diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index b4c8db92d033470748fc0811ee8a0eab33f33398..913b913d490be4aa6c5a001dd2d3d21b32208ef2 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -155,12 +155,12 @@ void HSIDisplay::paintDisplay()
     // Draw orientation labels
     // Translate and rotate coordinate frame
     painter.translate((xCenterPos)*scalingFactor, (yCenterPos)*scalingFactor);
-    painter.rotate((-yaw/(M_PI))*180.0f);
+    painter.rotate((yaw/(M_PI))*180.0f);
     paintText(tr("N"), ringColor, 3.5f, - 1.0f, - baseRadius - 5.5f, &painter);
     paintText(tr("S"), ringColor, 3.5f, - 1.0f, + baseRadius + 1.5f, &painter);
     paintText(tr("E"), ringColor, 3.5f, + baseRadius + 2.0f, - 1.75f, &painter);
     paintText(tr("W"), ringColor, 3.5f, - baseRadius - 5.5f, - 1.75f, &painter);
-    painter.rotate((yaw/(M_PI))*180.0f);
+    painter.rotate((-yaw/(M_PI))*180.0f);
     painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor);
 
     // Draw center indicator
@@ -677,7 +677,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             pen.setColor(color);
             painter.setPen(pen);
             float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
-            drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
+            drawLine(p.x(), p.y(), p.x()+sin(list.at(i)->getYaw()+yaw) * radius, p.y()-cos(list.at(i)->getYaw()+yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
             drawPolygon(poly, &painter);
 
             // DRAW CONNECTING LINE
diff --git a/src/ui/watchdog/WatchdogControl.cc b/src/ui/watchdog/WatchdogControl.cc
index 1772e0aa155cc5f05abd43287989d0d714c217ba..572ecb8d87878241e49a4caf50becb8e173bb3b7 100644
--- a/src/ui/watchdog/WatchdogControl.cc
+++ b/src/ui/watchdog/WatchdogControl.cc
@@ -1,4 +1,6 @@
 #include "WatchdogControl.h"
+#include "WatchdogView.h"
+#include "WatchdogProcessView.h"
 #include "ui_WatchdogControl.h"
 #include "PxQuadMAV.h"
 
@@ -52,7 +54,8 @@ void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int
     {
         watchdog.processes_ = std::vector<ProcessInfo>(processCount);
         // Create new UI widget
-        //WatchdogView* view = new Watch
+        //WatchdogView* view = new WatchdogView(this);
+
     }
 
     // start the timeout timer
diff --git a/src/ui/watchdog/WatchdogControl.h b/src/ui/watchdog/WatchdogControl.h
index 4ad6510f90be8508b8cf27450d6222a4398f9f57..544c341211f77aec0edf9c2e3968300739adea35 100644
--- a/src/ui/watchdog/WatchdogControl.h
+++ b/src/ui/watchdog/WatchdogControl.h
@@ -11,6 +11,8 @@
 #include <string>
 #include <sstream>
 
+#include "WatchdogView.h"
+
 #include "UASInterface.h"
 
 namespace Ui {
@@ -128,6 +130,7 @@ private:
     WatchdogInfo& getWatchdog(uint8_t system_id, uint16_t watchdog_id);
 
     std::map<WatchdogID, WatchdogInfo> watchdogs_;          ///< A map containing all watchdogs which are currently active
+    std::map<WatchdogID, WatchdogView> views;
     QTimer updateTimer_;
 };