diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index d4570a155b5f18ae8603725f1f1f8823e2e63126..b745ad4e83bb09f729c8c72f2e4e6a8ff4a1cbd7 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -65,7 +65,7 @@ macx {
                 }
     } else {
         # x64 Mac OS X Snow Leopard 10.6 and later
-        CONFIG += x86_64 x86 cocoa
+        CONFIG += x86_64 x86 cocoa phonon
         #CONFIG -= x86 # phonon
         #message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
                 debug {
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index 641f2117036019e7eeeffdad5826c1e62c4d6629..7a3b90e4cfa66e6fb8de95a9f79f193f22c96341 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -295,11 +295,12 @@ void GAudioOutput::beep()
 {
     if (!muted)
     {
-    // Use QFile to transform path for all OS
-    QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
-    m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-    m_media->play();
-}
+        // Use QFile to transform path for all OS
+        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
+        qDebug() << "FILE:" << f.fileName();
+        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        m_media->play();
+    }
 }
 
 void GAudioOutput::selectFemaleVoice()
diff --git a/src/comm/MAVLinkSimulationWaypointPlanner.cc b/src/comm/MAVLinkSimulationWaypointPlanner.cc
index e7a0748a15b1719b1fc2b29fdda341397c67a26f..9ed1812219a912f0c73be4e108d7642155feceba 100644
--- a/src/comm/MAVLinkSimulationWaypointPlanner.cc
+++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc
@@ -284,7 +284,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
                         PControlSetPoint.x = cur->x;
                         PControlSetPoint.y = cur->y;
                         PControlSetPoint.z = cur->z;
-                        PControlSetPoint.yaw = cur->yaw;
+                        PControlSetPoint.yaw = cur->param4;
 
                         mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
                         link->sendMAVLinkMessage(&msg);
@@ -299,7 +299,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
                         PControlSetPoint.x = cur->x;
                         PControlSetPoint.y = cur->y;
                         PControlSetPoint.z = cur->z;
-                        PControlSetPoint.yaw = cur->yaw;
+                        PControlSetPoint.yaw = cur->param4;
 
                         mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
                         link->sendMAVLinkMessage(&msg);
@@ -337,7 +337,7 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui
                 wp->target_system = target_systemid;
                 wp->target_component = target_compid;
 
-                if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %u / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->action, wp->orbit, wp->orbit_direction, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue);
+                if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->action, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue);
 
                 mavlink_msg_waypoint_encode(systemid, compid, &msg, wp);
                 link->sendMAVLinkMessage(&msg);
@@ -502,19 +502,19 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
                                         //compare current yaw
                                         if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI)
                                         {
-                                                if (att.yaw - yaw_tolerance <= wp->yaw && att.yaw + yaw_tolerance >= wp->yaw)
+                                                if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
                                                         yawReached = true;
                                         }
                                         else if(att.yaw - yaw_tolerance < 0.0f)
                                         {
                                                 float lowerBound = 360.0f + att.yaw - yaw_tolerance;
-                                                if (lowerBound < wp->yaw || wp->yaw < att.yaw + yaw_tolerance)
+                                                if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
                                                         yawReached = true;
                                         }
                                         else
                                         {
                                                 float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
-                                                if (att.yaw - yaw_tolerance < wp->yaw || wp->yaw < upperBound)
+                                                if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
                                                         yawReached = true;
                                         }
 
diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index cb78497f3641e0b6cfc85ad291129fbcc422656c..6bb0e2d73e8fad2ecf2bf8c8a1a93031377cedba 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -1,5 +1,4 @@
 /*=====================================================================
-
 QGroundControl Open Source Ground Control Station
 
 (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
-
+    
     QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
-
+    
     You should have received a copy of the GNU General Public License
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+    
 ======================================================================*/
 
 #include "PxQuadMAV.h"
@@ -39,20 +38,12 @@ PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
  */
 void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
-    // Let UAS handle the default message set
-    UAS::receiveMessage(link, message);
-
-    //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
-
-// Only compile this portion if matching MAVLink packets have been compiled
+    // Only compile this portion if matching MAVLink packets have been compiled
 #ifdef MAVLINK_ENABLED_PIXHAWK
     mavlink_message_t* msg = &message;
 
     if (message.sysid == uasId)
     {
-//        QString uasState;
-//        QString stateDescription;
-//        QString patternPath;
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_RAW_AUX:
@@ -88,7 +79,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     emit letterDetected(uasId, name, detected.confidence, detected.detected);
             }
             break;
-    case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
+        case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
             {
                 mavlink_watchdog_heartbeat_t payload;
                 mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
@@ -97,7 +88,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
 
-    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
+        case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
             {
                 mavlink_watchdog_process_info_t payload;
                 mavlink_msg_watchdog_process_info_decode(msg, &payload);
@@ -106,14 +97,14 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
 
-    case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
+        case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
             {
                 mavlink_watchdog_process_status_t payload;
                 mavlink_msg_watchdog_process_status_decode(msg, &payload);
                 emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
             }
             break;
-    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+        case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
             {
                 mavlink_vision_position_estimate_t pos;
                 mavlink_msg_vision_position_estimate_decode(&message, &pos);
@@ -128,21 +119,21 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
         case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
-                {
-                    mavlink_vicon_position_estimate_t pos;
-                    mavlink_msg_vicon_position_estimate_decode(&message, &pos);
-                    quint64 time = getUnixTime(pos.usec);
-                    //emit valueChanged(uasId, "vis. time", pos.usec, time);
-                    emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
-                    emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
-                    emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
-                    emit valueChanged(uasId, "vicon x", "m", pos.x, time);
-                    emit valueChanged(uasId, "vicon y", "m", pos.y, time);
-                    emit valueChanged(uasId, "vicon z", "m", pos.z, time);
-                    emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
-                }
-                break;
-    case MAVLINK_MSG_ID_AUX_STATUS:
+            {
+                mavlink_vicon_position_estimate_t pos;
+                mavlink_msg_vicon_position_estimate_decode(&message, &pos);
+                quint64 time = getUnixTime(pos.usec);
+                //emit valueChanged(uasId, "vis. time", pos.usec, time);
+                emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
+                emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
+                emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
+                emit valueChanged(uasId, "vicon x", "m", pos.x, time);
+                emit valueChanged(uasId, "vicon y", "m", pos.y, time);
+                emit valueChanged(uasId, "vicon z", "m", pos.z, time);
+                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
+            }
+            break;
+        case MAVLINK_MSG_ID_AUX_STATUS:
             {
                 mavlink_aux_status_t status;
                 mavlink_msg_aux_status_decode(&message, &status);
@@ -155,8 +146,9 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             break;
-    default:
-            // Do nothing
+        default:
+            // Let UAS handle the default message set
+            UAS::receiveMessage(link, message);
             break;
         }
     }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 5866ca3293353e4ba6c8929ac82cf48ab71efffd..2b0dcfeff5e23c56b9ec8dff84ded2202c4c1956 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -192,9 +192,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         QString uasState;
         QString stateDescription;
 
-        // Receive named value message
-        receiveMessageNamedValue(message);
-
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
@@ -223,6 +220,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit systemTypeSet(this, type);
             }
 
+            break;
+        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
+        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
+            // Receive named value message
+            receiveMessageNamedValue(message);
             break;
         case MAVLINK_MSG_ID_BOOT:
             getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
@@ -237,7 +239,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // FIXME
                 //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
 
-                QString audiostring = "System " + QString::number(this->getUASID());
+                QString audiostring = "System " + getUASName();
                 QString stateAudio = "";
                 QString modeAudio = "";
                 bool statechanged = false;
@@ -277,7 +279,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         mode = "GUIDED MODE";
                         break;
                     case (uint8_t)MAV_MODE_READY:
-                        mode = "READY";
+                        mode = "READY MODE";
                         break;
                     case (uint8_t)MAV_MODE_TEST1:
                         mode = "TEST1 MODE";
@@ -748,6 +750,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_waypoint_reached_t wpr;
                 mavlink_msg_waypoint_reached_decode(&message, &wpr);
                 waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
+                GAudioOutput::instance()->say(QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq));
             }
             break;
 
@@ -866,12 +869,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
 
 #endif
+            // Messages to ignore
+            case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
+            break;
         default:
             {
                 if (!unknownPackets.contains(message.msgid))
                 {
                     unknownPackets.append(message.msgid);
-                    QString errString = tr("UNABLE TO DECODE MESSAGE WITH ID %1").arg(message.msgid);
+                    QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
                     GAudioOutput::instance()->say(errString+tr(", please check the communication console for details."));
                     emit textMessageReceived(uasId, message.compid, 255, errString);
                     std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
@@ -1928,7 +1934,7 @@ void UAS::startLowBattAlarm()
 {
     if (!lowBattAlarm)
     {
-        GAudioOutput::instance()->alert("LOW BATTERY");
+        GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName()));
         QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency()));
         lowBattAlarm = true;
     }
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index 9c4aa167e87925246c8218d7e695839a2350447c..d30f84b723367fde78e1f633088d95edfdf7645c 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -138,8 +138,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id)
         {
-            qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->yaw << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
-            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
+            qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
+            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
             addWaypoint(lwp, false);
 
             //get next waypoint
@@ -663,8 +663,7 @@ void UASWaypointManager::writeWaypoints()
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent() & noCurrent;   //make sure only one current waypoint is selected, the first selected will be chosen
-                cur_d->orbit = cur_s->getLoiterOrbit();
-                cur_d->orbit_direction = 0;
+                cur_d->param3 = cur_s->getLoiterOrbit();
                 cur_d->param1 = cur_s->getParam1();
                 cur_d->param2 = cur_s->getParam2();
                 cur_d->frame = cur_s->getFrame();
@@ -673,7 +672,7 @@ void UASWaypointManager::writeWaypoints()
                 cur_d->x = cur_s->getX();
                 cur_d->y = cur_s->getY();
                 cur_d->z = cur_s->getZ();
-                cur_d->yaw = cur_s->getYaw();
+                cur_d->param4 = cur_s->getYaw();
 
                 if (cur_s->getCurrent() && noCurrent)
                     noCurrent = false;
diff --git a/src/ui/QGCSensorSettingsWidget.ui b/src/ui/QGCSensorSettingsWidget.ui
index b475dda88eedcfac776546fa9dd3b44ff4ef65cd..9c8267b99ae0e1035b197aa91f2de04fe1a79505 100644
--- a/src/ui/QGCSensorSettingsWidget.ui
+++ b/src/ui/QGCSensorSettingsWidget.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>237</width>
+    <width>307</width>
     <height>221</height>
    </rect>
   </property>
@@ -134,7 +134,7 @@
       <item row="1" column="1">
        <widget class="QLabel" name="label_2">
         <property name="text">
-         <string>Extended</string>
+         <string>Ext. Status</string>
         </property>
        </widget>
       </item>
@@ -148,7 +148,7 @@
       <item row="5" column="1">
        <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>Controller</string>
+         <string>Raw Contr.</string>
         </property>
        </widget>
       </item>
@@ -183,7 +183,7 @@
       <item row="0" column="3">
        <widget class="QLabel" name="label_5">
         <property name="text">
-         <string>RC Values</string>
+         <string>RC Chan.</string>
         </property>
        </widget>
       </item>