diff --git a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
index 6937ee1b0..5af2a707f 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.cpp
@@ -66,10 +66,10 @@ void ModelUavoProxy::flightPlanSent(UAVObject *obj, bool success)
     if (completionCount == 2) {
         qDebug() << "ModelUavoProxy::flightPlanSent - success" << (completionSuccessCount == 2);
         if (completionSuccessCount == 2) {
-            // TODO : popup?
+            QMessageBox::information(NULL, tr("Flight Plan Upload Successful"), tr("Flight plan upload was successful."));
         }
         else {
-            // TODO : popup?
+            QMessageBox::critical(NULL, tr("Flight Plan Upload Failed !"), tr("Failed to upload the flight plan !"));
         }
     }
 }
@@ -102,10 +102,10 @@ void ModelUavoProxy::flightPlanReceived(UAVObject *obj, bool success)
         qDebug() << "ModelUavoProxy::flightPlanReceived - success" << (completionSuccessCount == 2);
         if (completionSuccessCount == 2) {
             objectsToModel();
-            // TODO : popup?
+            QMessageBox::information(NULL, tr("Flight Plan Download Successful"), tr("Flight plan download was successful."));
         }
         else {
-            // TODO : popup?
+            QMessageBox::critical(NULL, tr("Flight Plan Download Failed !"), tr("Failed to download the flight plan !"));
         }
     }
 }
@@ -254,8 +254,11 @@ PathAction *ModelUavoProxy::findPathAction(const PathAction::DataFields &actionD
 
 void ModelUavoProxy::objectsToModel()
 {
+    // build model from uav objects
+    // the list of objects can end with "garbage" instances due to previous flightpath
+    // they need to be ignored
+
     int instanceCount = objManager->getNumInstances(Waypoint::OBJID);
-    // TODO retain only reachable waypoints
 
     int rowCount = myModel->rowCount();
     if (instanceCount < rowCount) {
@@ -275,8 +278,7 @@ void ModelUavoProxy::objectsToModel()
         Waypoint::DataFields waypointData = waypoint->getData();
         waypointToModel(i, waypointData);
 
-        int actionId = waypointData.Action;
-        PathAction *action = PathAction::GetInstance(objManager, actionId);
+        PathAction *action = PathAction::GetInstance(objManager, waypoint->getAction());
         Q_ASSERT(action);
         if (!action) {
             continue;
diff --git a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
index 1b685a739..9e3a2cd2e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
+++ b/ground/openpilotgcs/src/plugins/opmap/modeluavoproxy.h
@@ -38,9 +38,6 @@ class ModelUavoProxy : public QObject {
 public:
     explicit ModelUavoProxy(QObject *parent, flightDataModel *model);
 
-    void modelToObjects();
-    void objectsToModel();
-
 public slots:
     void sendFlightPlan();
     void receiveFlightPlan();
@@ -51,16 +48,21 @@ private:
     uint completionCount;
     uint completionSuccessCount;
 
+    void modelToObjects();
+    void objectsToModel();
+
     Waypoint *createWaypoint(int index, Waypoint *newWaypoint);
-    void modelToWaypoint(int i, Waypoint::DataFields &data);
-    void waypointToModel(int i, Waypoint::DataFields &data);
+    PathAction *createPathAction(int index, PathAction *newAction);
 
     PathAction *findPathAction(const PathAction::DataFields& actionFields, int actionCount);
-    PathAction *createPathAction(int index, PathAction *newAction);
+
+    void modelToWaypoint(int i, Waypoint::DataFields &data);
     void modelToPathAction(int i, PathAction::DataFields &data);
+
+    void waypointToModel(int i, Waypoint::DataFields &data);
     void pathActionToModel(int i, PathAction::DataFields &data);
 
-public slots:
+private slots:
     void flightPlanSent(UAVObject *, bool success);
     void flightPlanReceived(UAVObject *, bool success);