diff --git a/common/data_broker/src/DataBroker.cpp b/common/data_broker/src/DataBroker.cpp
index 5f571a360..61bbd1f9e 100644
--- a/common/data_broker/src/DataBroker.cpp
+++ b/common/data_broker/src/DataBroker.cpp
@@ -234,7 +234,7 @@ namespace mars {
             elementsLock.lockForRead();
             elementIt = elementsByName.find(std::make_pair(pendingIt->groupName,
                                                            pendingIt->dataName));
-            if(elementIt == elementsByName.end()) {
+            if(elementIt != elementsByName.end()) {
               DataElement *element = elementIt->second;
               TimedReceiver timedReceiver = {pendingIt->receiver, element,
                                              pendingIt->updatePeriod,
@@ -510,7 +510,8 @@ namespace mars {
       pendingRegistrationLock.lock();
       for(pendingIt = pendingTimedRegistrations.begin();
           pendingIt != pendingTimedRegistrations.end(); /* do nothing */) {
-        if((pendingIt->timerName == timerName) &&
+        if((pendingIt->receiver == receiver) &&
+           (pendingIt->timerName == timerName) &&
            matchPattern(groupName, pendingIt->groupName) &&
            matchPattern(dataName, pendingIt->dataName)) {
           pendingIt = pendingTimedRegistrations.erase(pendingIt);
diff --git a/common/graphics/osg_terrain/CMakeLists.txt b/common/graphics/osg_terrain/CMakeLists.txt
index 2f9b0c13a..8bb836db5 100644
--- a/common/graphics/osg_terrain/CMakeLists.txt
+++ b/common/graphics/osg_terrain/CMakeLists.txt
@@ -11,6 +11,16 @@ find_package(OpenSceneGraph REQUIRED  osgDB osgText osgUtil)
 include_directories(${OPENSCENEGRAPH_INCLUDE_DIRS})
 link_directories(${OPENSCENEGRAPH_LIBRARY_DIRS})
 
+if(WIN32)
+  # this fixes the error 998 from the LibManager
+  set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
+  set(CMAKE_MODULE_LINKER_FLAGS "-Wl,--enable-auto-import")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11")
+else(WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+endif(WIN32)
+
 set (CMAKE_REQUIRED_INCLUDES ${CMAKE_REQUIRED_INCLUDES} ${OPENSCENEGRAPH_INCLUDE_DIRS})
 CHECK_INCLUDE_FILE_CXX("osg/Version" HAVE_OSG_VERSION_H)
 if(${HAVE_OSG_VERSION_H})
diff --git a/sim/src/sensors/CameraSensor.cpp b/sim/src/sensors/CameraSensor.cpp
index b7d7cccca..06e485787 100644
--- a/sim/src/sensors/CameraSensor.cpp
+++ b/sim/src/sensors/CameraSensor.cpp
@@ -68,7 +68,7 @@ namespace mars {
 
       control->nodes->addNodeSensor(this);
       std::string groupName, dataName;
-      this->config.ori_offset = this->config.ori_offset * eulerToQuaternion(Vector(90,0,-90)); //All elements should be X Forwart looging to meet rock-convention, so i add this offset for all setting
+      //this->config.ori_offset = this->config.ori_offset * eulerToQuaternion(Vector(90,0,-90)); //All elements should be X Forwart looging to meet rock-convention, so i add this offset for all setting
 
       bool found = control->nodes->getDataBrokerNames(attached_node, &groupName, &dataName);
       assert(found);
@@ -330,7 +330,8 @@ namespace mars {
         // todo: use pos_offset here too
         Vector p = control->graphics->getDrawObjectPosition(draw_id);
         Quaternion qcorrect = Quaternion(0.5, 0.5, -0.5, -0.5);
-        Quaternion q = control->graphics->getDrawObjectQuaternion(draw_id) * qcorrect;
+        Quaternion q = control->graphics->getDrawObjectQuaternion(draw_id) * config.ori_offset * qcorrect;
+        p += (control->graphics->getDrawObjectQuaternion(draw_id) * config.pos_offset);
         gc->updateViewportQuat(p.x(), p.y(), p.z(),
                                q.x(), q.y(),
                                q.z(), q.w());