diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2cbde93d580ff19c441552bed1242aaa9a1cca42..d889528471b9dae594a171d20216c6ab540acc86 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -75,10 +75,6 @@ endif(NOT CMAKE_BUILD_TYPE)
 enable_language(C)
 enable_language(CXX)
 
-# initialize variables
-set(qgroundcontrol_LIBRARIES qgroundcontrolNavigation qgroundcontrolCommunication)
-set(SCICOSLAB_BLOCKS stdBlocks;jsbsimBlocks;mavlinkBlocks)
-
 # installer
 include(InstallRequiredSystemLibraries)
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${qgroundcontrol_VERSION}")
@@ -125,7 +121,8 @@ if (UNIX)
     find_package(Flite)
 endif(UNIX)
 find_package(OpenGL REQUIRED)
-find_package(OpenSceneGraph 2.8.3 COMPONENTS osgGA osgDB osgUtil osgViewer)
+find_package(OpenSceneGraph 2.9.9)
+    #COMPONENTS osgGA osgDB osgUtil osgViewer)
 find_or_build_from_source(MAVLINK thirdParty/mavlink FOUND_GIT_REPO)
 
 # build libraries from source if not found on system
@@ -196,43 +193,49 @@ 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)
+    message(STATUS "\t\tMAVLINK\tNO")
+endif ()
+
+message(STATUS "OSG_FOUND: ${OPENSCENEGRAPH_FOUND}")
 if (OPENSCENEGRAPH_FOUND)
     message(STATUS "\t\tOpenSceneGraph\tYES")
     list(APPEND qgroundcontrolIncludes ${OPENSCENEGRAPH_INCLUDE_DIRS})
-    list(APPEND qgroundcontrolLibs ${SDL_LIBRARY})
+    list(APPEND qgroundcontrolLibs ${OPENSCENEGRAPH_LIBRARIES})
 else()
     message(STATUS "\t\tOpenSceneGraph\t\tNO")
-endif (OPENSCENEGRAPH_FOUND)
+endif ()
+
 if (QT4_FOUND)
     message(STATUS "\t\tQT4\t\tYES")
     list(APPEND qgroundcontrolIncludes ${QT_INCLUDE_DIRS})
     list(APPEND qgroundcontrolLibs ${QT_LIBRARIES})
 else()
     message(STATUS "\t\tQT4\t\tNO")
-endif (QT4_FOUND)
+endif ()
+
 if (PHONON_FOUND)
     message(STATUS "\t\tPHONON\t\tYES")
     list(APPEND qgroundcontrolIncludes ${PHONON_INCLUDES})
     list(APPEND qgroundcontrolLibs ${PHONON_LIBS})
 else()
     message(STATUS "\t\tPHONON\t\tNO")
-endif (PHONON_FOUND)
+endif ()
+
 if (SDL_FOUND)
     message(STATUS "\t\tSDL\t\tYES")
     list(APPEND qgroundcontrolIncludes ${SDL_INCLUDE_DIR})
     list(APPEND qgroundcontrolLibs ${SDL_LIBRARY})
 else()
     message(STATUS "\t\tSDL\t\tNO")
-endif (SDL_FOUND)
+endif ()
+
 if (OPENGL_FOUND)
     message(STATUS "\t\tOPENGL\t\tYES")
     list(APPEND qgroundcontrolIncludes ${OPENGL_INCLUDE_DIR})
     list(APPEND qgroundcontrolLibs ${OPENGL_LIBRARIES})
 else()
     message(STATUS "\t\tOPENGL\t\tNO")
-endif (OPENGL_FOUND)
+endif()
 
 # unix only dependencies
 if (UNIX)
@@ -242,7 +245,7 @@ if (UNIX)
         list(APPEND qgroundcontrolLibs ${FLITE_LIBRARIES})
     else()
         message(STATUS "\t\tFLITE\t\tNO")
-    endif (FLITE_FOUND)
+    endif ()
 endif(UNIX)
 
 # set include directories