diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.pro b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.pro
index a020e52b5..94e6caadf 100644
--- a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.pro
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.pro
@@ -5,12 +5,14 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri) 
 include(../../plugins/uavobjects/uavobjects.pri)
 
-HEADERS += waypointeditorgadget.h
+HEADERS += waypointeditorgadget.h \
+    waypointtable.h
 HEADERS += waypointeditorgadgetwidget.h
 HEADERS += waypointeditorgadgetfactory.h
 HEADERS += waypointeditorplugin.h
 
-SOURCES += waypointeditorgadget.cpp
+SOURCES += waypointeditorgadget.cpp \
+    waypointtable.cpp
 SOURCES += waypointeditorgadgetwidget.cpp
 SOURCES += waypointeditorgadgetfactory.cpp
 SOURCES += waypointeditorplugin.cpp
@@ -20,3 +22,5 @@ OTHER_FILES += waypointeditor.pluginspec
 FORMS += waypointeditor.ui
 
 RESOURCES += waypointeditor.qrc
+
+
diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.ui b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.ui
index 2774b3148..5384f3e95 100644
--- a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.ui
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditor.ui
@@ -21,19 +21,33 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <item>
-    <widget class="QTableView" name="tableView">
+    <widget class="QTableView" name="waypoints">
      <attribute name="horizontalHeaderCascadingSectionResizes">
       <bool>false</bool>
      </attribute>
     </widget>
    </item>
    <item>
-    <widget class="QPushButton" name="pushButton">
+    <widget class="QPushButton" name="buttonNewWaypoint">
      <property name="text">
       <string>New Waypoint</string>
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QPushButton" name="buttonSaveFile">
+     <property name="text">
+      <string>Save to File</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QPushButton" name="buttonLoadFile">
+     <property name="text">
+      <string>Load from File</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.cpp
index b88119f25..50866885a 100644
--- a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.cpp
@@ -34,16 +34,29 @@
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
 
-#include "uavobject.h"
-#include "uavobjectmanager.h"
-#include "manualcontrolcommand.h"
-#include "extensionsystem/pluginmanager.h"
 #include "extensionsystem/pluginmanager.h"
 
 WaypointEditorGadgetWidget::WaypointEditorGadgetWidget(QWidget *parent) : QLabel(parent)
 {
     m_waypointeditor = new Ui_WaypointEditor();
     m_waypointeditor->setupUi(this);
+
+    waypointTable = new WaypointTable(this);
+    m_waypointeditor->waypoints->setModel(waypointTable);
+
+    // Get the objects used here
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm != NULL);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager != NULL);
+    waypointActiveObj = WaypointActive::GetInstance(objManager);
+    Q_ASSERT(waypointActiveObj != NULL);
+
+    // Connect the signals
+    connect(waypointActiveObj, SIGNAL(objectUpdated(UAVObject*)),
+            this, SLOT(waypointActiveChanged(UAVObject*)));
+    connect(m_waypointeditor->buttonNewWaypoint, SIGNAL(clicked()),
+            this, SLOT(addInstance()));
 }
 
 WaypointEditorGadgetWidget::~WaypointEditorGadgetWidget()
diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.h b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.h
index 63bfd0d1c..c829dbceb 100644
--- a/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetwidget.h
@@ -28,7 +28,7 @@
 #define WaypointEditorGADGETWIDGET_H_
 
 #include <QtGui/QLabel>
-#include <waypoint.h>
+#include <waypointtable.h>
 #include <waypointactive.h>
 
 class Ui_WaypointEditor;
@@ -50,6 +50,8 @@ protected slots:
 
 private:
     Ui_WaypointEditor * m_waypointeditor;
+    WaypointTable *waypointTable;
+    WaypointActive *waypointActiveObj;
 };
 
 #endif /* WaypointEditorGADGETWIDGET_H_ */
diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.cpp b/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.cpp
new file mode 100644
index 000000000..60a895c75
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.cpp
@@ -0,0 +1,141 @@
+/**
+ ******************************************************************************
+ * @file       waypointtable.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup Waypoint Editor GCS Plugins
+ * @{
+ * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
+ * @{
+ * @brief Table model for listing waypoint
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <QDebug>
+#include <QBrush>
+#include "waypointtable.h"
+#include "extensionsystem/pluginmanager.h"
+
+WaypointTable::WaypointTable(QObject *parent) :
+    QAbstractTableModel(parent)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm != NULL);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager != NULL);
+    waypointObj = Waypoint::GetInstance(objManager);
+    Q_ASSERT(waypointObj != NULL);
+    waypointActiveObj = WaypointActive::GetInstance(objManager);
+    Q_ASSERT(waypointObj != NULL);
+
+    elements = 0;
+
+    connect(waypointActiveObj, SIGNAL(objectUpdated(UAVObject*)),
+            this, SLOT(waypointsUpdated(UAVObject*)));
+    connect(waypointObj, SIGNAL(),
+            this, SLOT(waypointsUpdated(UAVObject*)));
+
+    headers.clear();
+    headers.append(QString("North"));
+    headers.append(QString("East"));
+    headers.append(QString("Down"));
+}
+
+int WaypointTable::rowCount(const QModelIndex &parent) const
+{
+    return elements;
+}
+
+int WaypointTable::columnCount(const QModelIndex &parent) const
+{
+    if (parent.isValid())
+        return 0;
+
+    return headers.length();
+}
+
+QVariant WaypointTable::data(const QModelIndex &index, int role) const
+{
+    if(role == Qt::DisplayRole) {
+        ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+        Q_ASSERT(pm != NULL);
+        UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+        Q_ASSERT(objManager != NULL);
+
+        Waypoint *obj = Waypoint::GetInstance(objManager, index.row());
+        Q_ASSERT(obj);
+        Waypoint::DataFields waypoint = obj->getData();
+
+        switch(index.column()) {
+        case 0:
+            return waypoint.Position[Waypoint::POSITION_NORTH];
+        case 1:
+            return waypoint.Position[Waypoint::POSITION_EAST];
+        case 2:
+            return waypoint.Position[Waypoint::POSITION_DOWN];
+        default:
+            Q_ASSERT(0);
+            return 0;
+        }
+    } else if (role == Qt::BackgroundRole) {
+        WaypointActive::DataFields waypointActive = waypointActiveObj->getData();
+
+        if(index.row() == waypointActive.Index) {
+            return QBrush(Qt::lightGray);
+        } else
+            return QVariant::Invalid;
+    }
+    else {
+        return QVariant::Invalid;
+    }
+
+}
+
+QVariant WaypointTable::headerData(int section, Qt::Orientation orientation, int role) const
+{
+    if(role == Qt::DisplayRole && orientation == Qt::Horizontal) {
+        if(section < headers.length())
+            return headers[section];
+        return QVariant::Invalid;
+    } else
+        return QAbstractTableModel::headerData(section, orientation, role);
+}
+
+/**
+  * Called whenever the waypoints are updated to inform
+  * the view
+  */
+void WaypointTable::waypointsUpdated(UAVObject *)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm != NULL);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager != NULL);
+    int elementsNow = objManager->getNumInstances(waypointObj->getObjID());
+
+    // Currently only support adding instances which is all the UAVO manager
+    // supports
+    if (elementsNow > elements) {
+        beginInsertRows(QModelIndex(), elements, elementsNow);
+        elements = elementsNow;
+        endInsertRows();
+    }
+
+    QModelIndex i1 = index(0,0);
+    QModelIndex i2 = index(elements, columnCount(QModelIndex()));
+    qDebug() << "Waypoints updated.  Found " << rowCount(QModelIndex());
+    emit dataChanged(i1, i2);
+}
diff --git a/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.h b/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.h
new file mode 100644
index 000000000..e213c1cf8
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/waypointeditor/waypointtable.h
@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ * @file       waypointtable.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup Waypoint Editor GCS Plugins
+ * @{
+ * @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
+ * @{
+ * @brief Table model for listing waypoint
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef WAYPOINTTABLE_H
+#define WAYPOINTTABLE_H
+
+#include <QAbstractTableModel>
+#include <QList>
+#include <QString>
+#include <waypoint.h>
+#include <waypointactive.h>
+
+class WaypointTable : public QAbstractTableModel
+{
+    Q_OBJECT
+public:
+    explicit WaypointTable(QObject *parent = 0);
+
+    int rowCount(const QModelIndex &parent) const;
+    int columnCount(const QModelIndex &parent) const;
+
+    QVariant data(const QModelIndex &index, int role) const;
+    QVariant headerData(int section, Qt::Orientation orientation, int role) const;
+signals:
+
+protected slots:
+    void waypointsUpdated(UAVObject *);
+
+public slots:
+
+private:
+    Waypoint *waypointObj;
+    WaypointActive *waypointActiveObj;
+    QList <QString> headers;
+    int elements;
+};
+
+#endif // WAYPOINTTABLE_H