diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index c67453f4a6fef167b003ba0dcf4823a3739ef033..ad4860aa06e58306456e41ea5996c02dc2ea3e4a 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -33,6 +33,8 @@ This file is part of the PIXHAWK project
 #include <QApplication>
 #include "LinkManager.h"
 
+#include <QDebug>
+
 LinkManager* LinkManager::instance() {
 	static LinkManager* _instance = 0;
 	if(_instance == 0) {
@@ -79,7 +81,8 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
     // the protocol will receive new bytes from the link
     connect(link, SIGNAL(bytesReady(LinkInterface*)), protocol, SLOT(receiveBytes(LinkInterface*)));
     // Store the connection information in the protocol links map
-    protocolLinks.insert(protocol, link);
+    protocolLinks.insertMulti(protocol, link);
+    //qDebug() << __FILE__ << __LINE__ << "ADDED LINK TO PROTOCOL" << link->getName() << protocol->getName() << "NEW SIZE OF LINK LIST:" << protocolLinks.size();
 }
 
 QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protocol)
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 06c1d218069786b1c02ba96717e8eeef72d3c6f2..4bbf0a19c0c21ff66341fc83c390ce3b70acab99 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -323,6 +323,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
     for (i = links.begin(); i != links.end(); ++i)
     {
         sendMessage(*i, message);
+        qDebug() << __FILE__ << __LINE__ << "SENT HEARTBEAT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
     }
 }
 
diff --git a/src/comm/MAVLinkXMLParser.cc b/src/comm/MAVLinkXMLParser.cc
index 645841e01cd9c8d82c5928fb3563541b27a3daaf..a49af8042b0539e94b24e9eb6fefbb47429bd718 100644
--- a/src/comm/MAVLinkXMLParser.cc
+++ b/src/comm/MAVLinkXMLParser.cc
@@ -206,7 +206,7 @@ bool MAVLinkXMLParser::generate()
                                         QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
 
                                         QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
-                                        QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\tuint16_t i = 0;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
+                                        QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
                                         QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                                         //QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
                                         QString unpacking = "";
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index cc0f235c884da99f4b5a592f0a6870de11c25d41..b08c495404e2c7dc83ad9b608c3884b59eef0baf 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -118,9 +118,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     if (!links->contains(link))
     {
         addLink(link);
+//        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
     }
+//    else
+//    {
+//        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
+//    }
 
-    //qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;
+//    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
 
     if (message.sysid == uasId)
     {
diff --git a/src/ui/CommConfigurationWindow.cc b/src/ui/CommConfigurationWindow.cc
index 3b97555aeb9a1ef5927d8066c76b2b1d08e7fdc9..3b325ced1b835049de6d6bd7dda8b7562abb0f73 100644
--- a/src/ui/CommConfigurationWindow.cc
+++ b/src/ui/CommConfigurationWindow.cc
@@ -99,7 +99,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     }
     else if (dynamic_cast<UDPLink*>(link) != 0)
     {
-        ui.linkGroupBox->setTitle(tr("serial link"));
+        ui.linkGroupBox->setTitle(tr("udp link"));
     }
     else
     {