diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index f3699489fadc15a7f8baadca3d406312c38fdd27..5a05ec7031295e3195d71d1b72b5abb16bdd6653 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -585,8 +585,11 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
             Waypoint *t = new Waypoint();
             if(t->load(in))
             {
-                t->setId(waypointsEditable.count());
-                waypointsEditable.insert(waypointsEditable.count(), t);
+              //Use the existing function to add waypoints to the map instead of doing it manually
+              //Indeed, we should connect our waypoints to the map in order to synchronize them
+              //t->setId(waypointsEditable.count());
+              // waypointsEditable.insert(waypointsEditable.count(), t);
+              addWaypointEditable(t, false);
             }
             else
             {