diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 889942480a57e4e003cc11420693b6a5ceca74fb..18e4b83a6e784a7b6b3a48421328694ef1c55e8b 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -227,7 +227,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
                     // qDebug() << "LOSSCHANGED" << receiveLoss;
                     currLossCounter = 0;
                     currReceiveCounter = 0;
-                    emit receiveLossChanged(receiveLoss);
+                    emit receiveLossChanged(message.sysid, receiveLoss);
                 }
 
                 // The packet is emitted as a whole, as it is only 255 - 261 bytes short
diff --git a/src/comm/ProtocolInterface.h b/src/comm/ProtocolInterface.h
index c2e998c204c9eae94739de89cb2776a8416d60a8..fc8467501ce47220e9372522dd87a4fc41b23238 100644
--- a/src/comm/ProtocolInterface.h
+++ b/src/comm/ProtocolInterface.h
@@ -56,7 +56,8 @@ public slots:
     virtual void receiveBytes(LinkInterface *link) = 0;
 
 signals:
-    void receiveLossChanged(float loss);
+    /** @brief Update the packet loss from one system */
+    void receiveLossChanged(int uasId, float loss);
 
 };
 
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 3891678478216d93af6eccf97e4f600fa1c1a7e5..fb942987679be87994f36192bac4ecdbb99c4ff3 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -67,7 +67,9 @@ void UDPLink::run()
 
 void UDPLink::setAddress(QString address)
 {
-    // TODO Implement address
+    Q_UNUSED(address);
+    // FIXME TODO Implement address
+    //socket->setLocalAddress(QHostAddress(address));
 }
 
 void UDPLink::setPort(quint16 port)
diff --git a/src/ui/CameraView.cc b/src/ui/CameraView.cc
index 1563ede7f17cfd4f4eaccd0bd19397eff6dc90ea..c19f514bb4dcd12b1ef863f06c527e307578e4fc 100644
--- a/src/ui/CameraView.cc
+++ b/src/ui/CameraView.cc
@@ -44,8 +44,9 @@ CameraView::CameraView(int width, int height, int depth, int channels, QWidget*
     //setImageSize(width, height, depth, channels);
     receivedWidth = width;
     receivedHeight = height;
-    receivedDepth = 8;
-    receivedChannels = 1;
+    receivedDepth = depth;
+    receivedChannels = channels;
+    imageId = -1;
 
     // Fill with black background
     QImage fill = QImage(width, height, QImage::Format_Indexed8);
@@ -139,6 +140,7 @@ void CameraView::setImageSize(int width, int height, int depth, int channels)
 
 void CameraView::startImage(int imgid, int width, int height, int depth, int channels)
 {
+    this->imageId = imgid;
     //qDebug() << "CameraView: starting image (" << width << "x" << height << ", " << depth << "bits) with " << channels << "channels";
 
     // Copy previous image to screen if it hasn't been finished properly
@@ -208,6 +210,10 @@ void CameraView::saveImage()
 
 void CameraView::setPixels(int imgid, const unsigned char* imageData, int length, unsigned int startIndex)
 {
+    // FIXME imgid can be used to receive and then display multiple images
+    // the image buffer should be converted into a n image buffer.
+    Q_UNUSED(imgid);
+
     //    qDebug() << "at" << __FILE__ << __LINE__ << ": Received startindex" << startIndex << "and length" << length << "(" << startIndex+length << "of" << rawExpectedBytes << "bytes)";
 
     if (imageStarted)
diff --git a/src/ui/CameraView.h b/src/ui/CameraView.h
index db9b1e826e60e52ee9c6db8175f3085ac3e41b3a..07b6e56f0d6946f2e6ba709b39a096ce85ca54f6 100644
--- a/src/ui/CameraView.h
+++ b/src/ui/CameraView.h
@@ -71,6 +71,8 @@ protected:
     int receivedChannels;
     int receivedWidth;
     int receivedHeight;
+    QMap<int, QImage*> images; ///< Reference to the received images
+    int imageId; ///< ID of the currently displayed image
 
     void commitRawDataToGL();
 };
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index f6c29bf023429574ccc0ebce7250439eae8b3cd4..9e7584b25d2f77383a711608217987c8bf60f288 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -166,7 +166,7 @@ settings()
     adjustSize();
 
     //
-    connect(mavlink, SIGNAL(receiveLossChanged(float)), info, SLOT(updateSendLoss(float)));
+    connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
 }
 
 MainWindow::~MainWindow()
diff --git a/src/ui/uas/UASInfoWidget.cc b/src/ui/uas/UASInfoWidget.cc
index 989be0d448e2ca7d698f43371cdcb0d483d31a10..8a0535a89d4efa42a89277e56986fecb4b8473fa 100644
--- a/src/ui/uas/UASInfoWidget.cc
+++ b/src/ui/uas/UASInfoWidget.cc
@@ -117,13 +117,19 @@ void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
     }
 }
 
-void UASInfoWidget::updateReceiveLoss(float receiveLoss)
+void UASInfoWidget::updateReceiveLoss(int uasId, float receiveLoss)
 {
+    Q_UNUSED(uasId);
     this->receiveLoss = this->receiveLoss * 0.8f + receiveLoss * 0.2f;
 }
 
-void UASInfoWidget::updateSendLoss(float sendLoss)
+/**
+  The send loss is typically calculated on the GCS based on packets
+  that were received scrambled from the MAV
+ */
+void UASInfoWidget::updateSendLoss(int uasId, float sendLoss)
 {
+    Q_UNUSED(uasId);
     this->sendLoss = this->sendLoss * 0.8f + sendLoss * 0.2f;
 }
 
diff --git a/src/ui/uas/UASInfoWidget.h b/src/ui/uas/UASInfoWidget.h
index 9eb66d43eec1b1da87880b6ab2dbab7980e97efb..065fa9ba76e5fdcbc03d717c4f91e4a76aac0ad1 100644
--- a/src/ui/uas/UASInfoWidget.h
+++ b/src/ui/uas/UASInfoWidget.h
@@ -56,8 +56,10 @@ public slots:
 
     void updateBattery(UASInterface* uas, double voltage, double percent, int seconds);
     void updateCPULoad(UASInterface* uas, double load);
-    void updateReceiveLoss(float receiveLoss);
-    void updateSendLoss(float sendLoss);
+    /** @brief Set the loss rate of packets received by the MAV */
+    void updateReceiveLoss(int uasId, float receiveLoss);
+    /** @brief Set the loss rate of packets sent from the MAV */
+    void updateSendLoss(int uasId, float sendLoss);
 
     void setVoltage(UASInterface* uas, double voltage);
     void setChargeLevel(UASInterface* uas, double chargeLevel);