diff --git a/.gitignore b/.gitignore
index a2a99d8..d377e9b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
 *Makefile*
-./build
+build
 Info.plist
 obj
 *.log
@@ -16,3 +16,5 @@ qrc_*.cpp
 tmp
 debug
 release
+opengroundcontrol.xcodeproj/**
+
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..aab53d9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "MAVLink"]
+	path = MAVLink
+	url = git://github.com/pixhawk/mavlink.git
diff --git a/MAVLink b/MAVLink
new file mode 160000
index 0000000..92e5a9f
--- /dev/null
+++ b/MAVLink
@@ -0,0 +1 @@
+Subproject commit 92e5a9f5d7deafebe8f19f5f1462995f77cce300
diff --git a/lib/flite/mac32/libflite.a b/lib/flite/mac32/libflite.a
deleted file mode 100644
index 96c0483..0000000
Binary files a/lib/flite/mac32/libflite.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_time_awb.a b/lib/flite/mac32/libflite_cmu_time_awb.a
deleted file mode 100644
index d31668d..0000000
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diff --git a/lib/flite/mac32/libflite_cmu_us_awb.a b/lib/flite/mac32/libflite_cmu_us_awb.a
deleted file mode 100644
index d06d818..0000000
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diff --git a/lib/flite/mac32/libflite_cmu_us_kal.a b/lib/flite/mac32/libflite_cmu_us_kal.a
deleted file mode 100644
index c57fc96..0000000
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diff --git a/lib/flite/mac32/libflite_cmu_us_kal16.a b/lib/flite/mac32/libflite_cmu_us_kal16.a
deleted file mode 100644
index bb005e5..0000000
Binary files a/lib/flite/mac32/libflite_cmu_us_kal16.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_rms.a b/lib/flite/mac32/libflite_cmu_us_rms.a
deleted file mode 100644
index f3bf17f..0000000
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diff --git a/lib/flite/mac32/libflite_cmu_us_slt.a b/lib/flite/mac32/libflite_cmu_us_slt.a
deleted file mode 100644
index 0194867..0000000
Binary files a/lib/flite/mac32/libflite_cmu_us_slt.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmulex.a b/lib/flite/mac32/libflite_cmulex.a
deleted file mode 100644
index 9e727ee..0000000
Binary files a/lib/flite/mac32/libflite_cmulex.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_usenglish.a b/lib/flite/mac32/libflite_usenglish.a
deleted file mode 100644
index ff77da8..0000000
Binary files a/lib/flite/mac32/libflite_usenglish.a and /dev/null differ
diff --git a/mavground.pri b/mavground.pri
index 6deb73b..8a648b4 100644
--- a/mavground.pri
+++ b/mavground.pri
@@ -61,25 +61,19 @@ macx {
 
     message(Building for Mac OS X)
 
-    QT += phonon
-    
+	CONFIG += x86_64 cocoa
+	CONFIG -= static
+
     DESTDIR = $$BASEDIR/bin/mac
-    INCLUDEPATH += /opt/local/include/boost \
-                   /opt/local/include/SDL
-    
+    INCLUDEPATH += -framework SDL \
+		/Users/hugo/Projects/PixHawkGroundControl/MAVLink/src
+
     LIBS += -framework IOKit \
-        -L/opt/local/lib \
-        -L$$BASEDIR/lib/flite/mac32 \
-        -lm \
-        -lflite_cmu_us_awb \
-        -lflite_cmu_us_rms \
-        -lflite_cmu_us_slt \
-        -lflite_usenglish \
-        -lflite_cmulex \
-        -lflite \
-        -L/opt/local/lib/SDL \
-        -lSDL \
-        -lSDLmain
+		-framework SDL \
+		-framework CoreFoundation \
+		-framework ApplicationServices \
+        -lm
+
     DEFINES += _TTY_POSIX_
     
     #ICON = $$BASEDIR/img/icons/empty.png
diff --git a/mavground.pro b/mavground.pro
index 270e357..3032bcb 100644
--- a/mavground.pro
+++ b/mavground.pro
@@ -99,13 +99,7 @@ HEADERS += src/MG.h \
     src/ui/MAVLinkSettingsWidget.h \
     src/ui/AudioOutputWidget.h \
     src/AudioOutput.h \
-    src/LogCompressor.h \
-    src/comm/ViconTarsusProtocol.h \
-    src/comm/TarsusField.h \
-    src/comm/TarsusFieldDescriptor.h \
-    src/comm/TarsusFieldTriplet.h \
-    src/comm/TarsusRigidBody.h \
-    src/comm/TarsusStream.h
+    src/LogCompressor.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -150,6 +144,5 @@ SOURCES += src/main.cc \
     src/ui/MAVLinkSettingsWidget.cc \
     src/ui/AudioOutputWidget.cc \
     src/AudioOutput.cc \
-    src/LogCompressor.cc \
-    src/comm/ViconTarsusProtocol.cc
+    src/LogCompressor.cc
 RESOURCES = mavground.qrc
diff --git a/src/AudioOutput.cc b/src/AudioOutput.cc
index c725c57..7f0630b 100644
--- a/src/AudioOutput.cc
+++ b/src/AudioOutput.cc
@@ -1,11 +1,16 @@
 #include "AudioOutput.h"
-#include <flite.h>
 
-#include <phonon/mediaobject.h>
-#include <QTemporaryFile>
+#ifndef Q_OS_MAC
+	#include <flite.h>
+	#include <phonon/mediaobject.h>
+	#include <QTemporaryFile>
+#else
+	#include <ApplicationServices/ApplicationServices.h>
+#endif
 
 #include <QDebug>
 
+#ifndef Q_OS_MAC
 extern "C" {
 #include <cmu_us_awb/voxdefs.h>
     //#include <cmu_us_slt/voxdefs.h>
@@ -18,12 +23,13 @@ extern "C" {
     cst_voice *register_cmu_us_rms(const char *voxdir);
     void unregister_cmu_us_rms(cst_voice *vox);
 };
+#endif
 
 AudioOutput::AudioOutput(QString voice, QObject* parent) : QObject(parent),
 voice(NULL),
 voiceIndex(0)
 {
-#ifndef _WIN32
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     flite_init();
 #endif
 
@@ -63,7 +69,12 @@ voiceIndex(0)
 bool AudioOutput::say(QString text, int severity)
 {
     // Only give speech output on Linux and MacOS
-#ifndef _WIN32
+#if defined(Q_OS_WIN32)
+    qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
+#elif defined(Q_OS_MAC)
+	SpeakString((const unsigned char*)text.toAscii().data());
+	qDebug() << "Synthesized: " << text;
+#else
     QTemporaryFile file;
     file.setFileTemplate("XXXXXX.wav");
     if (file.open())
@@ -77,8 +88,6 @@ bool AudioOutput::say(QString text, int severity)
         music->play();
         qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
     }
-#else
-    qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
 #endif
     return true;
 }
@@ -103,14 +112,14 @@ bool AudioOutput::stopEmergency()
 
 void AudioOutput::selectFemaleVoice()
 {
-#ifndef _WIN32
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     this->voice = register_cmu_us_slt(NULL);
 #endif
 }
 
 void AudioOutput::selectMaleVoice()
 {
-#ifndef _WIN32
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     this->voice = register_cmu_us_rms(NULL);
 #endif
 }
@@ -118,7 +127,7 @@ void AudioOutput::selectMaleVoice()
 
 void AudioOutput::selectNeutralVoice()
 {
-#ifndef _WIN32
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     this->voice = register_cmu_us_awb(NULL);
 #endif
 }
@@ -134,7 +143,7 @@ extern "C" {
         const cst_val *v;
         QStringList l;
 
-#ifndef _WIN32
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
         /*
         printf("Voices available: ");
         for (v=flite_voice_list; v; v=val_cdr(v))
diff --git a/src/Core.cc b/src/Core.cc
index 421287c..9cef49f 100644
--- a/src/Core.cc
+++ b/src/Core.cc
@@ -69,7 +69,7 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
     QFontDatabase fontDatabase = QFontDatabase();
     const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
     const QString fontFamilyName = "Bitstream Vera Sans";
-    if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!", fontFileName);
+    if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toAscii().data());
     fontDatabase.addApplicationFont(fontFileName);
     setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
 
@@ -90,9 +90,6 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
     AudioOutput* audio = new AudioOutput();
     audio->say("Ground Control Station started", 1);
 
-    tarsus = new ViconTarsusProtocol();
-    tarsus->start();
-
     // Start the user interface
     splashScreen->showMessage(tr("Starting User Interface"));
     startUI();
diff --git a/src/Core.h b/src/Core.h
index 711684d..74779d9 100644
--- a/src/Core.h
+++ b/src/Core.h
@@ -38,7 +38,6 @@ This file is part of the PIXHAWK project
 #include "MainWindow.h"
 #include "UASManager.h"
 #include "LinkManager.h"
-#include "ViconTarsusProtocol.h"
 
 /**
  * @brief The main application and management class.
@@ -69,8 +68,6 @@ protected:
 
 private:
 	MGMainWindow* mainWindow;
-        ViconTarsusProtocol* tarsus;
-
 };
 
 #endif // _MGCORE_H_
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index b4b4468..14ee34c 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -35,7 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QThread>
 #include <QList>
-#include <SDL.h>
+#include <SDL/SDL.h>
 
 #include "UASInterface.h"
 
diff --git a/src/main.cc b/src/main.cc
index 7f10d9a..16c0118 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -33,6 +33,11 @@ This file is part of the PIXHAWK project
 #include "MainWindow.h"
 #include "configuration.h"
 
+/* SDL does ugly things to main() */
+#ifdef main
+#	undef main
+#endif
+
 /**
  * @brief Starts the application
  *