diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 8ecb5194c20f55cb6029f4f51e8b8bc65f045d4a..533bdb382ed83eabb358aad2d73a7fcd5795f1b8 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -64,7 +64,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
 
     m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
     loadSettings();
-    //start(QThread::LowPriority);
+    moveToThread(this);
     // Start heartbeat timer, emitting a heartbeat at the configured rate
     connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
     heartbeatTimer->start(1000/heartbeatRate);
@@ -81,6 +81,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
         }
     }
 
+    start(QThread::HighPriority);
+
     emit versionCheckChanged(m_enable_version_check);
 }
 
@@ -166,6 +168,20 @@ MAVLinkProtocol::~MAVLinkProtocol()
         delete m_logfile;
         m_logfile = NULL;
     }
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+}
+
+/**
+ * @brief Runs the thread
+ *
+ **/
+void MAVLinkProtocol::run()
+{
+    exec();
 }
 
 QString MAVLinkProtocol::getLogfileName()
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index 3dc72563f50ebd4c8e34594d4c34b45d3aa7cae4..539b518e1ef7e94729dd8d99cfcfba3e8366b5c5 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -150,6 +150,8 @@ public:
      */
     virtual void resetMetadataForLink(const LinkInterface *link);
 
+    void run();
+
 public slots:
     /** @brief Receive bytes from a communication interface */
     void receiveBytes(LinkInterface* link, QByteArray b);
diff --git a/src/comm/ProtocolInterface.h b/src/comm/ProtocolInterface.h
index 150d5eb8f751385fd21e7541161a85846b2ec90a..a3a5fef128f7cf05c343fdee6f1352ae0d0752dc 100644
--- a/src/comm/ProtocolInterface.h
+++ b/src/comm/ProtocolInterface.h
@@ -46,7 +46,7 @@ This file is part of the PIXHAWK project
  * @see LinkManager.
  *
  **/
-class ProtocolInterface : public QObject
+class ProtocolInterface : public QThread
 {
     Q_OBJECT
 public:
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 66c6e5b7123c537cef9209072d405f45ac9088b4..1d974b43c7982ad7b239c726280b6e14fc85f5dc 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -74,6 +74,11 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
 QGCXPlaneLink::~QGCXPlaneLink()
 {
     storeSettings();
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 //    if(connectState) {
 //       disconnectSimulation();
 //    }
diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 1dbce7d655c075f2800ed9db848d3acf6412d5c9..ff555cc8bea71a7450a153bd54ce03048d32a0c8 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -87,6 +87,11 @@ SerialLink::~SerialLink()
     disconnect();
     if(m_port) delete m_port;
     m_port = NULL;
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
 }
 
 QList<QString> SerialLink::getCurrentPorts()
@@ -455,6 +460,7 @@ bool SerialLink::hardwareConnect(QString &type)
 
     qDebug() << "SerialLink: hardwareConnect to " << m_portName;
     m_port = new QSerialPort(m_portName);
+    m_port->moveToThread(this);
 
     if (!m_port) {
         emit communicationUpdate(getName(),"Error opening port: " + m_portName);
diff --git a/src/comm/TCPLink.cc b/src/comm/TCPLink.cc
index 392edbfcbb8e7be4961e16ab9ef4c6696ebc6015..146e7a39306b03d4a67b4b370894f6f563a19f19 100644
--- a/src/comm/TCPLink.cc
+++ b/src/comm/TCPLink.cc
@@ -56,6 +56,12 @@ TCPLink::TCPLink(QHostAddress hostAddress, quint16 socketPort) :
 TCPLink::~TCPLink()
 {
     disconnect();
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 	deleteLater();
 }
 
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 7c401c73402bffc4dc4d6e6dfa6c0e6c4bff5104..d02e9290a3abcc13cf5cb128511d0b89ccf1f66c 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -60,6 +60,12 @@ UDPLink::UDPLink(QHostAddress host, quint16 port) :
 UDPLink::~UDPLink()
 {
     disconnect();
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 	this->deleteLater();
 }
 
diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc
index b6fac140852b3d5379aa8160b868a3ab989f36af..a5b18330648e047403148b36da731a7116697e0a 100644
--- a/src/uas/QGCMAVLinkUASFactory.cc
+++ b/src/uas/QGCMAVLinkUASFactory.cc
@@ -132,6 +132,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     UASManager::instance()->addUAS(uas);
 
     worker->start(QThread::HighPriority);
+    connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
 
     return uas;
 }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 857e41dae07e70f257de7ec913ef9661eaa4fca8..20e29ff3b24962548190007efcc88a26e2414eaa 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -172,7 +172,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         componentMulti[i] = false;
     }
 
-
     // Store a list of available actions for this UAS.
     // Basically everything exposted as a SLOT with no return value or arguments.
 
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index 7f5ab0679e712cab30381dcb579a7c26a017ec09..e957d8e5538cd6f863839bb14dafcecff53d96f3 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -2,7 +2,7 @@
 #include "UASManager.h"
 
 MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
-    QThread(parent)
+    QThread()
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/