diff --git a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
index 2862b4695..77460f74e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
@@ -25,8 +25,89 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "pathcompiler.h"
+#include "uavobjectmanager.h"
+#include "waypoint.h"
+#include "homelocation.h"
 
 PathCompiler::PathCompiler(QObject *parent) :
     QObject(parent)
 {
+    Waypoint *waypoint = NULL;
+    HomeLocation *homeLocation = NULL;
+
+    /* Connect the object updates */
+    waypoint = Waypoint::GetInstance(getObjectManger());
+    Q_ASSERT(waypoint);
+    if(waypoint)
+        connect(waypoint, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doUpdateFromUAV()));
+
+    homeLocation = HomeLocation::GetInstance(getObjectManager());
+    Q_ASSERT(homeLocation);
+    if(homeLocation)
+        connect(homeLocation, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(doUpdateFromUAV()));
+}
+
+/**
+  * Helper method to get the uavobjectamanger
+  */
+UAVObjectManager * PathCompiler::getObjectManager()
+{
+    ExtensionSystem::PluginManager *pm = NULL;
+    UAVObjectUtilManager *objMngr = NULL;
+
+    pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+    if(pm)
+        objMngr = pm->getObject<UAVObjectUtilManager>();
+    Q_ASSERT(objMngr);
+
+    return objMngr;
+}
+
+/**
+ * This method opens a dialog (if filename is null) and saves the path
+ * @param filename The file to save the path to
+ * @returns -1 for failure, 0 for success
+ */
+int PathCompiler::savePath(QString filename = null)
+{
+    return -1;
+}
+
+/**
+ * This method opens a dialog (if filename is null) and loads the path
+ * @param filename The file to load from
+ * @returns -1 for failure, 0 for success
+ */
+int PathCompiler::loadPath(QString filename = null)
+{
+    return -1;
+}
+
+/**
+  * add a waypoint
+  * @param waypoint the new waypoint to add
+  * @param position which position to insert it to, defaults to end
+  */
+void PathCompiler::doAddWaypoint(struct PathCompiler::waypoint, int position = -1)
+{
+    emit visualizationChanged(waypoints);
+}
+
+/**
+  * Delete a waypoint
+  * @param index which waypoint to delete
+  */
+void PathCompiler::doDelWaypoint(int index)
+{
+    emit visualizationChanged(waypoints);
+}
+
+/**
+  * When the UAV waypoints change trigger the pathcompiler to
+  * get the latest version and then update the visualization
+  */
+void PathCompiler::doUpdateFromUAV()
+{
+    emit visualizationChanged(waypoints);
 }
diff --git a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
index 565986fa3..f0e71aae4 100644
--- a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
+++ b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
@@ -29,6 +29,10 @@
 
 #include <QObject>
 #include <uavobject.h>
+#include <uavobjectmanager.h>
+
+// TODO: Make this a singleton class and separate from map library.  Not sure of the proper design pattern in Qt.
+// factory? static variables?
 
 /**
   * This class is a two way adapter between a visualization of a path and the
@@ -54,6 +58,13 @@ public:
         float longitude;
     };
 
+private:
+    //! Helper method to get uavobject manager
+    UAVObjectManager * getObjectManager();
+
+    //! The internal list of waypoints
+    QList <struct waypoint> waypoints;
+
 signals:
     /**
       * Indicates something changed the waypoints and the map should