return frame; }
     MAV_ACTION getAction() const { return action; }
     const QString& getName() const { return name; }
@@ -67,38 +67,38 @@ public:
 
 protected:
     quint16 id;
-    float x;
-    float y;
-    float z;
-    float yaw;
+    double x;
+    double y;
+    double z;
+    double yaw;
     MAV_FRAME frame;
     MAV_ACTION action;
     bool autocontinue;
     bool current;
-    float orbit;
+    double orbit;
     int holdTime;
     QString name;
 
 public slots:
     void setId(quint16 id);
-    void setX(float x);
-    void setY(float y);
-    void setZ(float z);
-    void setYaw(float yaw);
+    void setX(double x);
+    void setY(double y);
+    void setZ(double z);
+    void setYaw(double yaw);
     void setAction(MAV_ACTION action);
     void setFrame(MAV_FRAME frame);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
-    void setOrbit(float orbit);
+    void setOrbit(double orbit);
     void setHoldTime(int holdTime);
 
 
-    //for QDoubleSpin
-    void setX(double x);
-    void setY(double y);
-    void setZ(double z);
-    void setYaw(double yaw);
-    void setOrbit(double orbit);
+//    //for QDoubleSpin
+//    void setX(double x);
+//    void setY(double y);
+//    void setZ(double z);
+//    void setYaw(double yaw);
+//    void setOrbit(double orbit);
 
 signals:
     /** @brief Announces a change to the waypoint data */
diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc
index 1a8bd7b7bcb680912e679faf8138b2e1d0e764d8..39522871dab45b7cb1efc46f00509df33023e396 100644
--- a/src/ui/MapWidget.cc
+++ b/src/ui/MapWidget.cc
@@ -930,6 +930,7 @@ void MapWidget::changeEvent(QEvent *e)
 
 void MapWidget::clearWaypoints(int uas)
 {
+    Q_UNUSED(uas);
     // Clear the previous WP track
 
     //mc->layer("Waypoints")->clearGeometries();
@@ -962,6 +963,7 @@ void MapWidget::clearWaypoints(int uas)
 
 void MapWidget::clearPath(int uas)
 {
+    Q_UNUSED(uas);
     mc->layer("Tracking")->clearGeometries();
     foreach (qmapcontrol::LineString* ls, uasTrails)
     {
@@ -976,6 +978,8 @@ void MapWidget::clearPath(int uas)
 
 void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
 {
+    Q_UNUSED(dir);
+    Q_UNUSED(bearing);
     // FIXME Mariano
     //camPoints.clear();
     QPointF currentPos = mc->currentCoordinate();
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 5723efe74e2c4eb238a42befa3cb7c6a0a119446..d8ee43a4802af419c9798e8886325f01a8d27415 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -1,24 +1,4 @@
-/*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
+/*===================================================================
 ======================================================================*/
 
 /**
@@ -43,8 +23,8 @@ This file is part of the PIXHAWK project
 #include "ui_WaypointView.h"
 
 WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
-    QWidget(parent),
-    m_ui(new Ui::WaypointView)
+        QWidget(parent),
+        m_ui(new Ui::WaypointView)
 {
     m_ui->setupUi(this);
 
@@ -146,7 +126,7 @@ void WaypointView::changedAction(int index)
         break;
     case MAV_ACTION_NAVIGATE:
         m_ui->autoContinue->show();
-		m_ui->orbitSpinBox->show();
+        m_ui->orbitSpinBox->show();
         break;
     case MAV_ACTION_LOITER:
         m_ui->orbitSpinBox->show();
@@ -159,14 +139,6 @@ void WaypointView::changedAction(int index)
 
 void WaypointView::changedFrame(int index)
 {
-    // hide everything to start
-    m_ui->lonSpinBox->hide();
-    m_ui->latSpinBox->hide();
-    m_ui->altSpinBox->hide();
-    m_ui->posNSpinBox->hide();
-    m_ui->posESpinBox->hide();
-    m_ui->posDSpinBox->hide();
-
     // set waypoint action
     MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
     wp->setFrame(frame);
@@ -174,11 +146,17 @@ void WaypointView::changedFrame(int index)
     switch(frame)
     {
     case MAV_FRAME_GLOBAL:
+        m_ui->posNSpinBox->hide();
+        m_ui->posESpinBox->hide();
+        m_ui->posDSpinBox->hide();
         m_ui->lonSpinBox->show();
         m_ui->latSpinBox->show();
         m_ui->altSpinBox->show();
         break;
     case MAV_FRAME_LOCAL:
+        m_ui->lonSpinBox->hide();
+        m_ui->latSpinBox->hide();
+        m_ui->altSpinBox->hide();
         m_ui->posNSpinBox->show();
         m_ui->posESpinBox->show();
         m_ui->posDSpinBox->show();
@@ -217,14 +195,36 @@ void WaypointView::updateValues()
     switch(frame)
     {
     case(MAV_FRAME_LOCAL):
-        m_ui->posNSpinBox->setValue(wp->getX());
-        m_ui->posESpinBox->setValue(wp->getY());
-        m_ui->posDSpinBox->setValue(wp->getZ());
+        {
+            if (m_ui->posNSpinBox->value() != wp->getX())
+            {
+                m_ui->posNSpinBox->setValue(wp->getX());
+            }
+            if (m_ui->posESpinBox->value() != wp->getY())
+            {
+                m_ui->posESpinBox->setValue(wp->getY());
+            }
+            if (m_ui->posDSpinBox->value() != wp->getZ())
+            {
+                m_ui->posDSpinBox->setValue(wp->getZ());
+            }
+        }
         break;
     case(MAV_FRAME_GLOBAL):
-        m_ui->lonSpinBox->setValue(wp->getX());
-        m_ui->latSpinBox->setValue(wp->getY());
-        m_ui->altSpinBox->setValue(wp->getZ());
+        {
+            if (m_ui->lonSpinBox->value() != wp->getX())
+            {
+                m_ui->lonSpinBox->setValue(wp->getX());
+            }
+            if (m_ui->latSpinBox->value() != wp->getY())
+            {
+                m_ui->latSpinBox->setValue(wp->getY());
+            }
+            if (m_ui->altSpinBox->value() != wp->getZ())
+            {
+                m_ui->altSpinBox->setValue(wp->getZ());
+            }
+        }
         break;
     }
     changedFrame(frame_index);
@@ -232,7 +232,10 @@ void WaypointView::updateValues()
     // update action
     MAV_ACTION action = wp->getAction();
     int action_index = m_ui->comboBox_action->findData(action);
-    m_ui->comboBox_action->setCurrentIndex(action_index);
+    if (m_ui->comboBox_action->currentIndex() != action_index)
+    {
+        m_ui->comboBox_action->setCurrentIndex(action_index);
+    }
     switch(action)
     {
     case MAV_ACTION_TAKEOFF:
@@ -248,12 +251,21 @@ void WaypointView::updateValues()
     }
     changedAction(action_index);
 
-    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
+    if (m_ui->yawSpinBox->value() != wp->getYaw()/M_PI*180.)
+    {
+        m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
+    }
     m_ui->selectedBox->setChecked(wp->getCurrent());
     m_ui->autoContinue->setChecked(wp->getAutoContinue());
-    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
-    m_ui->orbitSpinBox->setValue(wp->getOrbit());
-    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
+    if (m_ui->orbitSpinBox->value() != wp->getOrbit())
+    {
+        m_ui->orbitSpinBox->setValue(wp->getOrbit());
+    }
+    if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime())
+    {
+        m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+    }
     wp->blockSignals(false);
 }
 
@@ -265,7 +277,7 @@ void WaypointView::setCurrent(bool state)
     }
     else
     {
-         m_ui->selectedBox->setCheckState(Qt::Unchecked);
+        m_ui->selectedBox->setCheckState(Qt::Unchecked);
     }
 }
 
diff --git a/src/ui/WaypointView.ui b/src/ui/WaypointView.ui
index afba9592bcceec055b2ad986983a486fdb532035..5f0188b07d34b890e8437930a88bacdb5724c808 100644
--- a/src/ui/WaypointView.ui
+++ b/src/ui/WaypointView.ui
@@ -170,6 +170,9 @@ QProgressBar::chunk#thrustBar {
       </property>
       <item>
        <widget class="QCheckBox" name="selectedBox">
+        <property name="focusPolicy">
+         <enum>Qt::TabFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Currently selected waypoint</string>
         </property>
@@ -231,12 +234,21 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::ClickFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Position X coordinate</string>
         </property>
         <property name="wrapping">
          <bool>false</bool>
         </property>
+        <property name="frame">
+         <bool>true</bool>
+        </property>
+        <property name="accelerated">
+         <bool>true</bool>
+        </property>
         <property name="prefix">
          <string>N </string>
         </property>
@@ -262,6 +274,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Position Y coordinate</string>
         </property>
@@ -293,6 +308,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Position Z coordinate (negative)</string>
         </property>
@@ -321,6 +339,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="prefix">
          <string>lat </string>
         </property>
@@ -349,6 +370,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="prefix">
          <string>lon </string>
         </property>
@@ -402,6 +426,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Yaw angle</string>
         </property>
@@ -430,6 +457,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Orbit radius</string>
         </property>
@@ -458,6 +488,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
         </property>
@@ -486,6 +519,9 @@ QProgressBar::chunk#thrustBar {
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::StrongFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Take off angle</string>
         </property>
@@ -515,6 +551,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::NoFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Move Up</string>
         </property>
@@ -535,6 +574,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::NoFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Move Down</string>
         </property>
@@ -555,6 +597,9 @@ QProgressBar::chunk#thrustBar {
           <height>22</height>
          </size>
         </property>
+        <property name="focusPolicy">
+         <enum>Qt::NoFocus</enum>
+        </property>
         <property name="toolTip">
          <string>Delete</string>
         </property>
diff --git a/src/ui/map/MAV2DIcon.cc b/src/ui/map/MAV2DIcon.cc
index 607276c4f4e088d839524dc61e8be53d569c3093..0075ebcbe6993d034cc15561fe027a4055d932a2 100644
--- a/src/ui/map/MAV2DIcon.cc
+++ b/src/ui/map/MAV2DIcon.cc
@@ -57,6 +57,7 @@ void MAV2DIcon::setYaw(float yaw)
 
 void MAV2DIcon::drawIcon(QPen* pen)
 {
+    Q_UNUSED(pen);
     switch (type)
     {
     case MAV_ICON_GENERIC: