diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 1e08f807422c8a56db7cc04d9d433e5179178ecf..a9f654859db3b49df093c906bdba5af6ef0ea29b 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -65,6 +65,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
     m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
     loadSettings();
     moveToThread(this);
+    heartbeatTimer.moveToThread(this);
     // Start heartbeat timer, emitting a heartbeat at the configured rate
     connect(&heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
     heartbeatTimer.start(1000/heartbeatRate);
diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index 43f7679776793abf8af2cad69d59c48498a8660f..d0164958a60feb9d9e0a14f8560e4402bbe20432 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -80,12 +80,15 @@ void QGCFlightGearLink::run()
 
     if (!mav) return;
     socket = new QUdpSocket(this);
+    socket->moveToThread(this);
     connectState = socket->bind(host, port);
 
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
     process = new QProcess(this);
+    process->moveToThread(this);
     terraSync = new QProcess(this);
+    terraSync->moveToThread(this);
 
     connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
     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)));
diff --git a/src/comm/QGCJSBSimLink.cc b/src/comm/QGCJSBSimLink.cc
index 0756e35612a618bf9d82662bd28187f54acebe12..947161d1488de60fb3b08791f8c492e2c5932cbb 100644
--- a/src/comm/QGCJSBSimLink.cc
+++ b/src/comm/QGCJSBSimLink.cc
@@ -75,6 +75,7 @@ void QGCJSBSimLink::run()
 
     if (!mav) return;
     socket = new QUdpSocket(this);
+    socket->moveToThread(this);
     connectState = socket->bind(host, port);
 
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 1d974b43c7982ad7b239c726280b6e14fc85f5dc..e7bd6795644c95e10eefb3aa5bb7e19c93d224d9 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -154,18 +154,19 @@ void QGCXPlaneLink::run()
     if (connectState) return;
 
     socket = new QUdpSocket(this);
+    socket->moveToThread(this);
     connectState = socket->bind(localHost, localPort);
     if (!connectState) return;
 
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
-    connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-    connect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
+    connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)), Qt::QueuedConnection);
+    connect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
 
-    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)));
+    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)), Qt::QueuedConnection);
+    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)), Qt::QueuedConnection);
+    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)), Qt::QueuedConnection);
+    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)), Qt::QueuedConnection);
 
     UAS* uas = dynamic_cast<UAS*>(mav);
     if (uas)