diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 3ea964c1bb0fe60eb8e5af61511dbc69723f7cea..e5efdea199a3693dba8e9d7673dcd764ba356335 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -374,7 +374,28 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_DEBUG:
             emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
             break;
-
+        case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT:
+            {
+                mavlink_attitude_controller_output_t out;
+                mavlink_msg_attitude_controller_output_decode(&message, &out);
+                quint64 time = MG::TIME::getGroundTimeNowUsecs();
+                emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time);
+                emit valueChanged(uasId, "att control roll", out.roll, time/1000.0f);
+                emit valueChanged(uasId, "att control pitch", out.pitch, time/1000.0f);
+                emit valueChanged(uasId, "att control yaw", out.yaw, time/1000.0f);
+            }
+            break;
+        case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT:
+            {
+                mavlink_position_controller_output_t out;
+                mavlink_msg_position_controller_output_decode(&message, &out);
+                quint64 time = MG::TIME::getGroundTimeNowUsecs();
+                emit attitudeThrustSetPointChanged(this, out.x, out.y, out.z, out.yaw, time);
+                emit valueChanged(uasId, "pos control x", out.x, time/1000.0f);
+                emit valueChanged(uasId, "pos control y", out.y, time/1000.0f);
+                emit valueChanged(uasId, "pos control z", out.z, time/1000.0f);
+            }
+            break;
         case MAVLINK_MSG_ID_WAYPOINT_COUNT:
             {
                 mavlink_waypoint_count_t wpc;
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index d151ecf38dda3523bbc35ce006ca8abe9983bf29..dc39bd9dd36770f7353782b604026ded420ae36c 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -64,6 +64,9 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     // SEND WAYPOINTS
     connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit()));
 
+    // REQUEST WAYPOINTS
+    connect(m_ui->readButton, SIGNAL(clicked()), this, SIGNAL(requestWaypoints()));
+
     // SAVE/LOAD WAYPOINTS
     connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(saveWaypoints()));
     connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));
diff --git a/src/ui/WaypointList.ui b/src/ui/WaypointList.ui
index 66548d9ba6db39b4f1165d74b922f958c1263041..1b37aaa47d995814848698984b8b4528f336bcc0 100644
--- a/src/ui/WaypointList.ui
+++ b/src/ui/WaypointList.ui
@@ -26,7 +26,7 @@
    <property name="spacing">
     <number>4</number>
    </property>
-   <item row="0" column="0" colspan="5">
+   <item row="0" column="0" colspan="7">
     <widget class="QScrollArea" name="scrollArea">
      <property name="widgetResizable">
       <bool>true</bool>
@@ -36,8 +36,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>405</width>
-        <height>160</height>
+        <width>409</width>
+        <height>158</height>
        </rect>
       </property>
       <layout class="QHBoxLayout" name="horizontalLayout">
@@ -78,17 +78,6 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
-    <widget class="QPushButton" name="transmitButton">
-     <property name="text">
-      <string>Transmit</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="1">
     <widget class="QPushButton" name="saveButton">
      <property name="text">
@@ -103,6 +92,28 @@
      </property>
     </widget>
    </item>
+   <item row="1" column="5">
+    <widget class="QPushButton" name="readButton">
+     <property name="text">
+      <string>Read</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QPushButton" name="transmitButton">
+     <property name="text">
+      <string>Write</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+     </property>
+    </widget>
+   </item>
   </layout>
   <action name="actionAddWaypoint">
    <property name="icon">
@@ -128,6 +139,15 @@
     <string>Transmit waypoints to unmanned system</string>
    </property>
   </action>
+  <action name="actionRead">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Read</string>
+   </property>
+  </action>
  </widget>
  <resources>
   <include location="../../mavground.qrc"/>