diff --git a/doc/README b/doc/README
index a132a0d..2d87557 100644
--- a/doc/README
+++ b/doc/README
@@ -1,7 +1,7 @@
-Linux/Mac OS X
-==============
-To install doxygen: 
-$sudo apt-get install doxygen
+Mac OS X
+========
+To install doxygen and dot: 
+brew install doxygen dot
 
 doxyqml:
 https://github.com/agateau/doxyqml
@@ -10,5 +10,5 @@ $sudo pip3 install doxyqml
 Then to generate the html, run the following code while you are in the qgroundcontrol/doc directory:
 $doxygen Doxyfile
 
-The html file index.html should be in doc/html unless you chenged the output directory. 
+The html file index.html should be in doc/html. 
 
diff --git a/doc/graphs.graffle b/doc/graphs.graffle
index 70054f9..c5fbe21 100644
Binary files a/doc/graphs.graffle and b/doc/graphs.graffle differ
diff --git a/doc/links.svg b/doc/links.svg
index d08d6db..6e9b498 100644
--- a/doc/links.svg
+++ b/doc/links.svg
@@ -1,8 +1,8 @@
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       </font-face-src>
     </font-face>
-    <linearGradient id="Obj_Gradient_2" xl:href="#Gradient" gradientTransform="translate(150.75 274.5) rotate(90) scale(90)"/>
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     <font-face font-family="Helvetica Neue" font-size="12" panose-1="2 0 5 3 0 0 0 2 0 4" units-per-em="1000" underline-position="-100" underline-thickness="50" slope="0" x-height="517" cap-height="714" ascent="951.9958" descent="-212.99744" font-weight="400">
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+      <g>
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new file mode 100644
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diff --git a/doc/qgroundcontrol.md b/doc/qgroundcontrol.md
index 9035770..d381c73 100644
--- a/doc/qgroundcontrol.md
+++ b/doc/qgroundcontrol.md
@@ -1,5 +1,11 @@
 QGroundControl Architecture Documentation {#mainpage}
 =========================================
 
+#### High Level Diagram
+
+<div align="center">
+<img src="../qgcmain.svg" style="width:80%; height=auto;">
+</div>
+
 * [Link Management](links.md)
 * [Vehicle Management](vehicleMgmt.md)
diff --git a/doc/vehicleMgmt.md b/doc/vehicleMgmt.md
index c3bbc9c..68be935 100644
--- a/doc/vehicleMgmt.md
+++ b/doc/vehicleMgmt.md
@@ -7,7 +7,7 @@ it emits MAVLinkProcotol::vehicleHeartbeatInfo signals.
 The singleton MultiVehicleManager is responsible for creating and maintaining instances of the Vehicle class. When it receives a MAVLinkProcotol::vehicleHeartbeatInfo
 signal for the first time, it creates a vehicle instance, recording the vehicle ID and the link used. 
 
-The Vehicle class holds all the functionality to handle vehicles. It receives all messages sent from the vehicle and manage all messages and commands to that vehicle.
+The Vehicle class holds all the functionality to handle vehicles. It receives all messages sent from the vehicle and manages all messages and commands to that vehicle.
 
 <div align="center">
 <img src="../vehicleMgmt.svg" style="width:80%; height=auto;">
diff --git a/doc/vehicleMgmt.svg b/doc/vehicleMgmt.svg
index 5e84a2f..657b511 100644
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+++ b/doc/vehicleMgmt.svg
@@ -1,8 +1,8 @@
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