diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
index cda08c258..aa00d144e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -40,7 +40,7 @@
 
 #include "homelocation.h"
 #include "positionactual.h"
-
+#include <pathcompiler.h>
 #include <math.h>
 
 #include "utils/stylehelper.h"
@@ -145,6 +145,10 @@ OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
     m_magic_waypoint.time_seconds = 0;
     m_magic_waypoint.hold_time_seconds = 0;
 
+    // Connect to the path compiler to get updates from the waypoints
+    pathCompiler = new PathCompiler(this);
+    connect(pathCompiler,SIGNAL(visualizationChanged(QList<PathCompiler::waypoint>)),
+            this, SLOT(doVisualizationChanged(QList<PathCompiler::waypoint>)));
     // **************
     // create the widget that holds the user controls and the map
 
@@ -2416,3 +2420,21 @@ void OPMapGadgetWidget::SetUavPic(QString UAVPic)
 {
     m_map->SetUavPic(UAVPic);
 }
+
+/**
+  * Called from path compiler whenever the path to visualize has changed
+  */
+void OPMapGadgetWidget::doVisualizationChanged(QList<PathCompiler::waypoint> waypoints)
+{
+    m_map->WPDeleteAll();
+    foreach (PathCompiler::waypoint waypoint, waypoints) {
+        internals::PointLatLng position(waypoint.latitude, waypoint.longitude);
+
+        WayPointItem * wayPointItem = m_map->WPCreate(position, 0, "Waypoint");
+        Q_ASSERT(wayPointItem);
+        if(wayPointItem) {
+            wayPointItem->setFlag(QGraphicsItem::ItemIsMovable, false);
+            wayPointItem->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
+        }
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
index b5728a79b..65f4e25b9 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
@@ -53,6 +53,7 @@
 #include "uavobject.h"
 #include "objectpersistence.h"
 
+#include <pathcompiler.h>
 // ******************************************************
 
 namespace Ui
@@ -182,6 +183,7 @@ private slots:
     void WPValuesChanged(WayPointItem* waypoint);
     void WPInserted(int const& number, WayPointItem* waypoint);
     void WPDeleted(int const& number);
+    void doVisualizationChanged(QList<PathCompiler::waypoint>);
 
     /**
     * @brief mouse right click context menu signals
@@ -267,7 +269,9 @@ private:
 
     mapcontrol::WayPointItem *m_mouse_waypoint;
 
+    PathCompiler *pathCompiler;
     QList<t_waypoint *> m_waypoint_list;
+
     QMutex m_waypoint_list_mutex;
 
     QMutex m_map_mutex;