diff --git a/src/ADSB/ADSB.h b/src/ADSB/ADSB.h
index b533ee701384..c408daa8b434 100644
--- a/src/ADSB/ADSB.h
+++ b/src/ADSB/ADSB.h
@@ -38,24 +38,32 @@ Q_ENUM_NS(MessageType)
 
 /// Enum for ADSB Info Types Available.
 enum AvailableInfoType {
-    CallsignAvailable = 1 << 0,
-    LocationAvailable = 1 << 1,
-    AltitudeAvailable = 1 << 2,
-    HeadingAvailable = 1 << 3,
-    AlertAvailable = 1 << 4,
+    LocationAvailable = 1 << 0,
+    AltitudeAvailable = 1 << 1,
+    HeadingAvailable = 1 << 2,
+    VelocityAvailable = 1 << 3,
+    CallsignAvailable = 1 << 4,
+    SquawkAvailable = 1 << 5,
+    VerticalVelAvailable = 1 << 6,
+    AlertAvailable = 1 << 7
 };
 Q_FLAG_NS(AvailableInfoType)
 Q_DECLARE_FLAGS(AvailableInfoTypes, AvailableInfoType)
 Q_DECLARE_OPERATORS_FOR_FLAGS(AvailableInfoTypes)
 
 struct VehicleInfo_t {
-    uint32_t icaoAddress;
+    AvailableInfoTypes availableFlags;
+    uint32_t icaoAddress = 0;
     QString callsign;
     QGeoCoordinate location;
-    double altitude; // TODO: Use Altitude in QGeoCoordinate?
-    double heading;
-    bool alert;
-    AvailableInfoTypes availableFlags;
+    double heading = 0.0;
+    uint16_t squawk = 0;
+    double velocity = 0.0;
+    double verticalVel = 0.0;
+    uint32_t lastContact = 0;
+    bool simulated = false;
+    bool baro = false;
+    bool alert = false;
 };
 } // namespace ADSB
 
diff --git a/src/ADSB/ADSBTCPLink.cc b/src/ADSB/ADSBTCPLink.cc
index 022ad81fd62c..bbb21ed8e293 100644
--- a/src/ADSB/ADSBTCPLink.cc
+++ b/src/ADSB/ADSBTCPLink.cc
@@ -24,24 +24,26 @@ ADSBTCPLink::ADSBTCPLink(const QHostAddress &hostAddress, quint16 port, QObject
     , _processTimer(new QTimer(this))
 {
 #ifdef QT_DEBUG
-    (void) connect(_socket, &QTcpSocket::stateChanged, this, [](QTcpSocket::SocketState state) {
-        switch (state) {
-        case QTcpSocket::UnconnectedState:
-            qCDebug(ADSBTCPLinkLog) << "ADSB Socket disconnected";
-            break;
-        case QTcpSocket::SocketState::ConnectingState:
-            qCDebug(ADSBTCPLinkLog) << "ADSB Socket connecting...";
-            break;
-        case QTcpSocket::SocketState::ConnectedState:
-            qCDebug(ADSBTCPLinkLog) << "ADSB Socket connected";
-            break;
-        case QTcpSocket::SocketState::ClosingState:
-            qCDebug(ADSBTCPLinkLog) << "ADSB Socket closing...";
-            break;
-        default:
-            break;
-        }
-    }, Qt::AutoConnection);
+    if (ADSBTCPLinkLog().isDebugEnabled()) {
+        (void) connect(_socket, &QTcpSocket::stateChanged, this, [](QTcpSocket::SocketState state) {
+            switch (state) {
+            case QTcpSocket::UnconnectedState:
+                qCDebug(ADSBTCPLinkLog) << "ADSB Socket disconnected";
+                break;
+            case QTcpSocket::SocketState::ConnectingState:
+                qCDebug(ADSBTCPLinkLog) << "ADSB Socket connecting...";
+                break;
+            case QTcpSocket::SocketState::ConnectedState:
+                qCDebug(ADSBTCPLinkLog) << "ADSB Socket connected";
+                break;
+            case QTcpSocket::SocketState::ClosingState:
+                qCDebug(ADSBTCPLinkLog) << "ADSB Socket closing...";
+                break;
+            default:
+                break;
+            }
+        }, Qt::AutoConnection);
+    }
 #endif
 
     (void) QObject::connect(_socket, &QTcpSocket::errorOccurred, this, [this](QTcpSocket::SocketError error) {
@@ -209,10 +211,9 @@ void ADSBTCPLink::_parseAndEmitLocation(ADSB::VehicleInfo_t &adsbInfo, const QSt
     }
 
     const double altitude = modeCAltitude * 0.3048;
-    const QGeoCoordinate location(lat, lon);
+    const QGeoCoordinate location(lat, lon, altitude);
 
     adsbInfo.location = location;
-    adsbInfo.altitude = altitude;
     adsbInfo.alert = (alert == 1);
     adsbInfo.availableFlags = ADSB::LocationAvailable | ADSB::AltitudeAvailable | ADSB::AlertAvailable;
 
diff --git a/src/ADSB/ADSBVehicle.cc b/src/ADSB/ADSBVehicle.cc
index b17ab35e5340..e9dd368214fe 100644
--- a/src/ADSB/ADSBVehicle.cc
+++ b/src/ADSB/ADSBVehicle.cc
@@ -38,23 +38,17 @@ void ADSBVehicle::update(const ADSB::VehicleInfo_t &vehicleInfo)
 
     qCDebug(ADSBVehicleLog) << "Updating" << QStringLiteral("%1 Flags: %2").arg(vehicleInfo.icaoAddress, 0, 16).arg(vehicleInfo.availableFlags, 0, 2);
 
-    if (vehicleInfo.availableFlags & ADSB::CallsignAvailable) {
-        if (vehicleInfo.callsign != callsign()) {
-            _info.callsign = vehicleInfo.callsign;
-            emit callsignChanged();
-        }
-    }
-
     if (vehicleInfo.availableFlags & ADSB::LocationAvailable) {
-        if (vehicleInfo.location != coordinate()) {
-            _info.location = vehicleInfo.location;
+        if (!QGC::fuzzyCompare(vehicleInfo.location.latitude(), coordinate().latitude()) || !QGC::fuzzyCompare(vehicleInfo.location.longitude(), coordinate().longitude())) {
+            _info.location.setLatitude(vehicleInfo.location.latitude());
+            _info.location.setLongitude(vehicleInfo.location.longitude());
             emit coordinateChanged();
         }
     }
 
     if (vehicleInfo.availableFlags & ADSB::AltitudeAvailable) {
-        if (!QGC::fuzzyCompare(vehicleInfo.altitude, altitude())) {
-            _info.altitude = vehicleInfo.altitude;
+        if (!QGC::fuzzyCompare(vehicleInfo.location.altitude(), altitude())) {
+            _info.location.setAltitude(vehicleInfo.location.altitude());
             emit altitudeChanged();
         }
     }
@@ -66,6 +60,34 @@ void ADSBVehicle::update(const ADSB::VehicleInfo_t &vehicleInfo)
         }
     }
 
+    if (vehicleInfo.availableFlags & ADSB::VelocityAvailable) {
+        if (!QGC::fuzzyCompare(vehicleInfo.velocity, velocity())) {
+            _info.velocity = vehicleInfo.velocity;
+            emit velocityChanged();
+        }
+    }
+
+    if (vehicleInfo.availableFlags & ADSB::CallsignAvailable) {
+        if (vehicleInfo.callsign != callsign()) {
+            _info.callsign = vehicleInfo.callsign;
+            emit callsignChanged();
+        }
+    }
+
+    if (vehicleInfo.availableFlags & ADSB::SquawkAvailable) {
+        if (!QGC::fuzzyCompare(vehicleInfo.velocity, squawk())) {
+            _info.squawk = vehicleInfo.squawk;
+            emit squawkChanged();
+        }
+    }
+
+    if (vehicleInfo.availableFlags & ADSB::VerticalVelAvailable) {
+        if (!QGC::fuzzyCompare(vehicleInfo.verticalVel, verticalVel())) {
+            _info.verticalVel = vehicleInfo.verticalVel;
+            emit verticalVelChanged();
+        }
+    }
+
     if (vehicleInfo.availableFlags & ADSB::AlertAvailable) {
         if (vehicleInfo.alert != alert()) {
             _info.alert = vehicleInfo.alert;
diff --git a/src/ADSB/ADSBVehicle.h b/src/ADSB/ADSBVehicle.h
index 2633e95da189..c607f8c285ad 100644
--- a/src/ADSB/ADSBVehicle.h
+++ b/src/ADSB/ADSBVehicle.h
@@ -25,12 +25,15 @@ class ADSBVehicle : public QObject
     Q_OBJECT
     QML_ELEMENT
 
-    Q_PROPERTY(uint           icaoAddress READ icaoAddress CONSTANT)
-    Q_PROPERTY(QString        callsign    READ callsign    NOTIFY callsignChanged)
-    Q_PROPERTY(QGeoCoordinate coordinate  READ coordinate  NOTIFY coordinateChanged)
-    Q_PROPERTY(double         altitude    READ altitude    NOTIFY altitudeChanged)
-    Q_PROPERTY(double         heading     READ heading     NOTIFY headingChanged)
-    Q_PROPERTY(bool           alert       READ alert       NOTIFY alertChanged)
+    Q_PROPERTY(uint             icaoAddress READ    icaoAddress CONSTANT)
+    Q_PROPERTY(QString          callsign    READ    callsign    NOTIFY callsignChanged)
+    Q_PROPERTY(QGeoCoordinate   coordinate  READ    coordinate  NOTIFY coordinateChanged)
+    Q_PROPERTY(double           altitude    READ    altitude    NOTIFY altitudeChanged)
+    Q_PROPERTY(double           heading     READ    heading     NOTIFY headingChanged)
+    Q_PROPERTY(double           velocity    READ    velocity    NOTIFY velocityChanged)
+    Q_PROPERTY(double           verticalVel READ    verticalVel NOTIFY verticalVelChanged)
+    Q_PROPERTY(uint16_t         squawk      READ    squawk      NOTIFY squawkChanged)
+    Q_PROPERTY(bool             alert       READ    alert       NOTIFY alertChanged)
 
 public:
     explicit ADSBVehicle(const ADSB::VehicleInfo_t &vehicleInfo, QObject *parent = nullptr);
@@ -39,8 +42,11 @@ class ADSBVehicle : public QObject
     uint32_t icaoAddress() const { return _info.icaoAddress; }
     QString callsign() const { return _info.callsign; }
     QGeoCoordinate coordinate() const { return _info.location; }
-    double altitude() const { return _info.altitude; }
+    double altitude() const { return _info.location.altitude(); }
     double heading() const { return _info.heading; }
+    double velocity() const { return _info.velocity; }
+    double verticalVel() const { return _info.verticalVel; }
+    uint16_t squawk() const { return _info.squawk; }
     bool alert() const { return _info.alert; }
     bool expired() const { return _lastUpdateTimer.hasExpired(_expirationTimeoutMs); }
     void update(const ADSB::VehicleInfo_t &vehicleInfo);
@@ -50,6 +56,9 @@ class ADSBVehicle : public QObject
     void callsignChanged();
     void altitudeChanged();
     void headingChanged();
+    void velocityChanged();
+    void verticalVelChanged();
+    void squawkChanged();
     void alertChanged();
 
 private:
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index aad585699320..a540cdd86705 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3292,33 +3292,94 @@ void Vehicle::_handleADSBVehicle(const mavlink_message_t &message)
     mavlink_adsb_vehicle_t adsbVehicleMsg;
     mavlink_msg_adsb_vehicle_decode(&message, &adsbVehicleMsg);
 
-    static constexpr int maxTimeSinceLastSeen = 15;
+    static constexpr uint8_t maxTimeSinceLastSeen = 15;
 
-    if ((adsbVehicleMsg.flags & ADSB_FLAGS_VALID_COORDS) && (adsbVehicleMsg.tslc <= maxTimeSinceLastSeen)) {
-        ADSB::VehicleInfo_t vehicleInfo;
+    if (adsbVehicleMsg.tslc > maxTimeSinceLastSeen) {
+        return;
+    }
+
+    ADSB::VehicleInfo_t vehicleInfo;
+
+    vehicleInfo.availableFlags = ADSB::AvailableInfoTypes::fromInt(0);
 
-        vehicleInfo.availableFlags = ADSB::AvailableInfoTypes::fromInt(0);
-        vehicleInfo.icaoAddress = adsbVehicleMsg.ICAO_address;
+    vehicleInfo.icaoAddress = adsbVehicleMsg.ICAO_address;
+    vehicleInfo.lastContact = adsbVehicleMsg.tslc;
 
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_COORDS) {
+        vehicleInfo.availableFlags |= ADSB::LocationAvailable;
         vehicleInfo.location.setLatitude(adsbVehicleMsg.lat / 1e7);
         vehicleInfo.location.setLongitude(adsbVehicleMsg.lon / 1e7);
-        vehicleInfo.availableFlags |= ADSB::LocationAvailable;
+    }
+
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_ALTITUDE) {
+        vehicleInfo.availableFlags |= ADSB::AltitudeAvailable;
+        vehicleInfo.location.setAltitude(adsbVehicleMsg.altitude / 1e3);
+    }
+
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_HEADING) {
+        vehicleInfo.availableFlags |= ADSB::HeadingAvailable;
+        vehicleInfo.heading = adsbVehicleMsg.heading / 1e2;
+    }
+
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_VELOCITY) {
+        vehicleInfo.availableFlags |= ADSB::VelocityAvailable;
+        vehicleInfo.velocity = adsbVehicleMsg.hor_velocity / 1e2;
+    }
 
-        vehicleInfo.callsign = adsbVehicleMsg.callsign;
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_CALLSIGN) {
         vehicleInfo.availableFlags |= ADSB::CallsignAvailable;
+        vehicleInfo.callsign = QString::fromLatin1(adsbVehicleMsg.callsign, sizeof(adsbVehicleMsg.callsign));
+    }
 
-        if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_ALTITUDE) {
-            vehicleInfo.altitude = adsbVehicleMsg.altitude / 1e3;
-            vehicleInfo.availableFlags |= ADSB::AltitudeAvailable;
-        }
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_SQUAWK) {
+        vehicleInfo.availableFlags |= ADSB::SquawkAvailable;
+        vehicleInfo.squawk = adsbVehicleMsg.squawk;
+    }
 
-        if (adsbVehicleMsg.flags & ADSB_FLAGS_VALID_HEADING) {
-            vehicleInfo.heading = adsbVehicleMsg.heading / 1e2;
-            vehicleInfo.availableFlags |= ADSB::HeadingAvailable;
-        }
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_SIMULATED) {
+        vehicleInfo.simulated = true;
+    }
+
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_VERTICAL_VELOCITY_VALID) {
+        vehicleInfo.availableFlags |= ADSB::VerticalVelAvailable;
+        vehicleInfo.verticalVel = adsbVehicleMsg.ver_velocity;
+    }
 
-        (void) QMetaObject::invokeMethod(ADSBVehicleManager::instance(), "adsbVehicleUpdate", Qt::AutoConnection, vehicleInfo);
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_BARO_VALID) {
+        vehicleInfo.baro = true;
     }
+
+    if (adsbVehicleMsg.flags & ADSB_FLAGS_SOURCE_UAT) {
+
+    }
+
+    /*adsbVehicleMsg.altitude_type
+    ADSB_ALTITUDE_TYPE_PRESSURE_QNH
+    ADSB_ALTITUDE_TYPE_GEOMETRIC
+
+    adsbVehicleMsg.emitter_type
+    ADSB_EMITTER_TYPE_NO_INFO
+    ADSB_EMITTER_TYPE_LIGHT
+    ADSB_EMITTER_TYPE_SMALL
+    ADSB_EMITTER_TYPE_LARGE
+    ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
+    ADSB_EMITTER_TYPE_HEAVY
+    ADSB_EMITTER_TYPE_HIGHLY_MANUV
+    ADSB_EMITTER_TYPE_ROTOCRAFT
+    ADSB_EMITTER_TYPE_UNASSIGNED
+    ADSB_EMITTER_TYPE_GLIDER
+    ADSB_EMITTER_TYPE_LIGHTER_AIR
+    ADSB_EMITTER_TYPE_PARACHUTE
+    ADSB_EMITTER_TYPE_ULTRA_LIGHT
+    ADSB_EMITTER_TYPE_UNASSIGNED2
+    ADSB_EMITTER_TYPE_UAV
+    ADSB_EMITTER_TYPE_SPACE
+    ADSB_EMITTER_TYPE_UNASSGINED3
+    ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
+    ADSB_EMITTER_TYPE_SERVICE_SURFACE
+    ADSB_EMITTER_TYPE_POINT_OBSTACLE*/
+
+    (void) QMetaObject::invokeMethod(ADSBVehicleManager::instance(), "adsbVehicleUpdate", Qt::AutoConnection, vehicleInfo);
 }
 
 void Vehicle::_updateDistanceHeadingToHome()
diff --git a/test/ADSB/ADSBTest.cc b/test/ADSB/ADSBTest.cc
index 8475face1a13..94083e0a3ab5 100644
--- a/test/ADSB/ADSBTest.cc
+++ b/test/ADSB/ADSBTest.cc
@@ -13,8 +13,7 @@ void ADSBTest::_adsbVehicleTest()
     ADSB::VehicleInfo_t vehicleInfo;
     vehicleInfo.icaoAddress = 1;
     vehicleInfo.callsign = QStringLiteral("1");
-    vehicleInfo.location = QGeoCoordinate(1., 1.);
-    vehicleInfo.altitude = 1.;
+    vehicleInfo.location = QGeoCoordinate(1., 1., 1.);
     vehicleInfo.heading = 1.;
     vehicleInfo.alert = false;
     vehicleInfo.availableFlags = ADSB::CallsignAvailable;
@@ -79,8 +78,7 @@ void ADSBTest::_adsbVehicleManagerTest()
     ADSB::VehicleInfo_t vehicleInfo;
     vehicleInfo.icaoAddress = 1;
     vehicleInfo.callsign = QStringLiteral("1");
-    vehicleInfo.location = QGeoCoordinate(1., 1.);
-    vehicleInfo.altitude = 1.;
+    vehicleInfo.location = QGeoCoordinate(1., 1., 1.);
     vehicleInfo.heading = 1.;
     vehicleInfo.alert = false;
     vehicleInfo.availableFlags = ADSB::LocationAvailable;