diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 4e0fec940cf7edd4e8a13c9a09da4117a17150d8..f5382b3c5640ca169cd8cab5e81c8c347590e782 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -123,15 +123,13 @@ WindowsBuild {
 #
 
 MacBuild | LinuxBuild {
-	QMAKE_CXXFLAGS_WARN_ON += -Wall
-}
-
-MacBuild {
-	QMAKE_CXXFLAGS_WARN_ON += -Werror
+	QMAKE_CXXFLAGS_WARN_ON += -Wall \
+        -Werror
 }
 
 WindowsBuild {
 	QMAKE_CXXFLAGS_WARN_ON += /W3 \
+        /WX \
         /wd4996 \   # silence warnings about deprecated strcpy and whatnot
         /wd4290     # ignore exception specifications
 }
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 35c06b26097b344c8a7003b22bbbc746029a949e..1703c2342c3f1c92e6c82c78cd994eb3e0ed09fa 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -483,6 +483,7 @@ void MAVLinkSimulationLink::mainloop()
 #ifdef MAVLINK_ENABLED_PIXHAWK
             mavlink_pattern_detected_t detected;
             detected.confidence = 5.0f;
+            detected.type = 0;  // compiler confused into thinking type is used unitialized, bogus init to silence
 
             if (detectionCounter == 10) {
                 char fileName[] = "patterns/face5.png";
diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc
index a53f17c5d974f930d15017ef95f894b3b6f6293e..d855697419d9bb74d35f23c0c4ffb2e22cc3041b 100644
--- a/src/comm/MAVLinkSimulationWaypointPlanner.cc
+++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc
@@ -523,38 +523,29 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
     if(seq < waypoints->size()) {
         mavlink_mission_item_t *cur = waypoints->at(seq);
 
-        mavlink_message_t msg;
-        mavlink_set_local_position_setpoint_t PControlSetPoint;
-
         // send new set point to local IMU
-        if (cur->frame == 1) {
-            PControlSetPoint.target_system = systemid;
-            PControlSetPoint.target_component = MAV_COMP_ID_IMU;
-            PControlSetPoint.x = cur->x;
-            PControlSetPoint.y = cur->y;
-            PControlSetPoint.z = cur->z;
-            PControlSetPoint.yaw = cur->param4;
+        if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU) {
+            mavlink_message_t msg;
+            mavlink_set_local_position_setpoint_t PControlSetPoint;
 
-            mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint);
-            link->sendMAVLinkMessage(&msg);
-
-
-        } else {
-            //if (verbose) qDebug("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
             PControlSetPoint.target_system = systemid;
             PControlSetPoint.target_component = MAV_COMP_ID_IMU;
             PControlSetPoint.x = cur->x;
             PControlSetPoint.y = cur->y;
             PControlSetPoint.z = cur->z;
             PControlSetPoint.yaw = cur->param4;
-
+            PControlSetPoint.coordinate_frame = cur->frame;
+            
             mavlink_msg_set_local_position_setpoint_encode(systemid, compid, &msg, &PControlSetPoint);
             link->sendMAVLinkMessage(&msg);
             emit messageSent(msg);
+
+            uint64_t now = QGC::groundTimeMilliseconds();
+            timestamp_last_send_setpoint = now;
+        } else if (verbose) {
+            qDebug("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
         }
 
-        uint64_t now = QGC::groundTimeMilliseconds();
-        timestamp_last_send_setpoint = now;
     }
 }