diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index eddd7a5d460adf09f7d4b4258020013047bbe696..df3b4515671f3335efcd01f85af1ced238fd3ef2 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -76,6 +76,217 @@ QGCFlightGearLink::~QGCFlightGearLink()
  **/
 void QGCFlightGearLink::run()
 {
+    qDebug() << "STARTING FLIGHTGEAR LINK";
+
+    if (!mav) return;
+    socket = new QUdpSocket(this);
+    connectState = socket->bind(host, port);
+
+    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
+    process = new QProcess(this);
+    terraSync = new QProcess(this);
+
+    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    connect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
+    connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
+    connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+
+    UAS* uas = dynamic_cast<UAS*>(mav);
+    if (uas)
+    {
+        uas->startHil();
+    }
+
+    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
+    // Catch process error
+    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
+                      this, SLOT(processError(QProcess::ProcessError)));
+    QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
+                      this, SLOT(processError(QProcess::ProcessError)));
+    // Start Flightgear
+    QStringList flightGearArguments;
+    QString processFgfs;
+    QString processTerraSync;
+    QString fgRoot;
+    QString fgScenery;
+    QString terraSyncScenery;
+    QString fgAircraft;
+
+#ifdef Q_OS_MACX
+    processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
+    processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
+    //fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
+    fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
+    terraSyncScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
+    //   /Applications/FlightGear.app/Contents/Resources/data/Scenery:
+#endif
+
+#ifdef Q_OS_WIN32
+    processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
+    //fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
+    fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery";
+    terraSyncScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
+#endif
+
+#ifdef Q_OS_LINUX
+    processFgfs = "fgfs";
+    //fgRoot = "/usr/share/flightgear";
+    QString fgScenery1 = "/usr/share/flightgear/data/Scenery";
+    QString fgScenery2 = "/usr/share/games/flightgear/Scenery"; // Ubuntu default location
+    fgScenery = ""; //Flightgear can also start with fgScenery = ""
+    if (QDir(fgScenery1).exists())
+        fgScenery = fgScenery1;
+    else if (QDir(fgScenery2).exists())
+        fgScenery = fgScenery2;
+
+
+    processTerraSync = "nice"; //according to http://wiki.flightgear.org/TerraSync, run with lower priority
+    terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
+#endif
+
+    fgAircraft = QApplication::applicationDirPath() + "/files/flightgear/Aircraft";
+
+    // Sanity checks
+    bool sane = true;
+//    QFileInfo executable(processFgfs);
+//    if (!executable.isExecutable())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
+//        sane = false;
+//    }
+
+//    QFileInfo root(fgRoot);
+//    if (!root.isDir())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
+//        sane = false;
+//    }
+
+//    QFileInfo scenery(fgScenery);
+//    if (!scenery.isDir())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
+//        sane = false;
+//    }
+
+//    QFileInfo terraSyncExecutableInfo(processTerraSync);
+//    if (!terraSyncExecutableInfo.isExecutable())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("TerraSync was not found at %1").arg(processTerraSync));
+//        sane = false;
+//    }
+
+
+    if (!sane) return;
+
+    // --atlas=socket,out,1,localhost,5505,udp
+    // terrasync -p 5505 -S -d /usr/local/share/TerraSync
+
+    /*Prepare FlightGear Arguments */
+    //flightGearArguments << QString("--fg-root=%1").arg(fgRoot);
+    flightGearArguments << QString("--fg-scenery=%1:%2").arg(fgScenery).arg(terraSyncScenery); //according to http://wiki.flightgear.org/TerraSync a separate directory is used
+    flightGearArguments << QString("--fg-aircraft=%1").arg(fgAircraft);
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(port);
+        flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(currentPort);
+    }
+    else
+    {
+        flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(port);
+        flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(currentPort);
+    }
+    flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp";
+//    flightGearArguments << "--in-air";
+//    flightGearArguments << "--roll=0";
+//    flightGearArguments << "--pitch=0";
+//    flightGearArguments << "--vc=90";
+//    flightGearArguments << "--heading=300";
+//    flightGearArguments << "--timeofday=noon";
+//    flightGearArguments << "--disable-hud-3d";
+//    flightGearArguments << "--disable-fullscreen";
+//    flightGearArguments << "--geometry=400x300";
+//    flightGearArguments << "--disable-anti-alias-hud";
+//    flightGearArguments << "--wind=0@0";
+//    flightGearArguments << "--turbulence=0.0";
+//    flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
+//    flightGearArguments << "--control=mouse";
+//    flightGearArguments << "--disable-intro-music";
+//    flightGearArguments << "--disable-sound";
+//    flightGearArguments << "--disable-random-objects";
+//    flightGearArguments << "--disable-ai-models";
+//    flightGearArguments << "--shading-flat";
+//    flightGearArguments << "--fog-disable";
+//    flightGearArguments << "--disable-specular-highlight";
+//    //flightGearArguments << "--disable-skyblend";
+//    flightGearArguments << "--disable-random-objects";
+//    flightGearArguments << "--disable-panel";
+//    //flightGearArguments << "--disable-horizon-effect";
+//    flightGearArguments << "--disable-clouds";
+//    flightGearArguments << "--fdm=jsb";
+//    flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
+//    flightGearArguments << "--notrim";
+
+    flightGearArguments += startupArguments.split(" ");
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        // Start all engines of the quad
+        flightGearArguments << "--prop:/engines/engine[0]/running=true";
+        flightGearArguments << "--prop:/engines/engine[1]/running=true";
+        flightGearArguments << "--prop:/engines/engine[2]/running=true";
+        flightGearArguments << "--prop:/engines/engine[3]/running=true";
+    }
+    else
+    {
+        flightGearArguments << "--prop:/engines/engine/running=true";
+    }
+    flightGearArguments << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
+    flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
+    //The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
+    //Without the altitude-setting the aircraft is positioned on the ground
+    //flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
+
+    // Add new argument with this: flightGearArguments << "";
+    //flightGearArguments << QString("--aircraft=%2").arg(aircraft);
+
+    /*Prepare TerraSync Arguments */
+    QStringList terraSyncArguments;
+#ifdef Q_OS_LINUX
+    terraSyncArguments << "terrasync";
+#endif
+    terraSyncArguments << "-p";
+    terraSyncArguments << "5505";
+    terraSyncArguments << "-S";
+    terraSyncArguments << "-d";
+    terraSyncArguments << terraSyncScenery; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
+
+#ifdef Q_OS_LINUX
+     /* Setting environment */
+    QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
+    process->setProcessEnvironment(env);
+    terraSync->setProcessEnvironment(env);
+#endif
+//    connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput()));
+//    connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError()));
+    terraSync->start(processTerraSync, terraSyncArguments);
+//    qDebug() << "STARTING: " << processTerraSync << terraSyncArguments;
+
+    process->start(processFgfs, flightGearArguments);
+//    connect (process, SIGNAL(readyReadStandardOutput()), this, SLOT(printFgfsOutput()));
+//    connect (process, SIGNAL(readyReadStandardError()), this, SLOT(printFgfsError()));
+
+
+
+    emit simulationConnected(connectState);
+    if (connectState) {
+        emit simulationConnected();
+        connectionStartTime = QGC::groundTimeUsecs()/1000;
+    }
+    qDebug() << "STARTING SIM";
+
+//    qDebug() << "STARTING: " << processFgfs << flightGearArguments;
+
     exec();
 }
 
@@ -446,220 +657,9 @@ bool QGCFlightGearLink::disconnectSimulation()
  **/
 bool QGCFlightGearLink::connectSimulation()
 {
-    qDebug() << "STARTING FLIGHTGEAR LINK";
 
-    if (!mav) return false;
-    socket = new QUdpSocket(this);
-    connectState = socket->bind(host, port);
-
-    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
-
-    process = new QProcess(this);
-    terraSync = new QProcess(this);
-
-    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
-    connect(this, SIGNAL(hilStateChanged(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)), mav, SLOT(sendHilState(quint64, float, float, float, float,float, float, double, double, double, float, float, float, float, float, float, float, float)));
-    connect(this, SIGNAL(sensorHilGpsChanged(quint64, double, double, double, int, float, float, float, float, float, float, float, int)), mav, SLOT(sendHilGps(quint64, double, double, double, int, float, float, float, float, float, float, float, int)));
-    connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
-
-    UAS* uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        uas->startHil();
-    }
-
-    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
-    // Catch process error
-    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
-                      this, SLOT(processError(QProcess::ProcessError)));
-    QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
-                      this, SLOT(processError(QProcess::ProcessError)));
-    // Start Flightgear
-    QStringList flightGearArguments;
-    QString processFgfs;
-    QString processTerraSync;
-    QString fgRoot;
-    QString fgScenery;
-    QString terraSyncScenery;
-    QString fgAircraft;
-
-#ifdef Q_OS_MACX
-    processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
-    processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
-    //fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
-    fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
-    terraSyncScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
-    //   /Applications/FlightGear.app/Contents/Resources/data/Scenery:
-#endif
-
-#ifdef Q_OS_WIN32
-    processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
-    //fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
-    fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery";
-    terraSyncScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
-#endif
-
-#ifdef Q_OS_LINUX
-    processFgfs = "fgfs";
-    //fgRoot = "/usr/share/flightgear";
-    QString fgScenery1 = "/usr/share/flightgear/data/Scenery";
-    QString fgScenery2 = "/usr/share/games/flightgear/Scenery"; // Ubuntu default location
-    fgScenery = ""; //Flightgear can also start with fgScenery = ""
-    if (QDir(fgScenery1).exists())
-        fgScenery = fgScenery1;
-    else if (QDir(fgScenery2).exists())
-        fgScenery = fgScenery2;
-
-
-    processTerraSync = "nice"; //according to http://wiki.flightgear.org/TerraSync, run with lower priority
-    terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
-#endif
-
-    fgAircraft = QApplication::applicationDirPath() + "/files/flightgear/Aircraft";
-
-    // Sanity checks
-    bool sane = true;
-//    QFileInfo executable(processFgfs);
-//    if (!executable.isExecutable())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
-//        sane = false;
-//    }
-
-//    QFileInfo root(fgRoot);
-//    if (!root.isDir())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
-//        sane = false;
-//    }
-
-//    QFileInfo scenery(fgScenery);
-//    if (!scenery.isDir())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
-//        sane = false;
-//    }
-
-//    QFileInfo terraSyncExecutableInfo(processTerraSync);
-//    if (!terraSyncExecutableInfo.isExecutable())
-//    {
-//        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("TerraSync was not found at %1").arg(processTerraSync));
-//        sane = false;
-//    }
-
-
-    if (!sane) return false;
-
-    // --atlas=socket,out,1,localhost,5505,udp
-    // terrasync -p 5505 -S -d /usr/local/share/TerraSync
-
-    /*Prepare FlightGear Arguments */
-    //flightGearArguments << QString("--fg-root=%1").arg(fgRoot);
-    flightGearArguments << QString("--fg-scenery=%1:%2").arg(fgScenery).arg(terraSyncScenery); //according to http://wiki.flightgear.org/TerraSync a separate directory is used
-    flightGearArguments << QString("--fg-aircraft=%1").arg(fgAircraft);
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-    {
-        flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(port);
-        flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-quadrotor").arg(currentPort);
-    }
-    else
-    {
-        flightGearArguments << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(port);
-        flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol-fixed-wing").arg(currentPort);
-    }
-    flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp";
-//    flightGearArguments << "--in-air";
-//    flightGearArguments << "--roll=0";
-//    flightGearArguments << "--pitch=0";
-//    flightGearArguments << "--vc=90";
-//    flightGearArguments << "--heading=300";
-//    flightGearArguments << "--timeofday=noon";
-//    flightGearArguments << "--disable-hud-3d";
-//    flightGearArguments << "--disable-fullscreen";
-//    flightGearArguments << "--geometry=400x300";
-//    flightGearArguments << "--disable-anti-alias-hud";
-//    flightGearArguments << "--wind=0@0";
-//    flightGearArguments << "--turbulence=0.0";
-//    flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
-//    flightGearArguments << "--control=mouse";
-//    flightGearArguments << "--disable-intro-music";
-//    flightGearArguments << "--disable-sound";
-//    flightGearArguments << "--disable-random-objects";
-//    flightGearArguments << "--disable-ai-models";
-//    flightGearArguments << "--shading-flat";
-//    flightGearArguments << "--fog-disable";
-//    flightGearArguments << "--disable-specular-highlight";
-//    //flightGearArguments << "--disable-skyblend";
-//    flightGearArguments << "--disable-random-objects";
-//    flightGearArguments << "--disable-panel";
-//    //flightGearArguments << "--disable-horizon-effect";
-//    flightGearArguments << "--disable-clouds";
-//    flightGearArguments << "--fdm=jsb";
-//    flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
-//    flightGearArguments << "--notrim";
-
-    flightGearArguments += startupArguments.split(" ");
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-    {
-        // Start all engines of the quad
-        flightGearArguments << "--prop:/engines/engine[0]/running=true";
-        flightGearArguments << "--prop:/engines/engine[1]/running=true";
-        flightGearArguments << "--prop:/engines/engine[2]/running=true";
-        flightGearArguments << "--prop:/engines/engine[3]/running=true";
-    }
-    else
-    {
-        flightGearArguments << "--prop:/engines/engine/running=true";
-    }
-    flightGearArguments << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
-    flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
-    //The altitude is not set because an altitude not equal to the ground altitude leads to a non-zero default throttle in flightgear
-    //Without the altitude-setting the aircraft is positioned on the ground
-    //flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
-
-    // Add new argument with this: flightGearArguments << "";
-    //flightGearArguments << QString("--aircraft=%2").arg(aircraft);
-
-    /*Prepare TerraSync Arguments */
-    QStringList terraSyncArguments;
-#ifdef Q_OS_LINUX
-    terraSyncArguments << "terrasync";
-#endif
-    terraSyncArguments << "-p";
-    terraSyncArguments << "5505";
-    terraSyncArguments << "-S";
-    terraSyncArguments << "-d";
-    terraSyncArguments << terraSyncScenery; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
-
-#ifdef Q_OS_LINUX
-     /* Setting environment */
-    QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
-    process->setProcessEnvironment(env);
-    terraSync->setProcessEnvironment(env);
-#endif
-//    connect (terraSync, SIGNAL(readyReadStandardOutput()), this, SLOT(printTerraSyncOutput()));
-//    connect (terraSync, SIGNAL(readyReadStandardError()), this, SLOT(printTerraSyncError()));
-    terraSync->start(processTerraSync, terraSyncArguments);
-//    qDebug() << "STARTING: " << processTerraSync << terraSyncArguments;
-
-    process->start(processFgfs, flightGearArguments);
-//    connect (process, SIGNAL(readyReadStandardOutput()), this, SLOT(printFgfsOutput()));
-//    connect (process, SIGNAL(readyReadStandardError()), this, SLOT(printFgfsError()));
-
-
-
-    emit simulationConnected(connectState);
-    if (connectState) {
-        emit simulationConnected();
-        connectionStartTime = QGC::groundTimeUsecs()/1000;
-    }
-    qDebug() << "STARTING SIM";
-
-//    qDebug() << "STARTING: " << processFgfs << flightGearArguments;
-
-
-    start(LowPriority);
-    return connectState;
+    start(HighPriority);
+    return true;
 }
 
 void QGCFlightGearLink::printTerraSyncOutput()
diff --git a/src/comm/QGCJSBSimLink.cc b/src/comm/QGCJSBSimLink.cc
index 7b56249db15ede3eef6496714a20ee7a21c04791..ffe29e610e5d3da2337416cfa216aa1a4cf4c11a 100644
--- a/src/comm/QGCJSBSimLink.cc
+++ b/src/comm/QGCJSBSimLink.cc
@@ -71,6 +71,89 @@ QGCJSBSimLink::~QGCJSBSimLink()
  **/
 void QGCJSBSimLink::run()
 {
+    qDebug() << "STARTING FLIGHTGEAR LINK";
+
+    if (!mav) return;
+    socket = new QUdpSocket(this);
+    connectState = socket->bind(host, port);
+
+    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
+    process = new QProcess(this);
+
+    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+
+
+    UAS* uas = dynamic_cast<UAS*>(mav);
+    if (uas)
+    {
+        uas->startHil();
+    }
+
+    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
+    // Catch process error
+    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
+                      this, SLOT(processError(QProcess::ProcessError)));
+
+    // Start Flightgear
+    QStringList arguments;
+    QString processJSB;
+    QString rootJSB;
+
+#ifdef Q_OS_MACX
+    processJSB = "/usr/local/bin/JSBSim";
+    rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
+#endif
+
+#ifdef Q_OS_WIN32
+    processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
+    rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
+#endif
+
+#ifdef Q_OS_LINUX
+    processJSB = "/usr/games/fgfs";
+    rootJSB = "/usr/share/games/flightgear";
+#endif
+
+    // Sanity checks
+    bool sane = true;
+    QFileInfo executable(processJSB);
+    if (!executable.isExecutable())
+    {
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB));
+        sane = false;
+    }
+
+    QFileInfo root(rootJSB);
+    if (!root.isDir())
+    {
+        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB));
+        sane = false;
+    }
+
+    if (!sane) return;
+
+    /*Prepare JSBSim Arguments */
+
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
+    }
+    else
+    {
+        arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
+    }
+
+    process->start(processJSB, arguments);
+
+    emit simulationConnected(connectState);
+    if (connectState) {
+        emit simulationConnected();
+        connectionStartTime = QGC::groundTimeUsecs()/1000;
+    }
+    qDebug() << "STARTING SIM";
+
     exec();
 }
 
@@ -303,91 +386,8 @@ bool QGCJSBSimLink::disconnectSimulation()
  **/
 bool QGCJSBSimLink::connectSimulation()
 {
-    qDebug() << "STARTING FLIGHTGEAR LINK";
-
-    if (!mav) return false;
-    socket = new QUdpSocket(this);
-    connectState = socket->bind(host, port);
-
-    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
-
-    process = new QProcess(this);
-
-    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
-    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-
-
-    UAS* uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        uas->startHil();
-    }
-
-    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
-    // Catch process error
-    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
-                      this, SLOT(processError(QProcess::ProcessError)));
-
-    // Start Flightgear
-    QStringList arguments;
-    QString processJSB;
-    QString rootJSB;
-
-#ifdef Q_OS_MACX
-    processJSB = "/usr/local/bin/JSBSim";
-    rootJSB = "/Applications/FlightGear.app/Contents/Resources/data";
-#endif
-
-#ifdef Q_OS_WIN32
-    processJSB = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
-    rootJSB = "C:\\Program Files (x86)\\FlightGear\\data";
-#endif
-
-#ifdef Q_OS_LINUX
-    processJSB = "/usr/games/fgfs";
-    rootJSB = "/usr/share/games/flightgear";
-#endif
-
-    // Sanity checks
-    bool sane = true;
-    QFileInfo executable(processJSB);
-    if (!executable.isExecutable())
-    {
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB));
-        sane = false;
-    }
-
-    QFileInfo root(rootJSB);
-    if (!root.isDir())
-    {
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB));
-        sane = false;
-    }
-
-    if (!sane) return false;
-
-    /*Prepare JSBSim Arguments */
-
-    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-    {
-        arguments << QString("--realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
-    }
-    else
-    {
-        arguments << QString("JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=%s/flightgear.xml --script=%s/%s").arg(rootJSB).arg(rootJSB).arg(script);
-    }
-
-    process->start(processJSB, arguments);
-
-    emit simulationConnected(connectState);
-    if (connectState) {
-        emit simulationConnected();
-        connectionStartTime = QGC::groundTimeUsecs()/1000;
-    }
-    qDebug() << "STARTING SIM";
-
-    start(LowPriority);
-    return connectState;
+    start(HighPriority);
+    return true;
 }
 
 /**
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index e2aa4abc635d91ece3c95511062d01d9da553ecb..355cf0af2bb24b7ec6e5ae0b23051316d99ef385 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -144,9 +144,72 @@ void QGCXPlaneLink::setVersion(unsigned int version)
  **/
 void QGCXPlaneLink::run()
 {
-    forever {
-        QGC::SLEEP::usleep(500000);
+    if (!mav) return;
+    if (connectState) return;
+
+    socket = new QUdpSocket(this);
+    connectState = socket->bind(localHost, localPort);
+    if (!connectState) return;
+
+    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
+    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    connect(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
+
+    connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+    connect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), mav, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
+    connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+
+    UAS* uas = dynamic_cast<UAS*>(mav);
+    if (uas)
+    {
+        uas->startHil();
+    }
+
+#pragma pack(push, 1)
+    struct iset_struct
+    {
+        char b[5];
+        int index; // (0->20 in the lsit below)
+        char str_ipad_them[16];
+        char str_port_them[6];
+        char padding[2];
+        int use_ip;
+    } ip; // to use this option, 0 not to.
+#pragma pack(pop)
+
+    ip.b[0] = 'I';
+    ip.b[1] = 'S';
+    ip.b[2] = 'E';
+    ip.b[3] = 'T';
+    ip.b[4] = '0';
+
+    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
+
+    QString localAddrStr;
+    QString localPortStr = QString("%1").arg(localPort);
+
+    for (int i = 0; i < hostAddresses.size(); i++)
+    {
+        // Exclude loopback IPv4 and all IPv6 addresses
+        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
+        {
+            localAddrStr = hostAddresses.at(i).toString();
+            break;
+        }
     }
+
+    //qDebug() << "REQ SEND TO:" << localAddrStr << localPortStr;
+
+    ip.index = 0;
+    strncpy(ip.str_ipad_them, localAddrStr.toAscii(), qMin((int)sizeof(ip.str_ipad_them), 16));
+    strncpy(ip.str_port_them, localPortStr.toAscii(), qMin((int)sizeof(ip.str_port_them), 6));
+    ip.use_ip = 1;
+
+    writeBytes((const char*)&ip, sizeof(ip));
+
+    exec();
 }
 
 void QGCXPlaneLink::setPort(int localPort)
@@ -945,73 +1008,9 @@ bool QGCXPlaneLink::connectSimulation()
     // XXX Hack
     storeSettings();
 
-    start(LowPriority);
-
-    if (!mav) return false;
-    if (connectState) return false;
+    start(HighPriority);
 
-    socket = new QUdpSocket(this);
-    connectState = socket->bind(localHost, localPort);
-    if (!connectState) return false;
-
-    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
-
-    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
-    connect(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
-
-    connect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-    connect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-    connect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), mav, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
-    connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
-
-    UAS* uas = dynamic_cast<UAS*>(mav);
-    if (uas)
-    {
-        uas->startHil();
-    }
-
-#pragma pack(push, 1)
-    struct iset_struct
-    {
-        char b[5];
-        int index; // (0->20 in the lsit below)
-        char str_ipad_them[16];
-        char str_port_them[6];
-        char padding[2];
-        int use_ip;
-    } ip; // to use this option, 0 not to.
-#pragma pack(pop)
-
-    ip.b[0] = 'I';
-    ip.b[1] = 'S';
-    ip.b[2] = 'E';
-    ip.b[3] = 'T';
-    ip.b[4] = '0';
-
-    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
-
-    QString localAddrStr;
-    QString localPortStr = QString("%1").arg(localPort);
-
-    for (int i = 0; i < hostAddresses.size(); i++)
-    {
-        // Exclude loopback IPv4 and all IPv6 addresses
-        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
-        {
-            localAddrStr = hostAddresses.at(i).toString();
-            break;
-        }
-    }
-
-    //qDebug() << "REQ SEND TO:" << localAddrStr << localPortStr;
-
-    ip.index = 0;
-    strncpy(ip.str_ipad_them, localAddrStr.toAscii(), qMin((int)sizeof(ip.str_ipad_them), 16));
-    strncpy(ip.str_port_them, localPortStr.toAscii(), qMin((int)sizeof(ip.str_port_them), 6));
-    ip.use_ip = 1;
-
-    writeBytes((const char*)&ip, sizeof(ip));
-    return connectState;
+    return true;
 }
 
 /**
diff --git a/src/comm/TCPLink.cc b/src/comm/TCPLink.cc
index a8964db6ca2c55c84ee86b2f586e6c7705c1b5eb..392edbfcbb8e7be4961e16ab9ef4c6696ebc6015 100644
--- a/src/comm/TCPLink.cc
+++ b/src/comm/TCPLink.cc
@@ -61,6 +61,8 @@ TCPLink::~TCPLink()
 
 void TCPLink::run()
 {
+    _hardwareConnect();
+
 	exec();
 }
 
@@ -214,11 +216,10 @@ bool TCPLink::connect()
 		quit();
 		wait();
 	}
-    bool connected = _hardwareConnect();
-    if (connected) {
-        start(HighPriority);
-    }
-    return connected;
+
+    start(HighPriority);
+
+    return true;
 }
 
 bool TCPLink::_hardwareConnect(void)
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 61f0c5d4b8bbfce27be8a5c21a225bcc6e63968d..7c401c73402bffc4dc4d6e6dfa6c0e6c4bff5104 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -69,9 +69,9 @@ UDPLink::~UDPLink()
  **/
 void UDPLink::run()
 {
-    forever {
-        QGC::SLEEP::usleep(500000);
-    }
+    hardwareConnect();
+
+    exec();
 }
 
 void UDPLink::setAddress(QHostAddress host)
@@ -307,7 +307,7 @@ bool UDPLink::connect()
 		this->quit();
 		this->wait();
 	}
-    bool connected = this->hardwareConnect();
+    bool connected = true;
     start(HighPriority);
     return connected;
 }