diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 74b6dc98c1f3e73149888e4adf795b03a4dea4d2..fd8501cb9efecb43568262e6ed34727385d250fb 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -262,6 +262,7 @@ HEADERS += \
     src/HomePositionManager.h \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
+    src/VehicleSetup/JoystickConfigController.h \
     src/FollowMe/FollowMe.h \
     src/PositionManager/SimulatedPosition.h \
     src/JsonHelper.h \
@@ -309,6 +310,10 @@ HEADERS += \
     src/QtLocationPlugin/QMLControl/QGCMapEngineManager.h \
     src/PositionManager/PositionManager.h
 
+AndroidBuild {
+HEADERS += \
+}
+
 DebugBuild {
 HEADERS += \
     src/comm/MockLink.h \
@@ -341,6 +346,7 @@ HEADERS += \
     src/comm/QGCHilLink.h \
     src/comm/QGCJSBSimLink.h \
     src/comm/QGCXPlaneLink.h \
+    src/Joystick/JoystickSDL.h \
     src/QGCFileDialog.h \
     src/QGCMessageBox.h \
     src/uas/FileManager.h \
@@ -385,7 +391,6 @@ HEADERS += \
     src/GPS/GPSManager.h \
     src/GPS/GPSPositionMessage.h \
     src/GPS/GPSProvider.h \
-    src/VehicleSetup/JoystickConfigController.h \
     src/ViewWidgets/CustomCommandWidget.h \
     src/ViewWidgets/CustomCommandWidgetController.h \
     src/ViewWidgets/LogDownload.h \
@@ -398,6 +403,7 @@ iOSBuild {
         src/audio/QGCAudioWorker_iOS.mm \
         src/MobileScreenMgr.mm \
 }
+
 AndroidBuild {
     SOURCES += src/MobileScreenMgr.cc \
 }
@@ -418,6 +424,7 @@ SOURCES += \
     src/HomePositionManager.cc \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
+    src/VehicleSetup/JoystickConfigController.cc \
     src/JsonHelper.cc \
     src/FollowMe/FollowMe.cc \
     src/LogCompressor.cc \
@@ -495,6 +502,7 @@ SOURCES += \
     src/comm/QGCFlightGearLink.cc \
     src/comm/QGCJSBSimLink.cc \
     src/comm/QGCXPlaneLink.cc \
+    src/Joystick/JoystickSDL.cc \
     src/ui/HILDockWidget.cc \
     src/ui/linechart/ChartPlot.cc \
     src/ui/linechart/IncrementalPlot.cc \
@@ -525,7 +533,6 @@ SOURCES += \
     src/GPS/RTCM/RTCMMavlink.cc \
     src/GPS/GPSManager.cc \
     src/GPS/GPSProvider.cc \
-    src/VehicleSetup/JoystickConfigController.cc \
     src/ViewWidgets/CustomCommandWidget.cc \
     src/ViewWidgets/CustomCommandWidgetController.cc \
     src/ViewWidgets/LogDownload.cc \
diff --git a/src/GPS/Drivers b/src/GPS/Drivers
index 60739aaace1723c700f23b22212696dc75169559..5c1ae956552c3887c5fddd303a8f242efa715333 160000
--- a/src/GPS/Drivers
+++ b/src/GPS/Drivers
@@ -1 +1 @@
-Subproject commit 60739aaace1723c700f23b22212696dc75169559
+Subproject commit 5c1ae956552c3887c5fddd303a8f242efa715333
diff --git a/src/GPS/GPSProvider.cc b/src/GPS/GPSProvider.cc
index 44121945a014a1d06e3163f7683e96fde44f0295..f8c836b489f3ae9551d83ceb4b483b8b93fe57ff 100644
--- a/src/GPS/GPSProvider.cc
+++ b/src/GPS/GPSProvider.cc
@@ -18,9 +18,25 @@
 #include "Drivers/src/gps_helper.h"
 #include "definitions.h"
 
+//#define SIMULATE_RTCM_OUTPUT //if defined, generate simulated RTCM messages
+                               //additionally make sure to call connectGPS(""), eg. from QGCToolbox.cc
+
 
 void GPSProvider::run()
 {
+#ifdef SIMULATE_RTCM_OUTPUT
+        const int fakeMsgLengths[3] = { 30, 170, 240 };
+        uint8_t* fakeData = new uint8_t[fakeMsgLengths[2]];
+        while (!_requestStop) {
+            for (int i = 0; i < 3; ++i) {
+                gotRTCMData((uint8_t*) fakeData, fakeMsgLengths[i]);
+                msleep(4);
+            }
+            msleep(100);
+        }
+        delete[] fakeData;
+#endif /* SIMULATE_RTCM_OUTPUT */
+
     if (_serial) delete _serial;
 
     _serial = new QSerialPort();
@@ -125,10 +141,11 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
 {
     switch (type) {
         case GPSCallbackType::readDeviceData: {
-            int timeout = *((int *) data1);
-            if (!_serial->waitForReadyRead(timeout))
-                return 0; //timeout
-            msleep(10); //give some more time to buffer data
+            if (_serial->bytesAvailable() == 0) {
+                int timeout = *((int *) data1);
+                if (!_serial->waitForReadyRead(timeout))
+                    return 0; //timeout
+            }
             return (int)_serial->read((char*) data1, data2);
         }
         case GPSCallbackType::writeDeviceData:
diff --git a/src/GPS/RTCM/RTCMMavlink.cc b/src/GPS/RTCM/RTCMMavlink.cc
index 87b0d23aad95f39ff55f9403c7f4efa139696ebd..3b570d5382ea9ae990b010304cd98b430fefb9e1 100644
--- a/src/GPS/RTCM/RTCMMavlink.cc
+++ b/src/GPS/RTCM/RTCMMavlink.cc
@@ -11,7 +11,6 @@
 #include "RTCMMavlink.h"
 
 #include "MultiVehicleManager.h"
-#include "MAVLinkProtocol.h"
 #include "Vehicle.h"
 
 #include <cstdio>
@@ -24,8 +23,6 @@ RTCMMavlink::RTCMMavlink(QGCToolbox& toolbox)
 
 void RTCMMavlink::RTCMDataUpdate(QByteArray message)
 {
-    Q_ASSERT(message.size() <= 110); //mavlink message uses a fixed-size buffer
-
     /* statistics */
     _bandwidthByteCounter += message.size();
     qint64 elapsed = _bandwidthTimer.elapsed();
@@ -34,19 +31,38 @@ void RTCMMavlink::RTCMDataUpdate(QByteArray message)
         _bandwidthTimer.restart();
         _bandwidthByteCounter = 0;
     }
-    QmlObjectListModel& vehicles = *_toolbox.multiVehicleManager()->vehicles();
-    MAVLinkProtocol* mavlinkProtocol = _toolbox.mavlinkProtocol();
-    mavlink_gps_inject_data_t mavlinkRtcmData;
-    memset(&mavlinkRtcmData, 0, sizeof(mavlink_gps_inject_data_t));
 
-    mavlinkRtcmData.len = message.size();
-    memcpy(&mavlinkRtcmData.data, message.data(), message.size());
+    const int maxMessageLength = MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN;
+    mavlink_gps_rtcm_data_t mavlinkRtcmData;
+    memset(&mavlinkRtcmData, 0, sizeof(mavlink_gps_rtcm_data_t));
 
+    if (message.size() < maxMessageLength) {
+        mavlinkRtcmData.len = message.size();
+        memcpy(&mavlinkRtcmData.data, message.data(), message.size());
+        sendMessageToVehicle(mavlinkRtcmData);
+    } else {
+        //we need to fragment
+        int start = 0;
+        while (start < message.size()) {
+            int length = std::min(message.size() - start, maxMessageLength);
+            mavlinkRtcmData.flags = 1; //fragmented
+            mavlinkRtcmData.len = length;
+            memcpy(&mavlinkRtcmData.data, message.data() + start, length);
+            sendMessageToVehicle(mavlinkRtcmData);
+            start += length;
+        }
+    }
+}
+
+void RTCMMavlink::sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg)
+{
+    QmlObjectListModel& vehicles = *_toolbox.multiVehicleManager()->vehicles();
+    MAVLinkProtocol* mavlinkProtocol = _toolbox.mavlinkProtocol();
     for (int i = 0; i < vehicles.count(); i++) {
         Vehicle* vehicle = qobject_cast<Vehicle*>(vehicles[i]);
         mavlink_message_t message;
-        mavlink_msg_gps_inject_data_encode(mavlinkProtocol->getSystemId(),
-                mavlinkProtocol->getComponentId(), &message, &mavlinkRtcmData);
+        mavlink_msg_gps_rtcm_data_encode(mavlinkProtocol->getSystemId(),
+                mavlinkProtocol->getComponentId(), &message, &msg);
         vehicle->sendMessage(message);
     }
 }
diff --git a/src/GPS/RTCM/RTCMMavlink.h b/src/GPS/RTCM/RTCMMavlink.h
index be780f4d75c30e35706d59f059d04e50e5ab88bc..6c59974e38809e2f72f0b6c9d97d9946ff01cd89 100644
--- a/src/GPS/RTCM/RTCMMavlink.h
+++ b/src/GPS/RTCM/RTCMMavlink.h
@@ -14,6 +14,7 @@
 #include <QElapsedTimer>
 
 #include "QGCToolbox.h"
+#include "MAVLinkProtocol.h"
 
 /**
  ** class RTCMMavlink
@@ -30,6 +31,8 @@ public slots:
     void RTCMDataUpdate(QByteArray message);
 
 private:
+    void sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg);
+
     QGCToolbox& _toolbox;
     QElapsedTimer _bandwidthTimer;
     int _bandwidthByteCounter = 0;
diff --git a/src/GPS/definitions.h b/src/GPS/definitions.h
index b28351e3e5d1529495aabca0d76de981e4f27b62..ca655d0b79ea621a8698952941a53e32ce4887be 100644
--- a/src/GPS/definitions.h
+++ b/src/GPS/definitions.h
@@ -41,6 +41,8 @@
 
 #include <QtGlobal>
 
+#define GPS_READ_BUFFER_SIZE 1024
+
 #define GPS_INFO(...) qInfo(__VA_ARGS__)
 #define GPS_WARN(...) qWarning(__VA_ARGS__)
 #define GPS_ERR(...) qCritical(__VA_ARGS__)
@@ -59,7 +61,9 @@ public:
     static void usleep(unsigned long usecs) { QThread::usleep(usecs); }
 };
 
-#define usleep Sleeper::usleep
+static inline void usleep(unsigned long usecs) {
+    Sleeper::usleep(usecs);
+}
 
 
 typedef uint64_t gps_abstime;
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 36d5d17a77d07b90260b78897467cee66625878b..9492dbed8304d27611cbf5f190af364afbe74695 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -15,14 +15,6 @@
 
 #include <QSettings>
 
-#ifndef __mobile__
-    #ifdef Q_OS_MAC
-        #include <SDL.h>
-    #else
-        #include <SDL/SDL.h>
-    #endif
-#endif
-
 QGC_LOGGING_CATEGORY(JoystickLog, "JoystickLog")
 QGC_LOGGING_CATEGORY(JoystickValuesLog, "JoystickValuesLog")
 
@@ -38,10 +30,8 @@ const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "ThrottleAxis"
 };
 
-Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex, MultiVehicleManager* multiVehicleManager)
-#ifndef __mobile__
-    : _sdlIndex(sdlIndex)
-    , _exitThread(false)
+Joystick::Joystick(const QString& name, int axisCount, int buttonCount, MultiVehicleManager* multiVehicleManager)
+    : _exitThread(false)
     , _name(name)
     , _axisCount(axisCount)
     , _buttonCount(buttonCount)
@@ -55,15 +45,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     , _activeVehicle(NULL)
     , _pollingStartedForCalibration(false)
     , _multiVehicleManager(multiVehicleManager)
-#endif // __mobile__
 {
-#ifdef __mobile__
-    Q_UNUSED(name)
-    Q_UNUSED(axisCount)
-    Q_UNUSED(buttonCount)
-    Q_UNUSED(sdlIndex)
-    Q_UNUSED(multiVehicleManager)
-#else
     _rgAxisValues = new int[_axisCount];
     _rgCalibration = new Calibration_t[_axisCount];
     _rgButtonValues = new bool[_buttonCount];
@@ -77,21 +59,16 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int sdlI
     }
     
     _loadSettings();
-#endif // __mobile__
 }
 
 Joystick::~Joystick()
 {
-#ifndef __mobile__
     delete _rgAxisValues;
     delete _rgCalibration;
     delete _rgButtonValues;
     delete _rgButtonActions;
-#endif
 }
 
-#ifndef __mobile__
-
 void Joystick::_loadSettings(void)
 {
     QSettings   settings;
@@ -244,19 +221,14 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
 
 void Joystick::run(void)
 {
-    SDL_Joystick* sdlJoystick = SDL_JoystickOpen(_sdlIndex);
-    
-    if (!sdlJoystick) {
-        qCWarning(JoystickLog) << "SDL_JoystickOpen failed:" << SDL_GetError();
-        return;
-    }
+    _open();
     
     while (!_exitThread) {
-        SDL_JoystickUpdate();
+    _update();
 
         // Update axes
         for (int axisIndex=0; axisIndex<_axisCount; axisIndex++) {
-            int newAxisValue = SDL_JoystickGetAxis(sdlJoystick, axisIndex);
+            int newAxisValue = _getAxis(axisIndex);
             // Calibration code requires signal to be emitted even if value hasn't changed
             _rgAxisValues[axisIndex] = newAxisValue;
             emit rawAxisValueChanged(axisIndex, newAxisValue);
@@ -264,7 +236,7 @@ void Joystick::run(void)
         
         // Update buttons
         for (int buttonIndex=0; buttonIndex<_buttonCount; buttonIndex++) {
-            bool newButtonValue = !!SDL_JoystickGetButton(sdlJoystick, buttonIndex);
+            bool newButtonValue = _getButton(buttonIndex);
             if (newButtonValue != _rgButtonValues[buttonIndex]) {
                 _rgButtonValues[buttonIndex] = newButtonValue;
                 emit rawButtonPressedChanged(buttonIndex, newButtonValue);
@@ -349,7 +321,7 @@ void Joystick::run(void)
         QGC::SLEEP::msleep(40);
     }
     
-    SDL_JoystickClose(sdlJoystick);
+    _close();
 }
 
 void Joystick::startPolling(Vehicle* vehicle)
@@ -566,4 +538,3 @@ bool Joystick::_validButton(int button)
     return button >= 0 && button < _buttonCount;
 }
 
-#endif // __mobile__
diff --git a/src/Joystick/Joystick.h b/src/Joystick/Joystick.h
index 2ad575c61c1aa28f8c81e3fbbb358c4c69b13bc2..c4a100804a721c929bb5646cb7151e50d55852f9 100644
--- a/src/Joystick/Joystick.h
+++ b/src/Joystick/Joystick.h
@@ -26,9 +26,9 @@ class Joystick : public QThread
     Q_OBJECT
     
 public:
-    Joystick(const QString& name, int axisCount, int buttonCount, int sdlIndex, MultiVehicleManager* multiVehicleManager);
+    Joystick(const QString& name, int axisCount, int buttonCount, MultiVehicleManager* multiVehicleManager);
     ~Joystick();
-    
+
     typedef struct {
         int     min;
         int     max;
@@ -50,7 +50,6 @@ public:
         ThrottleModeMax
     } ThrottleMode_t;
     
-#ifndef __mobile__
     Q_PROPERTY(QString name READ name CONSTANT)
     
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
@@ -124,7 +123,7 @@ signals:
     
     void buttonActionTriggered(int action);
     
-private:
+protected:
     void _saveSettings(void);
     void _loadSettings(void);
     float _adjustRange(int value, Calibration_t calibration);
@@ -132,11 +131,18 @@ private:
     bool _validAxis(int axis);
     bool _validButton(int button);
 
+private:
+    virtual bool _open() = 0;
+    virtual void _close() = 0;
+    virtual bool _update() = 0;
+
+    virtual bool _getButton(int i) = 0;
+    virtual int _getAxis(int i) = 0;
+
     // Override from QThread
     virtual void run(void);
 
-private:
-    int     _sdlIndex;      ///< Index for SDL_JoystickOpen
+protected:
     
     bool    _exitThread;    ///< true: signal thread to exit
     
@@ -161,7 +167,6 @@ private:
     bool                _pollingStartedForCalibration;
 
     MultiVehicleManager*    _multiVehicleManager;
-#endif // __mobile__
     
 private:
     static const char*  _rgFunctionSettingsKey[maxFunction];
diff --git a/src/Joystick/JoystickManager.cc b/src/Joystick/JoystickManager.cc
index 9bfc3dc6bd040012151a8e1bc58207d9fe1008c0..1ef0fc607b73b83326bf5724f84f91958aa2214a 100644
--- a/src/Joystick/JoystickManager.cc
+++ b/src/Joystick/JoystickManager.cc
@@ -14,11 +14,15 @@
 #include <QQmlEngine>
 
 #ifndef __mobile__
-    #ifdef Q_OS_MAC
-        #include <SDL.h>
-    #else
-        #include <SDL/SDL.h>
-    #endif
+    #include "JoystickSDL.h"
+    #define __sdljoystick__
+#endif
+
+#ifdef __android__
+    /*
+     * Android Joystick not yet supported
+     * #include "JoystickAndroid.h"
+     */
 #endif
 
 QGC_LOGGING_CATEGORY(JoystickManagerLog, "JoystickManagerLog")
@@ -31,7 +35,15 @@ JoystickManager::JoystickManager(QGCApplication* app)
     , _activeJoystick(NULL)
     , _multiVehicleManager(NULL)
 {
-    
+}
+
+JoystickManager::~JoystickManager() {
+    QMap<QString, Joystick*>::iterator i;
+    for (i = _name2JoystickMap.begin(); i != _name2JoystickMap.end(); ++i) {
+        qDebug() << "Releasing joystick:" << i.key();
+        delete i.value();
+    }
+    qDebug() << "Done";
 }
 
 void JoystickManager::setToolbox(QGCToolbox *toolbox)
@@ -42,33 +54,13 @@ void JoystickManager::setToolbox(QGCToolbox *toolbox)
 
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 
-#ifndef __mobile__
-    if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
-        qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
-        return;
-    }
-
-    // Load available joysticks
-
-    qCDebug(JoystickManagerLog) << "Available joysticks";
-
-    for (int i=0; i<SDL_NumJoysticks(); i++) {
-        QString name = SDL_JoystickName(i);
-
-        if (!_name2JoystickMap.contains(name)) {
-            int axisCount, buttonCount;
-
-            SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
-            axisCount = SDL_JoystickNumAxes(sdlJoystick);
-            buttonCount = SDL_JoystickNumButtons(sdlJoystick);
-            SDL_JoystickClose(sdlJoystick);
-
-            qCDebug(JoystickManagerLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount;
-            _name2JoystickMap[name] = new Joystick(name, axisCount, buttonCount, i, _multiVehicleManager);
-        } else {
-            qCDebug(JoystickManagerLog) << "\tSkipping duplicate" << name;
-        }
-    }
+#ifdef __sdljoystick__
+    _name2JoystickMap = JoystickSDL::discover(_multiVehicleManager);
+#elif defined(__android__)
+    /*
+     * Android Joystick not yet supported
+     * _name2JoystickMap = JoystickAndroid::discover(_multiVehicleManager);
+     */
 #endif
 
     if (!_name2JoystickMap.count()) {
@@ -79,10 +71,8 @@ void JoystickManager::setToolbox(QGCToolbox *toolbox)
     _setActiveJoystickFromSettings();
 }
 
-
 void JoystickManager::_setActiveJoystickFromSettings(void)
 {
-#ifndef __mobile__
     QSettings settings;
     
     settings.beginGroup(_settingsGroup);
@@ -94,7 +84,6 @@ void JoystickManager::_setActiveJoystickFromSettings(void)
     
     setActiveJoystick(_name2JoystickMap.value(name, _name2JoystickMap.first()));
     settings.setValue(_settingsKeyActiveJoystick, _activeJoystick->name());
-#endif
 }
 
 Joystick* JoystickManager::activeJoystick(void)
@@ -104,9 +93,6 @@ Joystick* JoystickManager::activeJoystick(void)
 
 void JoystickManager::setActiveJoystick(Joystick* joystick)
 {
-#ifdef __mobile__
-    Q_UNUSED(joystick)
-#else
     QSettings settings;
     
     if (!_name2JoystickMap.contains(joystick->name())) {
@@ -125,7 +111,6 @@ void JoystickManager::setActiveJoystick(Joystick* joystick)
     
     emit activeJoystickChanged(_activeJoystick);
     emit activeJoystickNameChanged(_activeJoystick->name());
-#endif
 }
 
 QVariantList JoystickManager::joysticks(void)
@@ -146,11 +131,7 @@ QStringList JoystickManager::joystickNames(void)
 
 QString JoystickManager::activeJoystickName(void)
 {
-#ifdef __mobile__
-    return QString();
-#else
     return _activeJoystick ? _activeJoystick->name() : QString();
-#endif
 }
 
 void JoystickManager::setActiveJoystickName(const QString& name)
diff --git a/src/Joystick/JoystickManager.h b/src/Joystick/JoystickManager.h
index abebc50204b994c26cbb3a4249d230c713ff7718..96f22f80b923514544fdd3f2224e36f25130f363 100644
--- a/src/Joystick/JoystickManager.h
+++ b/src/Joystick/JoystickManager.h
@@ -28,6 +28,7 @@ class JoystickManager : public QGCTool
     
 public:
     JoystickManager(QGCApplication* app);
+    ~JoystickManager();
 
     /// List of available joysticks
     Q_PROPERTY(QVariantList joysticks READ joysticks CONSTANT)
diff --git a/src/Joystick/JoystickSDL.cc b/src/Joystick/JoystickSDL.cc
new file mode 100644
index 0000000000000000000000000000000000000000..14bdd0cf6a5031e71d8a7a065aae4adcca139a4d
--- /dev/null
+++ b/src/Joystick/JoystickSDL.cc
@@ -0,0 +1,73 @@
+#include "JoystickSDL.h"
+
+#include "QGCApplication.h"
+
+#include <QQmlEngine>
+
+JoystickSDL::JoystickSDL(const QString& name, int axisCount, int buttonCount, int index, MultiVehicleManager* multiVehicleManager)
+    : Joystick(name,axisCount,buttonCount,multiVehicleManager)
+    , _index(index)
+{
+}
+
+QMap<QString, Joystick*> JoystickSDL::discover(MultiVehicleManager* _multiVehicleManager) {
+    static QMap<QString, Joystick*> ret;
+
+    if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0) {
+        qWarning() << "Couldn't initialize SimpleDirectMediaLayer:" << SDL_GetError();
+        return ret;
+    }
+
+    // Load available joysticks
+
+    qCDebug(JoystickLog) << "Available joysticks";
+
+    for (int i=0; i<SDL_NumJoysticks(); i++) {
+        QString name = SDL_JoystickName(i);
+
+        if (!ret.contains(name)) {
+            int axisCount, buttonCount;
+
+            SDL_Joystick* sdlJoystick = SDL_JoystickOpen(i);
+            axisCount = SDL_JoystickNumAxes(sdlJoystick);
+            buttonCount = SDL_JoystickNumButtons(sdlJoystick);
+            SDL_JoystickClose(sdlJoystick);
+
+            qCDebug(JoystickLog) << "\t" << name << "axes:" << axisCount << "buttons:" << buttonCount;
+            ret[name] = new JoystickSDL(name, axisCount, buttonCount, i, _multiVehicleManager);
+        } else {
+            qCDebug(JoystickLog) << "\tSkipping duplicate" << name;
+        }
+    }
+    return ret;
+}
+
+bool JoystickSDL::_open(void) {
+    sdlJoystick = SDL_JoystickOpen(_index);
+
+    if (!sdlJoystick) {
+        qCWarning(JoystickLog) << "SDL_JoystickOpen failed:" << SDL_GetError();
+        return false;
+    }
+
+    return true;
+}
+
+void JoystickSDL::_close(void) {
+    SDL_JoystickClose(sdlJoystick);
+}
+
+bool JoystickSDL::_update(void)
+{
+    SDL_JoystickUpdate();
+    return true;
+}
+
+bool JoystickSDL::_getButton(int i) {
+    return !!SDL_JoystickGetButton(sdlJoystick, i);
+}
+
+int JoystickSDL::_getAxis(int i) {
+    return SDL_JoystickGetAxis(sdlJoystick, i);
+}
+
diff --git a/src/Joystick/JoystickSDL.h b/src/Joystick/JoystickSDL.h
new file mode 100644
index 0000000000000000000000000000000000000000..cea118de9cccd4c8eb5cde7e991b4e54b6a23c1d
--- /dev/null
+++ b/src/Joystick/JoystickSDL.h
@@ -0,0 +1,34 @@
+#ifndef JOYSTICKSDL_H
+#define JOYSTICKSDL_H
+
+#include "Joystick.h"
+#include "Vehicle.h"
+#include "MultiVehicleManager.h"
+
+#ifdef Q_OS_MAC
+    #include <SDL.h>
+#else
+    #include <SDL/SDL.h>
+#endif
+
+
+class JoystickSDL : public Joystick
+{
+public:
+    JoystickSDL(const QString& name, int axisCount, int buttonCount, int index, MultiVehicleManager* multiVehicleManager);
+
+    static QMap<QString, Joystick*> discover(MultiVehicleManager* _multiVehicleManager); 
+
+private:
+    bool _open() final;
+    void _close() final;
+    bool _update() final;
+
+    bool _getButton(int i) final;
+    int _getAxis(int i) final;
+
+    SDL_Joystick *sdlJoystick;
+    int     _index;      ///< Index for SDL_JoystickOpen
+};
+
+#endif // JOYSTICKSDL_H
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 38c4bd098c25947f6c2c71dc1f4be7a25ed7d4bc..db0acc399ffa133face0e7d127907d87c3785729 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -72,6 +72,7 @@
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
+#include "JoystickConfigController.h"
 #include "JoystickManager.h"
 #include "QmlObjectListModel.h"
 #include "MissionManager.h"
@@ -102,7 +103,6 @@
     #include "QGCFileDialog.h"
     #include "QGCMessageBox.h"
     #include "FirmwareUpgradeController.h"
-    #include "JoystickConfigController.h"
     #include "MainWindow.h"
 #endif
 
@@ -386,12 +386,11 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<ValuesWidgetController>             ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController");
     qmlRegisterType<QGCMobileFileDialogController>      ("QGroundControl.Controllers", 1, 0, "QGCMobileFileDialogController");
     qmlRegisterType<RCChannelMonitorController>         ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
-
+    qmlRegisterType<JoystickConfigController>           ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
 #ifndef __mobile__
     qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
     qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
     qmlRegisterType<FirmwareUpgradeController>      ("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
-    qmlRegisterType<JoystickConfigController>       ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
     qmlRegisterType<LogDownloadController>          ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
 #endif
 
diff --git a/src/Vehicle/GPSFact.json b/src/Vehicle/GPSFact.json
index 73046fb2f4ac3db04b6bc4d065b41e41d87e6229..826ae1d6d6a60a7af7eec194006a58e1691918f7 100644
--- a/src/Vehicle/GPSFact.json
+++ b/src/Vehicle/GPSFact.json
@@ -25,8 +25,8 @@
             "name":             "lock",
             "shortDescription": "GPS Lock",
             "type":             "uint32",
-            "enumStrings":      "None,None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock",
-            "enumValues":       "0,1,2,3,4,5",
+            "enumStrings":      "None,None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock (float),3D RTK GPS Lock (fixed)",
+            "enumValues":       "0,1,2,3,4,5,6",
             "decimalPlaces":    0
         },
         {
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index b2ab02024c1f6624688997b80fecd01179fb9f97..b9fdaec03263f299b0b78255e21900d40df85284 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1111,7 +1111,6 @@ void Vehicle::setJoystickEnabled(bool enabled)
 
 void Vehicle::_startJoystick(bool start)
 {
-#ifndef __mobile__
     Joystick* joystick = _joystickManager->activeJoystick();
     if (joystick) {
         if (start) {
@@ -1122,9 +1121,6 @@ void Vehicle::_startJoystick(bool start)
             joystick->stopPolling();
         }
     }
-#else
-    Q_UNUSED(start);
-#endif
 }
 
 bool Vehicle::active(void)