diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index d84b76ecfa7636af9fc63acb6408ace5094a2d91..7a1c295b977927584620afac41c69a680da57aa7 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -40,12 +40,12 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
   y(_y),
   z(_z),
   yaw(_yaw),
+  frame(_frame),
+  action(_action),
   autocontinue(_autocontinue),
   current(_current),
   orbit(_orbit),
-  holdTime(_holdTime),
-  frame(_frame),
-  action(_action)
+  holdTime(_holdTime)
 {
 }
 
diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc
index dbde5a83b7aa3939555ed0bc4d078ba5f4155346..ba6b9ff2994842b5b3e006d2c098bde96af8efeb 100644
--- a/src/input/Freenect.cc
+++ b/src/input/Freenect.cc
@@ -137,8 +137,14 @@ Freenect::process(void)
         return false;
     }
 
-    freenect_get_raw_accel(device, &ax, &ay, &az);
-    freenect_get_mks_accel(device, &dx, &dy, &dz);
+    //libfreenect changed some access functions in one of the new revisions
+    freenect_raw_device_state state;
+    freenect_get_mks_accel(&state, &ax, &ay, &az);
+    //tiltAngle = freenect_get_tilt_degs(&state);
+
+    //these are the old access functions
+    //freenect_get_raw_accel(device, &ax, &ay, &az);
+    //freenect_get_mks_accel(device, &dx, &dy, &dz);
 
     return true;
 }
diff --git a/src/input/Freenect.h b/src/input/Freenect.h
index c375a738010c8d984aff0c8763d1dd8e1a67f8e1..8b2a11cb0d7e4f369bd1226c087158ceac29a6a9 100644
--- a/src/input/Freenect.h
+++ b/src/input/Freenect.h
@@ -1,7 +1,7 @@
 #ifndef FREENECT_H
 #define FREENECT_H
 
-#include <libfreenect.h>
+#include <libfreenect/libfreenect.h>
 #include <QMutex>
 #include <QScopedPointer>
 #include <QSharedPointer>
@@ -81,7 +81,7 @@ private:
     QMutex coloredDepthMutex;
 
     // accelerometer data
-    short ax, ay, az;
+    double ax, ay, az;
     double dx, dy, dz;
 
     // gamma map
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 30ce495af6d0a4789524eca8e1677197d69fd0bb..3ca6c54ac8b2a7afd6e73e2d973519b3f90922f6 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -559,22 +559,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
-#ifdef MAVLINK_ENABLED_PIXHAWK
-            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
-            {
-                mavlink_point_of_interest_t poi;
-                mavlink_msg_point_of_interest_decode(&message, &poi);
-                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
-            }
-            break;
-            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
-            {
-                mavlink_point_of_interest_connection_t poi;
-                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
-                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
-            }
-            break;
-#endif
+//#ifdef MAVLINK_ENABLED_PIXHAWK
+//            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
+//            {
+//                mavlink_point_of_interest_t poi;
+//                mavlink_msg_point_of_interest_decode(&message, &poi);
+//                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
+//            }
+//            break;
+//            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
+//            {
+//                mavlink_point_of_interest_connection_t poi;
+//                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
+//                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
+//            }
+//            break;
+//#endif
 #ifdef MAVLINK_ENABLED_UALBERTA
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
             {
diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc
index 5a0df71c8ec2b3869a3fe6f037ac309f5e624c06..21300459923b90d477531cf7545424936d62e799 100644
--- a/src/ui/map3D/Q3DWidget.cc
+++ b/src/ui/map3D/Q3DWidget.cc
@@ -34,6 +34,9 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/Geometry>
 #include <osg/LineWidth>
 #include <osg/MatrixTransform>
+#ifdef Q_OS_MACX
+#include <Carbon/Carbon.h>
+#endif
 
 Q3DWidget::Q3DWidget(QWidget* parent)
     : QGLWidget(parent)