diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index a08f65655628043c22dcfcd17373ca20afcdb29c..75d55d29d0e09feab2fd1a5353d7aa1cac6791da 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -125,7 +125,7 @@ signals:
                           double filmZ,
                           quint64 time);
 
-   void slugsGPSDateTime(int uasId,
+   void slugsGPSDateTime(int systemId,
                          uint8_t gpsyear,
                          uint8_t gpsmonth,
                          uint8_t gpsday,
diff --git a/src/ui/SlugsDataSensorView.cc b/src/ui/SlugsDataSensorView.cc
index f2aad8c00d01fa9ea14748b86ff76788ac73d7fe..2b966033048728b5066a008b3945a920b1d6e8af 100644
--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
@@ -255,16 +255,16 @@ void SlugsDataSensorView::refresh()
             ui->m_logFl6_textEdit->setText(QString::number(Logfl_6, 'f', 4));
 
             //refresh UI PWM Commands
-            ui->m_pwmThro->setText("No data");
-            ui->m_pwmThroTrim->setText("No data");
-            ui->m_pwmAile->setText("No data");
-            ui->m_pwmAileTrim->setText("No data");
-            ui->m_pwmElev->setText("No data");
-            ui->m_pwmElevTrim->setText("No data");
-            ui->m_pwmRudd->setText("No data");
-            ui->m_pwmRuddTrim->setText("No data");
-            ui->m_pwmFailSafe->setText("No data");
-            ui->m_pwmAvailable->setText("No data");
+            ui->m_pwmThro->setText(QString::number(dt_c, 'f', 4));
+            ui->m_pwmThroTrim->setText(QString::number(dre_c, 'f', 4));
+            ui->m_pwmAile->setText(QString::number(dla_c, 'f', 4));
+            ui->m_pwmAileTrim->setText(QString::number(dlf_c, 'f', 4));
+            ui->m_pwmElev->setText(QString::number(dle_c, 'f', 4));
+            ui->m_pwmElevTrim->setText(QString::number(drf_c, 'f', 4));
+            ui->m_pwmRudd->setText(QString::number(dr_c, 'f', 4));
+            ui->m_pwmRuddTrim->setText(QString::number(aux1, 'f', 4));
+            ui->m_pwmFailSafe->setText(QString::number(dre_c, 'f', 4));
+            ui->m_pwmAvailable->setText("No Data");
 
 
 
diff --git a/src/ui/SlugsDataSensorView.h b/src/ui/SlugsDataSensorView.h
index 47343fa6457d12a5ff448325a96e3a60e3e686ff..6f23ff528c130d1c254275a63783b32d624e8600 100644
--- a/src/ui/SlugsDataSensorView.h
+++ b/src/ui/SlugsDataSensorView.h
@@ -108,6 +108,17 @@ public slots:
                              double slugpitch,
                              double slugyaw,
                              quint64 time);
+
+    /**
+         * @brief Adds the UAS for data display
+         *
+         * Adds the UAS and makes all the correct connections for data display on the Widgets
+    */
+    void slugsGlobalPositionChanged(UASInterface* uas,
+                                    double lat,
+                                    double lon,
+                                    double alt,
+                                    quint64 time);
     /**
          * @brief Adds the UAS for data display
          *
@@ -214,11 +225,7 @@ public slots:
                                  double filmZ,
                                  quint64 time);
 
-    void slugsGlobalPositionChanged(UASInterface* uas,
-                                    double lat,
-                                    double lon,
-                                    double alt,
-                                    quint64 time);
+