diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc
index 805f9a5d6534c3ffd4ee0575ca45ce20d0f84f17..01d6e4fab00ff7e72fec3b06639de5f3bb761a1f 100644
--- a/src/input/JoystickInput.cc
+++ b/src/input/JoystickInput.cc
@@ -37,6 +37,7 @@ This file is part of the PIXHAWK project
 #include "UAS.h"
 #include "UASManager.h"
 #include "QGC.h"
+#include <QMutexLocker>
 
 /**
  * The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
@@ -49,10 +50,10 @@ JoystickInput::JoystickInput() :
     uas(NULL),
     uasButtonList(QList<int>()),
     done(false),
-    thrustAxis(3),
-    xAxis(1),
-    yAxis(0),
-    yawAxis(2),
+    thrustAxis(2),
+    xAxis(0),
+    yAxis(1),
+    yawAxis(3),
     joystickName(tr("Unitinialized"))
 {
     for (int i = 0; i < 10; i++) {
@@ -66,6 +67,17 @@ JoystickInput::JoystickInput() :
     //start();
 }
 
+JoystickInput::~JoystickInput()
+{
+	{
+		QMutexLocker locker(&this->m_doneMutex);
+		done = true;
+	}
+	this->wait();
+	this->deleteLater();
+}
+
+
 void JoystickInput::setActiveUAS(UASInterface* uas)
 {
     // Only connect / disconnect is the UAS is of a controllable UAS class
@@ -134,7 +146,16 @@ void JoystickInput::run()
 
     init();
 
-    while(!done) {
+    forever
+	{
+		{
+			QMutexLocker locker(&this->m_doneMutex);
+			if(done)
+			{
+				done = false;
+				break;
+			}
+		}
         while(SDL_PollEvent(&event)) {
 
             SDL_JoystickUpdate();
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index ad08c123a7ecda059e1ef583019d739b8f160989..f8b369e49cd3ffaba0d53d6ec5c9dfae8f5a6f42 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QThread>
 #include <QList>
+#include <qmutex.h>
 #include <SDL/SDL.h>
 
 #include "UASInterface.h"
@@ -48,6 +49,7 @@ class JoystickInput : public QThread
 
 public:
     JoystickInput();
+	~JoystickInput();
     void run();
 
     const QString& getName();
@@ -63,6 +65,7 @@ protected:
     UASInterface* uas;
     QList<int> uasButtonList;
     bool done;
+	QMutex m_doneMutex;
 
     // Axis 3 is thrust (CALIBRATION!)
     int thrustAxis;
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 8436230ec40ec85f78c17eaa079651154aefc271..a4f1cf156ca9cdf9304ed90cc35af46115a3b492 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -154,9 +154,11 @@ void WaypointList::setUAS(UASInterface* uas)
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
-
-        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+		if(uas != NULL)
+        {
+			connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
+			connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+		}
 
         connect(WPM, SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
         connect(WPM, SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));