diff --git a/.gitignore b/.gitignore
index a2a99d8382019c1ebd959422d7c1c04a81ba6e05..d377e9bb27fe65e10ff69a44255ade244ffbdbd6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,5 @@
 *Makefile*
-./build
+build
 Info.plist
 obj
 *.log
@@ -16,3 +16,5 @@ qrc_*.cpp
 tmp
 debug
 release
+opengroundcontrol.xcodeproj/**
+
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..aab53d9259254c68027a3f0e6b43c3d752e9594a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "MAVLink"]
+	path = MAVLink
+	url = git://github.com/pixhawk/mavlink.git
diff --git a/lib/flite/mac32/libflite.a b/lib/flite/mac32/libflite.a
deleted file mode 100644
index 96c0483be430892732c34f1a6fc250130fb4d323..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_time_awb.a b/lib/flite/mac32/libflite_cmu_time_awb.a
deleted file mode 100644
index d31668dbe086ac5e1ae5f262f354c9e67dedba5e..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_time_awb.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_awb.a b/lib/flite/mac32/libflite_cmu_us_awb.a
deleted file mode 100644
index d06d818f1364d966e2c539c147bc76e1fa5195f3..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_us_awb.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_kal.a b/lib/flite/mac32/libflite_cmu_us_kal.a
deleted file mode 100644
index c57fc96b70d0f2a4c96264204ea376e89c60f0b3..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_us_kal.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_kal16.a b/lib/flite/mac32/libflite_cmu_us_kal16.a
deleted file mode 100644
index bb005e5a7debb0e730ef8a01e84ae4016f98c275..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_us_kal16.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_rms.a b/lib/flite/mac32/libflite_cmu_us_rms.a
deleted file mode 100644
index f3bf17fa364773894a43998b9f467704bda5ee22..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_us_rms.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmu_us_slt.a b/lib/flite/mac32/libflite_cmu_us_slt.a
deleted file mode 100644
index 019486705162929bb5dbaca6d8ddeedfa0929fea..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmu_us_slt.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_cmulex.a b/lib/flite/mac32/libflite_cmulex.a
deleted file mode 100644
index 9e727eebf94c9e07b09405714e22211f1f7d1f49..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_cmulex.a and /dev/null differ
diff --git a/lib/flite/mac32/libflite_usenglish.a b/lib/flite/mac32/libflite_usenglish.a
deleted file mode 100644
index ff77da82a144fd13978a55682b146f5ff1531331..0000000000000000000000000000000000000000
Binary files a/lib/flite/mac32/libflite_usenglish.a and /dev/null differ
diff --git a/mavground.pri b/mavground.pri
index 13a97bc9cf2fce316903833e2de64f75cdc4541d..34e261000ed1358fe87ed3a5afd45f6bc727cbba 100644
--- a/mavground.pri
+++ b/mavground.pri
@@ -25,7 +25,7 @@
 #
 #-------------------------------------------------
 
-QT       += network opengl svg xml
+QT       += network opengl svg xml phonon
 
 TEMPLATE = app
 TARGET = opengroundcontrol
@@ -62,23 +62,23 @@ macx {
 
     message(Building for Mac OS X)
 
-    QT += phonon
-    
+    CONFIG += x86
+
+    contains ( DEFINES, QT_MAC_USE_COCOA ) {
+        CONFIG += x86_64 cocoa
+	CONFIG -= static
+    }
+
     DESTDIR = $$BASEDIR/bin/mac
-    
+
+    INCLUDEPATH += -framework SDL
+
     LIBS += -framework IOKit \
-        -L/opt/local/lib \
-        -L$$BASEDIR/lib/flite/mac32 \
-        -lm \
-        -lflite_cmu_us_awb \
-        -lflite_cmu_us_rms \
-        -lflite_cmu_us_slt \
-        -lflite_usenglish \
-        -lflite_cmulex \
-        -lflite \
-        -L/lib/mac32/SDL \
-        -lSDL \
-        -lSDLmain
+        -framework SDL \
+        -framework CoreFoundation \
+        -framework ApplicationServices \
+        -lm
+
     DEFINES += _TTY_POSIX_
     
     #ICON = $$BASEDIR/img/icons/empty.png
@@ -88,8 +88,6 @@ macx {
 linux-g++ { 
 
     message(Building for GNU/Linux)
-
-    QT += phonon
     
     debug {
         DESTDIR = $$BASEDIR
@@ -99,10 +97,6 @@ linux-g++ {
         DESTDIR = $$BASEDIR
     }
     INCLUDEPATH += /usr/include/SDL
-    #               /usr/include/qwt-qt4
-
-    #-L$$BASEDIR/lib/qwt/linux \
-
 
     DEFINES += _TTY_POSIX_
 
@@ -137,26 +131,18 @@ linux-g++ {
 }
 
 
-# Windows (32bit)
+# Windows (32bit/64bit)
 win32 { 
 
     message(Building for Windows Platform (32/64bit))
     
     # Special settings for debug
-        #CONFIG += CONSOLE
+    #CONFIG += CONSOLE
     LIBS += -L$$BASEDIR\lib\sdl\win32 \
         -lmingw32 -lSDLmain -lSDL -mwindows
     
     INCLUDEPATH += $$BASEDIR/lib/sdl/include/SDL
     
-    #LIBS += -L$$BASEDIR\lib\qextserialport\win32 \
-    #    -lqextserialport \
-    #    -lsetupapi
-    #    -L$$BASEDIR/lib/openjaus/libjaus/lib/win32 \
-    #    -ljaus \
-    #    -L$$BASEDIR/lib/openjaus/libopenJaus/lib/win32 \
-    #    -lopenjaus
-    
     DEFINES += _TTY_WIN_
 
     debug {
diff --git a/mavground.pro b/mavground.pro
index d7cfd67d5a299c095fa405cdf469014cc0e7f58a..e474ae2429a00cf309cd853d793a0a494a7e9eec 100644
--- a/mavground.pro
+++ b/mavground.pro
@@ -8,7 +8,8 @@ include(src/lib/qextserialport/qextserialport.pri)
 include(src/lib/qwt/qwt.pri)
 
 # Include FLITE audio synthesizer library
-# include(src/lib/flite/flite.pri)
+#include(src/lib/flite/flite.pri)
+
 # Include QMapControl map library
 include(lib/QMapControl/QMapControl.pri)
 DEPENDPATH += . \
@@ -17,8 +18,8 @@ DEPENDPATH += . \
 INCLUDEPATH += . \
     lib/QMapControl \
     ../mavlink/src \
-    mavlink/src \
-    src/mavlink
+    MAVLink/src \
+    mavlink/src
 
 # Input
 FORMS += src/ui/MainWindow.ui \
diff --git a/src/AudioOutput.cc b/src/AudioOutput.cc
new file mode 100644
index 0000000000000000000000000000000000000000..7f0630b1a889e181163569f374a512ea0cb7cf96
--- /dev/null
+++ b/src/AudioOutput.cc
@@ -0,0 +1,165 @@
+#include "AudioOutput.h"
+
+#ifndef Q_OS_MAC
+	#include <flite.h>
+	#include <phonon/mediaobject.h>
+	#include <QTemporaryFile>
+#else
+	#include <ApplicationServices/ApplicationServices.h>
+#endif
+
+#include <QDebug>
+
+#ifndef Q_OS_MAC
+extern "C" {
+#include <cmu_us_awb/voxdefs.h>
+    //#include <cmu_us_slt/voxdefs.h>
+    //cst_voice *REGISTER_VOX(const char *voxdir);
+    //void UNREGISTER_VOX(cst_voice *vox);
+    cst_voice *register_cmu_us_awb(const char *voxdir);
+    void unregister_cmu_us_awb(cst_voice *vox);
+    cst_voice *register_cmu_us_slt(const char *voxdir);
+    void unregister_cmu_us_slt(cst_voice *vox);
+    cst_voice *register_cmu_us_rms(const char *voxdir);
+    void unregister_cmu_us_rms(cst_voice *vox);
+};
+#endif
+
+AudioOutput::AudioOutput(QString voice, QObject* parent) : QObject(parent),
+voice(NULL),
+voiceIndex(0)
+{
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
+    flite_init();
+#endif
+
+    switch (voiceIndex)
+    {
+    case 0:
+        selectFemaleVoice();
+        break;
+    case 1:
+        selectMaleVoice();
+        break;
+    default:
+        selectNeutralVoice();
+        break;
+    }
+
+    /*
+    // List available voices
+    QStringList voices = listVoices();
+    foreach (QString s, voices)
+    {
+        qDebug() << "VOICE: " << s;
+    }
+
+    if (voice.length() > 0)
+    {
+        //this->voice = flite_voice_select(voice.toStdString().c_str());
+    }
+    else
+    {
+        // Take default voice
+        //this->voice = flite_voice_select("awb");
+    }
+    */
+}
+
+bool AudioOutput::say(QString text, int severity)
+{
+    // Only give speech output on Linux and MacOS
+#if defined(Q_OS_WIN32)
+    qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
+#elif defined(Q_OS_MAC)
+	SpeakString((const unsigned char*)text.toAscii().data());
+	qDebug() << "Synthesized: " << text;
+#else
+    QTemporaryFile file;
+    file.setFileTemplate("XXXXXX.wav");
+    if (file.open())
+    {
+        cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), this->voice);
+        // file.fileName() returns the unique file name
+        cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
+        Phonon::MediaObject *music =
+                Phonon::createPlayer(Phonon::MusicCategory,
+                                     Phonon::MediaSource(file.fileName().toStdString().c_str()));
+        music->play();
+        qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
+    }
+#endif
+    return true;
+}
+
+bool AudioOutput::alert(QString text)
+{
+    // Play alert sound
+
+    // Say alert message
+    return say(text, 2);
+}
+
+bool AudioOutput::startEmergency()
+{
+    return false;
+}
+
+bool AudioOutput::stopEmergency()
+{
+    return false;
+}
+
+void AudioOutput::selectFemaleVoice()
+{
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
+    this->voice = register_cmu_us_slt(NULL);
+#endif
+}
+
+void AudioOutput::selectMaleVoice()
+{
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
+    this->voice = register_cmu_us_rms(NULL);
+#endif
+}
+
+
+void AudioOutput::selectNeutralVoice()
+{
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
+    this->voice = register_cmu_us_awb(NULL);
+#endif
+}
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+    QStringList AudioOutput::listVoices(void)
+    {
+
+
+        cst_voice *voice;
+        const cst_val *v;
+        QStringList l;
+
+#if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
+        /*
+        printf("Voices available: ");
+        for (v=flite_voice_list; v; v=val_cdr(v))
+        {
+            voice = val_voice(val_car(v));
+            QString s;
+            s.sprintf("%s",voice->name);
+            printf("%s",voice->name);
+            l.append(s);
+        }
+        printf("\n");
+*/
+#endif
+        return l;
+
+    }
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
diff --git a/src/Core.h b/src/Core.h
index 49d81b7bf093112c8ae20f5ba6c0f199b93bd553..857cb0371cd6e825c94e2780b91bf9485cab9610 100644
--- a/src/Core.h
+++ b/src/Core.h
@@ -70,7 +70,6 @@ protected:
 private:
         MainWindow* mainWindow;
         //ViconTarsusProtocol* tarsus;
-
 };
 
 #endif /* _CORE_H_ */
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index ece5b3e290fca7e680d68ab795cfbb2e80ae1c04..6f17bfc7bfff0344cb5ae1447aa5779b45ba3d53 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -32,13 +32,19 @@ This file is part of the PIXHAWK project
 #include <QApplication>
 #include "GAudioOutput.h"
 #include "MG.h"
-#include <flite.h>
 
+#ifdef Q_OS_MAC
+#include <ApplicationServices/ApplicationServices.h>
+#endif
+#ifdef Q_OS_LINUX
+#include <flite.h>
+#endif
 #include <Phonon>
 #include <QTemporaryFile>
 
 #include <QDebug>
 
+#ifndef Q_OS_MAC
 extern "C" {
 #include <cmu_us_awb/voxdefs.h>
     //#include <cmu_us_slt/voxdefs.h>
@@ -51,6 +57,7 @@ extern "C" {
     cst_voice *register_cmu_us_rms(const char *voxdir);
     void unregister_cmu_us_rms(cst_voice *vox);
 };
+#endif
 
 /**
  * This class follows the singleton design pattern
@@ -76,14 +83,14 @@ voice(NULL),
 voiceIndex(0),
 emergency(false)
 {
-#ifndef _WIN32
+#if Q_OS_LINUX
     flite_init();
+#endif
     m_media = new Phonon::MediaObject(this);
     Phonon::AudioOutput *audioOutput = new Phonon::AudioOutput(Phonon::MusicCategory, this);
     createPath(m_media, audioOutput);
     emergencyTimer = new QTimer();
     connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
-#endif
 
     switch (voiceIndex)
     {
@@ -97,27 +104,6 @@ emergency(false)
         selectNeutralVoice();
         break;
     }
-
-    /*
-    // List available voices
-    QStringList voices = listVoices();
-    foreach (QString s, voices)
-    {
-        qDebug() << "VOICE: " << s;
-    }
-
-    if (voice.length() > 0)
-    {
-        //this->voice = flite_voice_select(voice.toStdString().c_str());
-    }
-    else
-    {
-        // Take default voice
-        //this->voice = flite_voice_select("awb");
-    }
-    */
-
-
 }
 
 bool GAudioOutput::say(QString text, int severity)
@@ -126,7 +112,7 @@ bool GAudioOutput::say(QString text, int severity)
     if (!emergency)
     {
         // Only give speech output on Linux and MacOS
-#ifndef _WIN32
+#ifdef Q_OS_LINUX
         QTemporaryFile file;
         file.setFileTemplate("XXXXXX.wav");
         if (file.open())
@@ -140,7 +126,20 @@ bool GAudioOutput::say(QString text, int severity)
             qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
             res = true;
         }
-#else
+#endif
+
+#ifdef Q_OS_MAC
+        // Slashes necessary to have the right start to the sentence
+        // copying data prevents SpeakString from reading additional chars
+        text = "\\" + text;
+        QStdWString str = text.toStdWString();
+        unsigned char str2[1024] = {};
+        memcpy(str2, text.toAscii().data(), str.length());
+        SpeakString(str2);
+        qDebug() << "Synthesized: " << text.toAscii();
+#endif
+
+#ifdef Q_OS_WIN32
         qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
 #endif
     }
@@ -212,14 +211,14 @@ void GAudioOutput::beep()
 
 void GAudioOutput::selectFemaleVoice()
 {
-#ifndef _WIN32
+#ifdef Q_OS_LINUX
     this->voice = register_cmu_us_slt(NULL);
 #endif
 }
 
 void GAudioOutput::selectMaleVoice()
 {
-#ifndef _WIN32
+#ifdef Q_OS_LINUX
     this->voice = register_cmu_us_rms(NULL);
 #endif
 }
@@ -227,7 +226,7 @@ void GAudioOutput::selectMaleVoice()
 
 void GAudioOutput::selectNeutralVoice()
 {
-#ifndef _WIN32
+#ifdef Q_OS_LINUX
     this->voice = register_cmu_us_awb(NULL);
 #endif
 }
diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h
index 8b6c76df38a78464d37735c6ffa8388f360e301c..4e20274d2b5f8705367f43d84114756423f7ea9f 100644
--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -38,6 +38,12 @@ This file is part of the PIXHAWK project
 #include <flite.h>
 #include <Phonon>
 
+/* For Snow leopard and later
+#ifdef Q_OS_MAC
+#include <NSSpeechSynthesizer.h>
+#endif
+   */
+
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
  * This class follows the singleton design pattern
@@ -71,6 +77,9 @@ public slots:
     void beep();
 
 protected:
+    #ifdef Q_OS_MAC
+    //NSSpeechSynthesizer
+#endif
     cst_voice* voice; ///< The flite voice object
     int voiceIndex;   ///< The index of the flite voice to use (awb, slt, rms)
     Phonon::MediaObject* m_media; ///< The output object for audio
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index b4b44689dcf725d1bd5858b1f77c4f94883851fb..14ee34cb47674a59b6de2a4cf4bea194c571e34f 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -35,7 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QThread>
 #include <QList>
-#include <SDL.h>
+#include <SDL/SDL.h>
 
 #include "UASInterface.h"
 
diff --git a/src/main.cc b/src/main.cc
index 8e024161f72814ae5815aaad6fc5fa17c38001f4..0c65955b3b9b500a06830a83c452ba9ac32efa7b 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -33,6 +33,11 @@ This file is part of the PIXHAWK project
 #include "MainWindow.h"
 #include "configuration.h"
 
+/* SDL does ugly things to main() */
+#ifdef main
+#	undef main
+#endif
+
 /**
  * @brief Starts the application
  *
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index de666717ef05815010fbda685a3fb3ee37b9b446..b03e547383f070590ef75984341f207ad2c1a070 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -130,7 +130,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     this->status = state.status;
                     getStatusForCode((int)state.status, uasState, stateDescription);
                     emit statusChanged(this, uasState, stateDescription);
-                    stateAudio = "changed status to " + uasState;
+                    stateAudio = " changed status to " + uasState;
                 }
 
                 if (static_cast<int>(this->mode) != static_cast<int>(state.mode))