diff --git a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
index 9afbb78..629acda 100644
--- a/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
@@ -39,7 +39,16 @@
     <property name="spacing">
      <number>0</number>
     </property>
-    <property name="margin">
+    <property name="leftMargin">
+     <number>0</number>
+    </property>
+    <property name="topMargin">
+     <number>0</number>
+    </property>
+    <property name="rightMargin">
+     <number>0</number>
+    </property>
+    <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -68,7 +77,16 @@
          </size>
         </property>
         <layout class="QGridLayout" name="gridLayout_4">
-         <property name="margin">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
           <number>0</number>
          </property>
          <property name="spacing">
@@ -1041,15 +1059,24 @@ Connected</string>
            </size>
           </property>
           <layout class="QGridLayout" name="gridLayout">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
            <property name="horizontalSpacing">
             <number>0</number>
            </property>
            <property name="verticalSpacing">
             <number>6</number>
            </property>
-           <property name="margin">
-            <number>0</number>
-           </property>
            <item row="0" column="0">
             <layout class="QVBoxLayout" name="verticalLayout_3">
              <property name="spacing">
@@ -1069,6 +1096,61 @@ Connected</string>
                </property>
               </widget>
              </item>
+             <item>
+              <widget class="QLabel" name="label_28">
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Landmark Name</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <layout class="QGridLayout" name="gridLayout_12">
+               <property name="leftMargin">
+                <number>1</number>
+               </property>
+               <property name="topMargin">
+                <number>1</number>
+               </property>
+               <property name="rightMargin">
+                <number>1</number>
+               </property>
+               <property name="bottomMargin">
+                <number>1</number>
+               </property>
+               <property name="spacing">
+                <number>6</number>
+               </property>
+               <item row="0" column="1">
+                <widget class="QLineEdit" name="manual_waypoint_landmark_name_line_edit"/>
+               </item>
+               <item row="0" column="0">
+                <widget class="QLabel" name="label_29">
+                 <property name="text">
+                  <string>Name</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="2">
+                <spacer name="horizontalSpacer_9">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </item>
              <item>
               <widget class="QLabel" name="label_7">
                <property name="font">
@@ -1084,8 +1166,23 @@ Connected</string>
              </item>
              <item>
               <layout class="QGridLayout" name="gridLayout_7">
+               <property name="leftMargin">
+                <number>1</number>
+               </property>
+               <property name="topMargin">
+                <number>1</number>
+               </property>
+               <property name="rightMargin">
+                <number>1</number>
+               </property>
+               <property name="bottomMargin">
+                <number>1</number>
+               </property>
+               <property name="spacing">
+                <number>6</number>
+               </property>
                <item row="0" column="1">
-                <widget class="QDoubleSpinBox" name="doubleSpinBox_7">
+                <widget class="QDoubleSpinBox" name="manual_waypoint_decimal_lattitude_spin_box">
                  <property name="buttonSymbols">
                   <enum>QAbstractSpinBox::NoButtons</enum>
                  </property>
@@ -1104,7 +1201,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="1">
-                <widget class="QDoubleSpinBox" name="doubleSpinBox_8">
+                <widget class="QDoubleSpinBox" name="manual_waypoint_decimal_longitude_spin_box">
                  <property name="buttonSymbols">
                   <enum>QAbstractSpinBox::NoButtons</enum>
                  </property>
@@ -1166,6 +1263,21 @@ Connected</string>
              </item>
              <item>
               <layout class="QGridLayout" name="gridLayout_10">
+               <property name="leftMargin">
+                <number>1</number>
+               </property>
+               <property name="topMargin">
+                <number>1</number>
+               </property>
+               <property name="rightMargin">
+                <number>1</number>
+               </property>
+               <property name="bottomMargin">
+                <number>1</number>
+               </property>
+               <property name="spacing">
+                <number>6</number>
+               </property>
                <item row="0" column="0">
                 <widget class="QLabel" name="label_9">
                  <property name="text">
@@ -1187,7 +1299,7 @@ Connected</string>
                 </spacer>
                </item>
                <item row="0" column="3">
-                <widget class="QDoubleSpinBox" name="doubleSpinBox_3">
+                <widget class="QDoubleSpinBox" name="manual_waypoint_seconds_lattitude_spin_box">
                  <property name="suffix">
                   <string>&quot;</string>
                  </property>
@@ -1204,7 +1316,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="3">
-                <widget class="QDoubleSpinBox" name="doubleSpinBox_6">
+                <widget class="QDoubleSpinBox" name="manual_waypoint_seconds_longitude_spin_box">
                  <property name="suffix">
                   <string>&quot;</string>
                  </property>
@@ -1214,7 +1326,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="0" column="1">
-                <widget class="QSpinBox" name="spinBox_2">
+                <widget class="QSpinBox" name="manual_waypoint_degrees_lattitude_spin_box">
                  <property name="suffix">
                   <string>° </string>
                  </property>
@@ -1227,7 +1339,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="0" column="2">
-                <widget class="QSpinBox" name="spinBox_3">
+                <widget class="QSpinBox" name="manual_waypoint_minutes_lattitude_spin_box">
                  <property name="suffix">
                   <string>'</string>
                  </property>
@@ -1237,7 +1349,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="1">
-                <widget class="QSpinBox" name="spinBox_4">
+                <widget class="QSpinBox" name="manual_waypoint_degrees_longitude_spin_box">
                  <property name="suffix">
                   <string>° </string>
                  </property>
@@ -1250,7 +1362,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="2">
-                <widget class="QSpinBox" name="spinBox_5">
+                <widget class="QSpinBox" name="manual_waypoint_minutes_longitude_spin_box">
                  <property name="suffix">
                   <string>'</string>
                  </property>
@@ -1260,7 +1372,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="0" column="4">
-                <widget class="QComboBox" name="comboBox_2">
+                <widget class="QComboBox" name="manual_waypoint_cardinal_lattitude_combo_box">
                  <item>
                   <property name="text">
                    <string/>
@@ -1279,7 +1391,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="4">
-                <widget class="QComboBox" name="comboBox_3">
+                <widget class="QComboBox" name="manual_waypoint_cardinal_longitude_combo_box">
                  <item>
                   <property name="text">
                    <string/>
@@ -1322,7 +1434,19 @@ Connected</string>
              </item>
              <item>
               <layout class="QGridLayout" name="gridLayout_11">
-               <property name="verticalSpacing">
+               <property name="leftMargin">
+                <number>1</number>
+               </property>
+               <property name="topMargin">
+                <number>1</number>
+               </property>
+               <property name="rightMargin">
+                <number>1</number>
+               </property>
+               <property name="bottomMargin">
+                <number>1</number>
+               </property>
+               <property name="spacing">
                 <number>6</number>
                </property>
                <item row="0" column="0">
@@ -1363,7 +1487,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="1" column="1">
-                <widget class="QPushButton" name="pushButton_9">
+                <widget class="QPushButton" name="autonom_control_button">
                  <property name="font">
                   <font>
                    <pointsize>12</pointsize>
@@ -1377,7 +1501,7 @@ Connected</string>
                 </widget>
                </item>
                <item row="0" column="1">
-                <widget class="QLabel" name="label_27">
+                <widget class="QLabel" name="autonomy_status_label">
                  <property name="font">
                   <font>
                    <pointsize>12</pointsize>
@@ -1457,7 +1581,7 @@ Connected</string>
               </widget>
              </item>
              <item>
-              <widget class="QTableWidget" name="tableWidget">
+              <widget class="QTableWidget" name="navigation_waypoints_table_widget">
                <property name="styleSheet">
                 <string notr="true">QTableView{
 	selection-background-color: #DE8D47;
@@ -1589,7 +1713,7 @@ QTableView QTableCornerButton::section{
                 <number>2</number>
                </property>
                <item>
-                <widget class="QPushButton" name="pushButton_2">
+                <widget class="QPushButton" name="navigation_waypoints_set_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1614,7 +1738,7 @@ QTableView QTableCornerButton::section{
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton">
+                <widget class="QPushButton" name="navigation_waypoints_add_manual_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1640,7 +1764,7 @@ Manual</string>
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton_4">
+                <widget class="QPushButton" name="navigation_waypoints_add_gps_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1666,7 +1790,7 @@ GPS</string>
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton_3">
+                <widget class="QPushButton" name="navigation_waypoints_delete_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1753,7 +1877,7 @@ GPS</string>
               </widget>
              </item>
              <item>
-              <widget class="QTableWidget" name="tableWidget_2">
+              <widget class="QTableWidget" name="landmark_waypoints_table_widget">
                <property name="styleSheet">
                 <string notr="true">QTableView{
 	selection-background-color: #DE8D47;
@@ -1878,7 +2002,7 @@ QTableView QTableCornerButton::section{
                 <number>2</number>
                </property>
                <item>
-                <widget class="QPushButton" name="pushButton_5">
+                <widget class="QPushButton" name="landmark_waypoints_set_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1903,7 +2027,7 @@ QTableView QTableCornerButton::section{
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton_6">
+                <widget class="QPushButton" name="landmark_waypoints_add_manual_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1929,7 +2053,7 @@ Manual</string>
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton_7">
+                <widget class="QPushButton" name="landmark_waypoints_add_gps_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
@@ -1955,7 +2079,7 @@ GPS</string>
                 </widget>
                </item>
                <item>
-                <widget class="QPushButton" name="pushButton_8">
+                <widget class="QPushButton" name="landmark_waypoints_delete_button">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                    <horstretch>0</horstretch>
diff --git a/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui b/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
index 2660aec..a0b604d 100644
--- a/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
+++ b/software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
@@ -42,7 +42,16 @@
     <property name="sizeConstraint">
      <enum>QLayout::SetDefaultConstraint</enum>
     </property>
-    <property name="margin">
+    <property name="leftMargin">
+     <number>0</number>
+    </property>
+    <property name="topMargin">
+     <number>0</number>
+    </property>
+    <property name="rightMargin">
+     <number>0</number>
+    </property>
+    <property name="bottomMargin">
      <number>0</number>
     </property>
     <item>
@@ -598,7 +607,16 @@
              </size>
             </property>
             <layout class="QGridLayout" name="gridLayout">
-             <property name="margin">
+             <property name="leftMargin">
+              <number>0</number>
+             </property>
+             <property name="topMargin">
+              <number>0</number>
+             </property>
+             <property name="rightMargin">
+              <number>0</number>
+             </property>
+             <property name="bottomMargin">
               <number>0</number>
              </property>
              <property name="spacing">
@@ -866,13 +884,22 @@
                  </property>
                  <item>
                   <layout class="QHBoxLayout" name="horizontalLayout_2">
+                   <property name="leftMargin">
+                    <number>3</number>
+                   </property>
+                   <property name="topMargin">
+                    <number>0</number>
+                   </property>
+                   <property name="rightMargin">
+                    <number>3</number>
+                   </property>
                    <item>
                     <layout class="QVBoxLayout" name="verticalLayout_14">
                      <item>
                       <widget class="QLabel" name="label_5">
                        <property name="font">
                         <font>
-                         <pointsize>15</pointsize>
+                         <pointsize>14</pointsize>
                          <weight>75</weight>
                          <bold>true</bold>
                         </font>
@@ -919,19 +946,6 @@
                        </item>
                       </layout>
                      </item>
-                     <item>
-                      <spacer name="verticalSpacer_2">
-                       <property name="orientation">
-                        <enum>Qt::Vertical</enum>
-                       </property>
-                       <property name="sizeHint" stdset="0">
-                        <size>
-                         <width>20</width>
-                         <height>40</height>
-                        </size>
-                       </property>
-                      </spacer>
-                     </item>
                     </layout>
                    </item>
                    <item>
@@ -940,7 +954,7 @@
                       <widget class="QLabel" name="label_3">
                        <property name="font">
                         <font>
-                         <pointsize>15</pointsize>
+                         <pointsize>14</pointsize>
                          <weight>75</weight>
                          <bold>true</bold>
                         </font>
@@ -955,6 +969,18 @@
                      </item>
                      <item>
                       <widget class="QProgressBar" name="speed_limit_progress_bar">
+                       <property name="sizePolicy">
+                        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                         <horstretch>0</horstretch>
+                         <verstretch>0</verstretch>
+                        </sizepolicy>
+                       </property>
+                       <property name="maximumSize">
+                        <size>
+                         <width>133</width>
+                         <height>16777215</height>
+                        </size>
+                       </property>
                        <property name="maximum">
                         <number>100</number>
                        </property>
@@ -978,28 +1004,28 @@
                        </property>
                       </widget>
                      </item>
-                     <item>
-                      <spacer name="verticalSpacer_3">
-                       <property name="orientation">
-                        <enum>Qt::Vertical</enum>
-                       </property>
-                       <property name="sizeHint" stdset="0">
-                        <size>
-                         <width>20</width>
-                         <height>40</height>
-                        </size>
-                       </property>
-                      </spacer>
-                     </item>
                     </layout>
                    </item>
                   </layout>
                  </item>
+                 <item>
+                  <spacer name="verticalSpacer_2">
+                   <property name="orientation">
+                    <enum>Qt::Vertical</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>40</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                  <item>
                   <widget class="QLabel" name="label_6">
                    <property name="font">
                     <font>
-                     <pointsize>15</pointsize>
+                     <pointsize>14</pointsize>
                      <weight>75</weight>
                      <bold>true</bold>
                     </font>
@@ -1110,7 +1136,7 @@
                   <widget class="QLabel" name="label_4">
                    <property name="font">
                     <font>
-                     <pointsize>15</pointsize>
+                     <pointsize>14</pointsize>
                      <weight>75</weight>
                      <bold>true</bold>
                     </font>
@@ -1204,6 +1230,19 @@
                  </item>
                 </layout>
                </item>
+               <item>
+                <spacer name="verticalSpacer_7">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>40</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
               </layout>
              </item>
             </layout>