diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 587db0a5ce451f68a9bd38eba6ccd24a92d34f99..f44bfb65ee7cfb59eb0a0543d11a93bc957d2924 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -850,7 +850,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
                     {
-                        emit speedChanged(this, vel, 0.0, 0.0, time);
+                        //emit speedChanged(this, vel, 0.0, 0.0, time);
                         setGroundSpeed(vel);
                         // TODO: Other sources also? Actually this condition does not quite belong here.
                         emit gpsSpeedChanged(this, vel, time);
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index bcf55e1bbdd4ae187af43f1a22e578e95ca2a1b2..7184ebfc4df7c23b47bf7a1ebbad7c1724934aaf 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -512,6 +512,7 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
 
     createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
+    createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
 
     {
         //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
@@ -593,7 +594,7 @@ void MainWindow::buildCommonWidgets()
     // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
     createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
-    createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
+    //createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
 //    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
     //createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
 
@@ -602,6 +603,7 @@ void MainWindow::buildCommonWidgets()
 
 
     //createDockWidget(pilotView,quickview,tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
 
     QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
     infoview->addSource(mavlinkDecoder);
@@ -609,7 +611,6 @@ void MainWindow::buildCommonWidgets()
 
 
     //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
-    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
 
 //    createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
 //    createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
diff --git a/src/ui/PrimaryFlightDisplay.cpp b/src/ui/PrimaryFlightDisplay.cpp
index de82c6e674c7f954b05f7231665407f9fcf11d8a..71c41575c24ed6e7a168a755c4191370966e5b3f 100644
--- a/src/ui/PrimaryFlightDisplay.cpp
+++ b/src/ui/PrimaryFlightDisplay.cpp
@@ -58,7 +58,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
     font("Bitstream Vera Sans"),
     refreshTimer(new QTimer(this)),
 
-    navigationCrosstrackError(INFINITY),
+    navigationCrosstrackError(0),
     navigationTargetBearing(UNKNOWN_ATTITUDE),
 
     layout(COMPASS_INTEGRATED),
@@ -581,7 +581,7 @@ void PrimaryFlightDisplay::drawPitchScale(
     QTransform savedTransform = painter.transform();
 
     // find the mark nearest center
-    int snap = round(pitch/PITCH_SCALE_RESOLUTION)*PITCH_SCALE_RESOLUTION;
+    int snap = qRound((double)(pitch/PITCH_SCALE_RESOLUTION))*PITCH_SCALE_RESOLUTION;
     int _min = snap-PITCH_SCALE_HALFRANGE;
     int _max = snap+PITCH_SCALE_HALFRANGE;
     for (int degrees=_min; degrees<=_max; degrees+=PITCH_SCALE_RESOLUTION) {
@@ -784,7 +784,7 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
     painter.drawRoundedRect(digitalCompassRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
 
     /* final safeguard for really stupid systems */
-    int digitalCompassValue = static_cast<int>(round(heading)) % 360;
+    int digitalCompassValue = static_cast<int>(qRound((double)heading)) % 360;
 
     QString s_digitalCompass;
     s_digitalCompass.sprintf("%03d", digitalCompassValue);
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index e110718a76a16a2d59d7743c63ba9db53e0bddcf..282f18e9f79aa07111dd8aa834b5562fdc48acda 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -130,25 +130,6 @@ void QGCVehicleConfig::generalMenuButtonClicked()
     ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
 }
 
-void QGCVehicleConfig::advancedMenuButtonClicked()
-{
-    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
-}
-void QGCVehicleConfig::rcMenuButtonClicked()
-{
-    ui->stackedWidget->setCurrentIndex(0);
-}
-
-void QGCVehicleConfig::sensorMenuButtonClicked()
-{
-    ui->stackedWidget->setCurrentIndex(1);
-}
-
-void QGCVehicleConfig::generalMenuButtonClicked()
-{
-    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
-}
-
 void QGCVehicleConfig::advancedMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
@@ -161,9 +142,9 @@ QGCVehicleConfig::~QGCVehicleConfig()
 
 void QGCVehicleConfig::setRCModeIndex(int newRcMode)
 {
-    if (newRcMode > 0 && newRcMode < 5)
+    if (newRcMode > 0 && newRcMode < 6)
     {
-        rc_mode = (enum RC_MODE) (newRcMode+1);
+        //rc_mode = (enum RC_MODE) (newRcMode+1);
         changed = true;
     }
 }