diff --git a/ground/src/plugins/magicwaypoint/images/positionfield.svg b/ground/src/plugins/magicwaypoint/images/positionfield.svg
index d68632c16..256d9bd6d 100644
--- a/ground/src/plugins/magicwaypoint/images/positionfield.svg
+++ b/ground/src/plugins/magicwaypoint/images/positionfield.svg
@@ -134,8 +134,8 @@
        style="stroke-width:2.1899786;stroke-miterlimit:4;stroke-dasharray:none" />
   </g>
   <a
-     id="a3867"
-     transform="translate(10,-10)">
+     id="desiredPositionObj"
+     transform="translate(-5.3432485,-16.199292)">
     <path
        transform="matrix(0.88823427,0,0,0.88823427,0.65875236,4.0999609)"
        inkscape:label="#path3034"
@@ -144,8 +144,25 @@
        sodipodi:rx="1.0136986"
        sodipodi:cy="28.684931"
        sodipodi:cx="25.013699"
-       id="joystickEnd"
+       id="desiredPosition"
        style="fill:#ff201d;fill-opacity:1;stroke:#ef7d7d;stroke-width:0.39996386;stroke-miterlimit:4;stroke-opacity:0.59336093;stroke-dasharray:none"
        sodipodi:type="arc" />
   </a>
+  <use
+     x="0"
+     y="0"
+     xlink:href="#a3867"
+     id="use3944"
+     transform="translate(-7.1291862,13.018514)"
+     width="64"
+     height="64" />
+  <path
+     sodipodi:type="arc"
+     style="fill:#ffffff;fill-opacity:1;stroke:#998ad7;stroke-width:0;stroke-miterlimit:4;stroke-opacity:0.59336093;stroke-dasharray:none"
+     id="actualPosition"
+     sodipodi:cx="14.490846"
+     sodipodi:cy="23.162163"
+     sodipodi:rx="0.85240269"
+     sodipodi:ry="0.85240269"
+     d="m 15.343248,23.162163 a 0.85240269,0.85240269 0 1 1 -1.704805,0 0.85240269,0.85240269 0 1 1 1.704805,0 z" />
 </svg>
diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
index faaf349f0..e83462439 100644
--- a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
+++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
@@ -28,6 +28,7 @@
 #include "ui_magicwaypoint.h"
 
 #include <QDebug>
+#include <QString>
 #include <QStringList>
 #include <QtGui/QWidget>
 #include <QtGui/QTextEdit>
@@ -47,10 +48,14 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
     m_magicwaypoint->setupUi(this);
 
     // Connect object updated event from UAVObject to also update check boxes
-    connect(getPositionDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionDesiredObjectChanged(UAVObject*)));
+    connect(getPositionDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
+    connect(getPositionActual(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
+
     // Connect updates from the position widget to this widget
     connect(m_magicwaypoint->widgetPosition, SIGNAL(positionClicked(double,double)), this, SLOT(positionSelected(double,double)));
-    connect(this, SIGNAL(positionObjectChanged(double,double)), m_magicwaypoint->widgetPosition, SLOT(updateIndicator(double,double)));
+    connect(this, SIGNAL(positionActualObjectChanged(double,double)), m_magicwaypoint->widgetPosition, SLOT(updateActualIndicator(double,double)));
+    connect(this, SIGNAL(positionDesiredObjectChanged(double,double)), m_magicwaypoint->widgetPosition, SLOT(updateDesiredIndicator(double,double)));
+
     // Catch changes in scale for visualization
     connect(m_magicwaypoint->horizontalSliderScale, SIGNAL(valueChanged(int)), this, SLOT(scaleChanged(double)));
 }
@@ -61,7 +66,7 @@ MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
 }
 
 /*!
-  \brief Returns the ManualControlCommand UAVObject
+  \brief Returns the @ref PositionDesired UAVObject
   */
 PositionDesired* MagicWaypointGadgetWidget::getPositionDesired()
 {
@@ -71,24 +76,41 @@ PositionDesired* MagicWaypointGadgetWidget::getPositionDesired()
     return obj;
 }
 
+/*!
+  \brief Returns the @ref PositionActual UAVObject
+  */
+PositionActual* MagicWaypointGadgetWidget::getPositionActual()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    PositionActual* obj = dynamic_cast<PositionActual*>( objManager->getObject(QString("PositionActual")) );
+    return obj;
+}
+
 /**
   * Detect changes in scale and update visualization (does not change position)
   */
 void MagicWaypointGadgetWidget::scaleChanged(int scale) {
     Q_UNUSED(scale);
-    positionDesiredObjectChanged(getPositionDesired());
+    positionObjectChanged(getPositionDesired());
+    positionObjectChanged(getPositionActual());
 }
 
 /**
-  * Update displayed position when @ref PositionDesired object is changed
+  * Emit a position changed signal when @ref PositionDesired or @ref PositionActual object is changed
   */
-void MagicWaypointGadgetWidget::positionDesiredObjectChanged(UAVObject* obj)
+void MagicWaypointGadgetWidget::positionObjectChanged(UAVObject* obj)
 {
-    double north = obj->getField("North")->getDouble();
-    double east = obj->getField("East")->getDouble();
     double scale = m_magicwaypoint->horizontalSliderScale->value();
+    double north = obj->getField("North")->getDouble() / scale;
+    double east = obj->getField("East")->getDouble() / scale;
+
+    if(obj->getName().compare("PositionDesired")) {
+        emit positionDesiredObjectChanged(north,east);
+    } else {
+        emit positionActualObjectChanged(north,east);
+    }
 
-    emit positionObjectChanged(north/scale,east/scale);
 }
 
 /**
diff --git a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
index 2b191565f..1e21d0db5 100644
--- a/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
+++ b/ground/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
@@ -30,6 +30,7 @@
 
 #include <QtGui/QLabel>
 #include "uavobjects/positiondesired.h"
+#include "uavobjects/positionactual.h"
 
 class Ui_MagicWaypoint;
 
@@ -42,15 +43,17 @@ public:
     ~MagicWaypointGadgetWidget();
 
 signals:
-    void positionObjectChanged(double north, double east);
+    void positionActualObjectChanged(double north, double east);
+    void positionDesiredObjectChanged(double north, double east);
 
 protected slots:
     void scaleChanged(int scale);
-    void positionDesiredObjectChanged(UAVObject *);
+    void positionObjectChanged(UAVObject *);
     void positionSelected(double north, double east);
 
 private:
     PositionDesired * getPositionDesired();
+    PositionActual * getPositionActual();
     Ui_MagicWaypoint * m_magicwaypoint;
 };
 
diff --git a/ground/src/plugins/magicwaypoint/positionfield.cpp b/ground/src/plugins/magicwaypoint/positionfield.cpp
index c0e5e67cd..0863dd7d4 100644
--- a/ground/src/plugins/magicwaypoint/positionfield.cpp
+++ b/ground/src/plugins/magicwaypoint/positionfield.cpp
@@ -55,15 +55,21 @@ PositionField::PositionField(QWidget *parent) :
     m_background->setSharedRenderer(m_renderer);
     m_background->setElementId(QString("background"));
 
-    m_position = new QGraphicsSvgItem();
-    m_position->setSharedRenderer(m_renderer);
-    m_position->setElementId(QString("joystickEnd"));
-    m_position->setPos(0,0);
+    m_positiondesired = new QGraphicsSvgItem();
+    m_positiondesired->setSharedRenderer(m_renderer);
+    m_positiondesired->setElementId(QString("desiredPosition"));
+    m_positiondesired->setPos(0,0);
+
+    m_positionactual = new QGraphicsSvgItem();
+    m_positionactual->setSharedRenderer(m_renderer);
+    m_positionactual->setElementId(QString("actualPosition"));
+    m_positionactual->setPos(0,0);
 
     QGraphicsScene *l_scene = scene();
     l_scene->clear(); // This also deletes all items contained in the scene.
     l_scene->addItem(m_background);
-    l_scene->addItem(m_position);
+    l_scene->addItem(m_positiondesired);
+    l_scene->addItem(m_positionactual);
     l_scene->setSceneRect(m_background->boundingRect());
 }
 
@@ -75,13 +81,19 @@ PositionField::~PositionField()
 /**
   * @brief Update aircraft position on image (values go from -1 to 1)
   */
-void PositionField::updateIndicator(double north, double east)
+void PositionField::updateDesiredIndicator(double north, double east)
 {
     QRectF sceneSize = scene()->sceneRect();
 
-    m_position->setPos((east+1)/2*sceneSize.width(),(-north+1)/2*sceneSize.height());
+    m_positiondesired->setPos((east+1)/2*sceneSize.width(),(-north+1)/2*sceneSize.height());
 }
 
+void PositionField::updateActualIndicator(double north, double east)
+{
+    QRectF sceneSize = scene()->sceneRect();
+
+    m_positionactual->setPos((east+1)/2*sceneSize.width(),(-north+1)/2*sceneSize.height());
+}
 
 /**
   * @brief Redirect mouse move events to control position
diff --git a/ground/src/plugins/magicwaypoint/positionfield.h b/ground/src/plugins/magicwaypoint/positionfield.h
index b19b300c5..3a8b17cbf 100644
--- a/ground/src/plugins/magicwaypoint/positionfield.h
+++ b/ground/src/plugins/magicwaypoint/positionfield.h
@@ -57,12 +57,14 @@ signals:
     void positionClicked(double north, double east);
 
 public slots:
-    void updateIndicator(double north, double east);
+    void updateDesiredIndicator(double north, double east);
+    void updateActualIndicator(double north, double east);
 
 private:
     QSvgRenderer *m_renderer;
     QGraphicsSvgItem *m_background;
-    QGraphicsSvgItem *m_position;
+    QGraphicsSvgItem *m_positiondesired;
+    QGraphicsSvgItem *m_positionactual;
 };
 
 #endif // POSITIONFIELD_H