diff --git a/CMakeLists.txt b/CMakeLists.txt
index 313a9e718547471522f6715945102095f96bcc01..faa3fe5391b568f495fc7ec98a4ae9cde55804a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -120,9 +120,11 @@ endif()
 find_package(Qt4 COMPONENTS QtGui QtCore QtNetwork QtOpenGL QtSVG QtXML QtPhonon QtWebKit REQUIRED)
 set(PHONON_FIND_QUIETLY FALSE)
 find_package(Phonon)
-find_package(SDL)
-find_package(Flite)
-find_package(OpenGL)
+find_package(SDL REQUIRED)
+if (UNIX)
+    find_package(Flite)
+endif(UNIX)
+find_package(OpenGL REQUIRED)
 find_package(OpenSceneGraph 2.8.3 COMPONENTS osgGA osgDB osgUtil osgViewer)
 find_or_build_from_source(MAVLINK thirdParty/mavlink FOUND_GIT_REPO)
 
@@ -159,60 +161,90 @@ install(DIRECTORY "${PROJECT_SOURCE_DIR}/data"
     DESTINATION share/qgroundcontrol
     PATTERN "*.git*" EXCLUDE)
 
+# include directories
+set(qgroundcontrolIncludes
+    src
+    src/ui
+    src/ui/linechart
+    src/ui/uas
+    src/ui/map
+    src/ui/map3D
+    src/uas
+    src/comm
+    include/ui
+    src/input
+    src/lib/qmapcontrol
+    src/ui/mavlink
+    src/ui/param
+    src/ui/watchdog
+    src/ui/map3D
+    src/ui/designer
+    src/lib/qextserialport
+    src/lib/qwt
+    lib/QMapControl
+    ${PROJECT_BINARY_DIR}
+    )
+
 # dependency summary
 message(STATUS "=======================================")
-message(STATUS "\tLIBRARY\t\t\tBUILDING")
+message(STATUS "\tDEPENDENCY\t\tFOUND")
 message(STATUS "=======================================")
-message(STATUS "\t\tMavlink\t\tYES")
+
+# common dependencies
+if (MAVLINK_FOUND)
+    message(STATUS "\t\tMAVLINK\t\tYES")
+    list(APPEND qgroundcontrolIncludes ${MAVLINK_INCLUDE_DIRS})
+else()
+    message(STATUS "\t\tOpenSceneGraph\t\tNO")
+endif (MAVLINK_FOUND)
 if (OPENSCENEGRAPH_FOUND)
-    list(APPEND qgroundcontrol_LIBRARIES qgroundcontrolVisualization)
     message(STATUS "\t\tOpenSceneGraph\tYES")
+    list(APPEND qgroundcontrolIncludes ${OPENSCENEGRAPH_INCLUDE_DIRS})
 else()
     message(STATUS "\t\tOpenSceneGraph\t\tNO")
 endif (OPENSCENEGRAPH_FOUND)
 if (QT4_FOUND)
     message(STATUS "\t\tQT4\t\tYES")
+    list(APPEND qgroundcontrolIncludes ${QT_INCLUDE_DIRS})
 else()
     message(STATUS "\t\tQT4\t\tNO")
 endif (QT4_FOUND)
 if (PHONON_FOUND)
     message(STATUS "\t\tPHONON\t\tYES")
+    list(APPEND qgroundcontrolIncludes ${PHONON_INCLUDE_DIR}/phonon)
 else()
     message(STATUS "\t\tPHONON\t\tNO")
 endif (PHONON_FOUND)
+if (SDL_FOUND)
+    message(STATUS "\t\tSDL\t\tYES")
+    list(APPEND qgroundcontrolIncludes ${SDL_INCLUDE_DIR})
+else()
+    message(STATUS "\t\tSDL\t\tNO")
+endif (SDL_FOUND)
+if (OPENGL_FOUND)
+    message(STATUS "\t\tOPENGL\t\tYES")
+    list(APPEND qgroundcontrolIncludes ${OPENGL_INCLUDE_DIR})
+else()
+    message(STATUS "\t\tOPENGL\t\tNO")
+endif (OPENGL_FOUND)
+
+# unix only dependencies
+if (UNIX)
+    if (FLITE_FOUND)
+        message(STATUS "\t\tFLITE\t\tYES")
+        list(APPEND qgroundcontrolIncludes ${FLITE_INCLUDE_DIR})
+    else()
+        message(STATUS "\t\tFLITE\t\tNO")
+    endif (FLITE_FOUND)
+endif(UNIX)
+
+# set include directories
+include_directories(${qgroundcontrolIncludes})
+
 message(STATUS "=======================================")
 
 # project flags
 include (${QT_USE_FILE})
-include_directories(
-    src
-    src/ui
-    src/ui/linechart
-    src/ui/uas
-    src/ui/map
-    src/ui/map3D
-    src/uas
-    src/comm
-    include/ui
-    src/input
-    src/lib/qmapcontrol
-    src/ui/mavlink
-    src/ui/param
-    src/ui/watchdog
-    src/ui/map3D
-    src/ui/designer
-    src/lib/qextserialport
-    src/lib/qwt
-    lib/QMapControl
-    ${PROJECT_BINARY_DIR}
-    ${SDL_INCLUDE_DIR}
-    ${OPENGL_INCLUDE_DIR}
-    ${OPENSCENEGRAPH_INCLUDE_DIRS}
-    ${QT_INCLUDE_DIRS}
-    ${PHONON_INCLUDE_DIR}/phonon
-    ${FLITE_INCLUDE_DIR}
-    ${MAVLINK_INCLUDE_DIRS}
-    )
 set (commonLibs
         )
 add_definitions(-D_TTY_POSIX_)
@@ -322,14 +354,15 @@ set (qgroundcontrolHdrs
 # r !grep -Rl Q_OBJECT src | grep "^.*\.[h|hpp]$" | sed "s/^/\t/g"
 set(qgroundcontrolMocSrc 
 	src/Core.h
-	src/uas/UASManager.h
-	src/uas/UASWaypointManager.h
-	src/uas/UASInterface.h
-	src/uas/PxQuadMAV.h
-	src/uas/QGCMAVLinkUASFactory.h
-	src/uas/SlugsMAV.h
-	src/uas/UAS.h
-	src/uas/ArduPilotMegaMAV.h
+    src/uas/ArduPilotMegaMAV.h
+    src/uas/PxQuadMAV.h
+    src/uas/QGCMAVLinkUASFactory.h
+    src/uas/QGCUASParamManager.h
+    src/uas/SlugsMAV.h
+    src/uas/UAS.h
+    src/uas/UASInterface.h
+    src/uas/UASManager.h
+    src/uas/UASWaypointManager.h
 	src/Waypoint.h
 	src/LogCompressor.h
     src/GAudioOutput.h
@@ -444,6 +477,7 @@ set (qgroundcontrolSrc
     src/uas/ArduPilotMegaMAV.cc
     src/uas/PxQuadMAV.cc
     src/uas/QGCMAVLinkUASFactory.cc
+    src/uas/QGCUASParamManager.cc
     src/uas/SlugsMAV.cc
     src/uas/UAS.cc
     src/uas/UASManager.cc
diff --git a/CMakeModules/FindFlite.cmake b/CMakeModules/FindFlite.cmake
index a4d16bad18428f8cb828ee37ab443368065770b8..b9471bef3959635b21f11fb1b0ea3a516bdfd93a 100644
--- a/CMakeModules/FindFlite.cmake
+++ b/CMakeModules/FindFlite.cmake
@@ -1,5 +1,16 @@
 FIND_PATH(FLITE_INCLUDE_DIR flite/flite.h)
-FIND_LIBRARY(FLITE_LIBRARIES NAMES flite)
+
+FIND_LIBRARY(FLITE_MAIN_LIB NAMES flite)
+FIND_LIBRARY(FLITE_CMULEX_LIB NAMES flite_cmulex)
+FIND_LIBRARY(FLITE_CMU_US_KAL_LIB NAMES flite_cmu_us_kal)
+FIND_LIBRARY(FLITE_US_ENGLISH_LIB NAMES flite_usenglish)
+
+SET(FLITE_LIBRARIES
+	${FLITE_MAIN_LIB}
+	${FLITE_CMULEX_LIB}
+	${FLITE_CMU_US_KAL_LIB}
+	${FLITE_US_ENGLISH_LIB}
+	)
 
 IF(FLITE_INCLUDE_DIR AND FLITE_LIBRARIES)
 	SET(FLITE_FOUND TRUE)
diff --git a/autobuild.sh b/autobuild.sh
index 9b7f7912a40a38e95fdebd6fe7da97216bda9fa6..f21ecf824c146ffc3346667cd744071b5764ac9a 100755
--- a/autobuild.sh
+++ b/autobuild.sh
@@ -28,8 +28,7 @@ do
 	elif [ $OPT = "grab_debian_dependencies" ] &> /dev/null
 	then
 		echo you chose to install debian dependencies
-		sudo apt-get install cmake libqt4-dev libboost-all-dev libopenscenegraph-dev
-		sudo apt-get install scicoslab-gtk
+		sudo apt-get install cmake libqt4-dev flite1-dev libphonon-dev libopenscenegraph-dev
 		exit 0
 
 	elif [ $OPT = "remake" ] &> /dev/null
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index e10356f3777fe4ace139ae57df2869ebd10a1f04..50ef1ecbc630cd59e59f644ff39337d188aefa95 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -189,7 +189,7 @@ bool GAudioOutput::say(QString text, int severity)
         file.setFileTemplate("XXXXXX.wav");
         if (file.open())
         {
-            cst_voice* v = new_voice();
+            cst_voice* v = register_cmu_us_kal(NULL);
             cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
             // file.fileName() returns the unique file name
             cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
diff --git a/thirdParty/mavlink b/thirdParty/mavlink
index 50ad6bf278b87a105adb4887b5338daa2940f0c6..3eece4f7936d935256ec4ac6cf3ae726e5ddd7f1 160000
--- a/thirdParty/mavlink
+++ b/thirdParty/mavlink
@@ -1 +1 @@
-Subproject commit 50ad6bf278b87a105adb4887b5338daa2940f0c6
+Subproject commit 3eece4f7936d935256ec4ac6cf3ae726e5ddd7f1