diff --git a/CodingStyle.h b/CodingStyle.h
index ff59d4dc0da90d7c37b7ff2c547ee3833f35c198..2fe6dbb2566e9b4c226844ea215916792fdf3f8c 100644
--- a/CodingStyle.h
+++ b/CodingStyle.h
@@ -11,8 +11,7 @@
 // coding style. In general almost everything in here has some coding style meaning.
 // Not all style choices are explained.
 
-#ifndef CodingStyle_H
-#define CodingStyle_H
+#pragma once
 
 #include <QObject>
 #include <QMap>
@@ -79,5 +78,3 @@ private:
     
     static const int _privateStaticVariable;
 };
-
-#endif
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index affa0fa78df13b2ffc9d7375482a5905ac04e592..e510233a37bcd317a795d85c8c6fc7a3bae77569 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1546,10 +1546,9 @@ void MissionController::_managerVehicleHomePositionChanged(const QGeoCoordinate&
         } else {
             qWarning() << "First item is not MissionSettingsItem";
         }
-        if (_visualItems->count() == 1) {
-            // Don't let this trip the dirty bit
-            _visualItems->setDirty(false);
-        }
+        // Don't let this trip the dirty bit. Otherwise plan will keep getting marked dirty if vehicle home
+        // changes.
+        _visualItems->setDirty(false);
     }
 }
 
diff --git a/src/MissionManager/SurveyMissionItem.cc b/src/MissionManager/SurveyMissionItem.cc
index 94ca5ae298169ffeefb0f5900c79a9abcd3c34ab..367fa865cecb8b644fff7fc028c8c0ac64342cc5 100644
--- a/src/MissionManager/SurveyMissionItem.cc
+++ b/src/MissionManager/SurveyMissionItem.cc
@@ -116,7 +116,8 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
     // If the user hasn't changed turnaround from the default (which is a fixed wing default) and we are multi-rotor set the multi-rotor default.
     // NULL check since object creation during unit testing passes NULL for vehicle
     if (_vehicle && _vehicle->multiRotor() && _turnaroundDistFact.rawValue().toDouble() == _turnaroundDistFact.rawDefaultValue().toDouble()) {
-        _turnaroundDistFact.setRawValue(5);
+        // Note this is set to 10 meters to work around a problem with PX4 Pro turnaround behavior. Don't change unless firmware gets better as well.
+        _turnaroundDistFact.setRawValue(10);
     }
 
     // We override the grid altitude to the mission default
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index e0cbe6912969c6586b0a917601a6e6c2d8c74c3c..3ab4b2a8d8d47937925d32e97df67f41f8067512 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -678,6 +678,8 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         break;
     }
 
+    // This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else
+    // does processing.
     emit mavlinkMessageReceived(message);
 
     _uas->receiveMessage(message);
diff --git a/src/audio/QGCAudioWorkerTest.cc b/src/audio/QGCAudioWorkerTest.cc
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e6b0148f2a8b6cb1347964dc8c5262d35332f
--- /dev/null
+++ b/src/audio/QGCAudioWorkerTest.cc
@@ -0,0 +1,32 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "QGCAudioWorkerTest.h"
+#include "QGCAudioWorker.h"
+
+QGCAudioWorkerTest::QGCAudioWorkerTest(void)
+{
+
+}
+
+void QGCAudioWorkerTest::_testSpokenReplacements(void)
+{
+    QString result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("-10.5m, -10.5m. -10.5 m"));
+    QCOMPARE(result, QStringLiteral(" negative 10.5 meters,  negative 10.5 meters.  negative 10.5  meters"));
+    result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("-10m -10 m"));
+    QCOMPARE(result, QStringLiteral(" negative 10 meters  negative 10  meters"));
+    result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("foo -10m -10 m bar"));
+    QCOMPARE(result, QStringLiteral("foo  negative 10 meters  negative 10  meters bar"));
+    result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("-foom"));
+    QCOMPARE(result, QStringLiteral("-foom"));
+    result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("10 moo"));
+    QCOMPARE(result, QStringLiteral("10 moo"));
+    result = QGCAudioWorker::fixTextMessageForAudio(QStringLiteral("10moo"));
+    QCOMPARE(result, QStringLiteral("10moo"));
+}
diff --git a/src/audio/QGCAudioWorkerTest.h b/src/audio/QGCAudioWorkerTest.h
new file mode 100644
index 0000000000000000000000000000000000000000..b0432e2e7a0eda70765acda9730f34502824ded5
--- /dev/null
+++ b/src/audio/QGCAudioWorkerTest.h
@@ -0,0 +1,23 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UnitTest.h"
+
+class QGCAudioWorkerTest : public UnitTest
+{
+    Q_OBJECT
+
+public:
+    QGCAudioWorkerTest(void);
+
+private slots:
+    void _testSpokenReplacements(void);
+};
diff --git a/src/qgcunittest/UnitTestList.cc b/src/qgcunittest/UnitTestList.cc
index 8e395b980ba756dd115c6f76b89fbe3fe2c382bd..2a4bee03d0a538541823df4f13e190404495dec4 100644
--- a/src/qgcunittest/UnitTestList.cc
+++ b/src/qgcunittest/UnitTestList.cc
@@ -39,6 +39,11 @@
 #include "MissionSettingsTest.h"
 #include "QGCMapPolygonTest.h"
 
+#if 0
+// Temporarily disabled until I move some stuff from Stable to master
+#include "QGCAudioWorkerTest.h"
+#endif
+
 UT_REGISTER_TEST(FactSystemTestGeneric)
 UT_REGISTER_TEST(FactSystemTestPX4)
 UT_REGISTER_TEST(FileDialogTest)
@@ -63,6 +68,10 @@ UT_REGISTER_TEST(SpeedSectionTest)
 UT_REGISTER_TEST(PlanMasterControllerTest)
 UT_REGISTER_TEST(MissionSettingsTest)
 UT_REGISTER_TEST(QGCMapPolygonTest)
+#if 0
+// Temporarily disabled until I move some stuff from Stable to master
+UT_REGISTER_TEST(QGCAudioWorkerTest)
+#endif
 
 // List of unit test which are currently disabled.
 // If disabling a new test, include reason in comment.