diff --git a/src/uas/ArduPilotMegaMAV.cc b/src/uas/ArduPilotMegaMAV.cc
index b1d7c84278f50afa11724f29edcbc9d5597f32f8..e6030823c48722b5778405bfb74239ece902ccc4 100644
--- a/src/uas/ArduPilotMegaMAV.cc
+++ b/src/uas/ArduPilotMegaMAV.cc
@@ -28,11 +28,11 @@ This file is part of the QGROUNDCONTROL project
 
 #include "ArduPilotMegaMAV.h"
 
-#ifndef mavlink_mount_configure_t
+#ifndef MAVLINK_MSG_ID_MOUNT_CONFIGURE
 #include "ardupilotmega/mavlink_msg_mount_configure.h"
 #endif
 
-#ifndef mavlink_mount_control_t
+#ifndef MAVLINK_MSG_ID_MOUNT_CONTROL
 #include "ardupilotmega/mavlink_msg_mount_control.h";
 #endif
 
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 32b57a1aab01f0e82651fef31b4419ae368ca8b1..f8c53de7912e1e901d0331645a86c30f02e58522 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -145,7 +145,60 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         componentID[i] = -1;
         componentMulti[i] = false;
     }
-    
+
+    // Store a list of available actions for this UAS.
+    // Basically everything exposted as a SLOT with no return value or arguments.
+
+    QAction* newAction = new QAction(tr("Arm"), this);
+    newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(armSystem()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Disarm"), this);
+    newAction->setToolTip(tr("Disable the UAS so that all actuators are offline"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Go home"), this);
+    newAction->setToolTip(tr("Command the UAS to return to its home position"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(home()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Land"), this);
+    newAction->setToolTip(tr("Command the UAS to land"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(land()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Launch"), this);
+    newAction->setToolTip(tr("Command the UAS to launch itself and begin its mission"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(launch()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Resume"), this);
+    newAction->setToolTip(tr("Command the UAS to continue its mission"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(go()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Stop"), this);
+    newAction->setToolTip(tr("Command the UAS to halt and hold position"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(halt()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Go autonomous"), this);
+    newAction->setToolTip(tr("Set the UAS into an autonomous control mode"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(goAutonomous()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Go manual"), this);
+    newAction->setToolTip(tr("Set the UAS into a manual control mode"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(goManual()));
+    actions.append(newAction);
+
+    newAction = new QAction(tr("Toggle autonomy"), this);
+    newAction->setToolTip(tr("Toggle between manual and full-autonomy"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
+    actions.append(newAction);
+
     color = UASInterface::getNextColor();
     setBatterySpecs(QString("9V,9.5V,12.6V"));
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
@@ -2633,6 +2686,27 @@ void UAS::disarmSystem()
     sendMessage(msg);
 }
 
+void UAS::goAutonomous()
+{
+    mavlink_message_t msg;
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & MAV_MODE_FLAG_AUTO_ENABLED & ~MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, navMode);
+    sendMessage(msg);
+}
+
+void UAS::goManual()
+{
+    mavlink_message_t msg;
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & ~MAV_MODE_FLAG_AUTO_ENABLED & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, navMode);
+    sendMessage(msg);
+}
+
+void UAS::toggleAutonomy()
+{
+    mavlink_message_t msg;
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, navMode);
+    sendMessage(msg);
+}
+
 /** 
 * Set the manual control commands. 
 * This can only be done if the system has manual inputs enabled and is armed.
@@ -2694,41 +2768,6 @@ int UAS::getSystemType()
     return this->type;
 }
 
-/**
- * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as well.
- * @return If the specified vehicle type can
- */
-//bool UAS::systemCanReverse() const
-//{
-//    switch(type)
-//    {
-//    case MAV_TYPE_GENERIC:
-//    case MAV_TYPE_FIXED_WING:
-//    case MAV_TYPE_ROCKET:
-//    case MAV_TYPE_FLAPPING_WING:
-
-//    // System types that don't have movement
-//    case MAV_TYPE_ANTENNA_TRACKER:
-//    case MAV_TYPE_GCS:
-//    case MAV_TYPE_FREE_BALLOON:
-//    default:
-//        return false;
-//        break;
-//    case MAV_TYPE_QUADROTOR:
-//    case MAV_TYPE_COAXIAL:
-//    case MAV_TYPE_HELICOPTER:
-//    case MAV_TYPE_AIRSHIP:
-//    case MAV_TYPE_GROUND_ROVER:
-//    case MAV_TYPE_SURFACE_BOAT:
-//    case MAV_TYPE_SUBMARINE:
-//    case MAV_TYPE_HEXAROTOR:
-//    case MAV_TYPE_OCTOROTOR:
-//    case MAV_TYPE_TRICOPTER:
-//        return true;
-//        break;
-//    }
-//}
-
 /**
 * @param buttonIndex
 */
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index dcdfc2f58738ed24bada535c4aa95e2bb321e0ac..b5dec339c73729924ba4cfc11cdf3448a3d05475 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -676,6 +676,11 @@ public:
             break;
         }
     }
+    /** From UASInterface */
+    QList<QAction*> getActions() const
+    {
+        return actions;
+    }
 
 public slots:
     /** @brief Set the autopilot type */
@@ -777,6 +782,18 @@ public slots:
     void armSystem();
     /** @brief Disable the motors */
     void disarmSystem();
+    /**
+     * @brief Tell the UAS to switch into a completely-autonomous mode, so disable manual input.
+     */
+    void goAutonomous();
+    /**
+     * @brief Tell the UAS to switch to manual control. Stabilized attitude may simultaneously be engaged.
+     */
+    void goManual();
+    /**
+     * @brief Tell the UAS to switch between manual and autonomous control.
+     */
+    void toggleAutonomy();
 
     /** @brief Set the values for the manual control of the vehicle */
     void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
@@ -922,6 +939,7 @@ protected:
     bool sensorHil;             ///< True if sensor HIL is enabled
     quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
     quint64 lastSendTimeSensors;
+    QList<QAction*> actions; ///< A list of actions that this UAS can perform.
 
 protected slots:
     /** @brief Write settings to disk */
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 7da51f01e3e2e6d0e96ae8dad41e218634fcc8cc..eb90539a96ae8730e2b485bc9badaacb5c67d6b3 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -260,6 +260,11 @@ public:
         return color;
     }
 
+    /** @brief Returns a list of actions/commands that this vehicle can perform.
+     *  Used for creating UI elements for built-in functionality for this vehicle.
+     */
+    virtual QList<QAction*> getActions() const = 0;
+
 public slots:
 
     /** @brief Set a new name for the system */
diff --git a/src/ui/JoystickButton.cc b/src/ui/JoystickButton.cc
index d07852b9b43593447d37de9318c61849153b4d36..a3df7a75969e051e5ced9e757d37969f826ecd32 100644
--- a/src/ui/JoystickButton.cc
+++ b/src/ui/JoystickButton.cc
@@ -8,9 +8,34 @@ JoystickButton::JoystickButton(int id, QWidget *parent) :
 {
     m_ui->setupUi(this);
     m_ui->joystickButtonLabel->setText(QString::number(id));
+    connect(m_ui->joystickAction, SIGNAL(currentIndexChanged(int)), this, SLOT(actionComboBoxChanged(int)));
 }
 
 JoystickButton::~JoystickButton()
 {
     delete m_ui;
 }
+
+void JoystickButton::setActiveUAS(UASInterface* uas)
+{
+    if (uas)
+    {
+        m_ui->joystickAction->setEnabled(true);
+        m_ui->joystickAction->clear();
+        m_ui->joystickAction->addItem("--");
+        QList<QAction*> actions = uas->getActions();
+        foreach (QAction* a, actions)
+        {
+            m_ui->joystickAction->addItem(a->text());
+        }
+    } else {
+        m_ui->joystickAction->setEnabled(false);
+        m_ui->joystickAction->clear();
+        m_ui->joystickAction->addItem("--");
+    }
+}
+
+void JoystickButton::actionComboBoxChanged(int index)
+{
+    emit actionChanged(id, index);
+}
diff --git a/src/ui/JoystickButton.h b/src/ui/JoystickButton.h
index eb5bc3101fd7e5a6c3af8020703c4e735c347773..cf49e70ea76ee42dcd41c73808aff3423237971b 100644
--- a/src/ui/JoystickButton.h
+++ b/src/ui/JoystickButton.h
@@ -3,6 +3,8 @@
 
 #include <QWidget>
 
+#include "UASInterface.h"
+
 namespace Ui
 {
 class JoystickButton;
@@ -16,8 +18,19 @@ public:
     explicit JoystickButton(int id, QWidget *parent = 0);
     virtual ~JoystickButton();
 
+public slots:
+    /** @brief Specify the UAS that this axis should track for displaying throttle properly. */
+    void setActiveUAS(UASInterface* uas);
+
+signals:
+    /** @brief Signal a change in this buttons' action mapping */
+    void actionChanged(int id, int index);
+
 private:
     int id;
     Ui::JoystickButton *m_ui;
+
+private slots:
+    void actionComboBoxChanged(int index);
 };
 #endif // JOYSTICKBUTTON_H
diff --git a/src/ui/JoystickButton.ui b/src/ui/JoystickButton.ui
index 71bbe982fa086079155cad7088ab9bd786152595..6dd7805ca64883cf36580f445ad9f42d7e43daaa 100644
--- a/src/ui/JoystickButton.ui
+++ b/src/ui/JoystickButton.ui
@@ -65,6 +65,9 @@
    </item>
    <item>
     <widget class="QComboBox" name="joystickAction">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
        <horstretch>0</horstretch>
@@ -73,15 +76,13 @@
      </property>
      <property name="minimumSize">
       <size>
-       <width>30</width>
+       <width>60</width>
        <height>0</height>
       </size>
      </property>
-     <item>
-      <property name="text">
-       <string>--</string>
-      </property>
-     </item>
+     <property name="sizeAdjustPolicy">
+      <enum>QComboBox::AdjustToContents</enum>
+     </property>
     </widget>
    </item>
   </layout>
diff --git a/src/ui/JoystickWidget.cc b/src/ui/JoystickWidget.cc
index 76e004358830eee6c51e8739c8f527b1bef9fe01..3dae94b5f183ec0ecd885a5ca5821d4b6fdc926a 100644
--- a/src/ui/JoystickWidget.cc
+++ b/src/ui/JoystickWidget.cc
@@ -125,6 +125,7 @@ void JoystickWidget::updateUIForJoystick(int id)
         for (int i = 0; i < newButtons; i++)
         {
             JoystickButton* button = new JoystickButton(i, m_ui->buttonBox);
+            connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), button, SLOT(setActiveUAS(UASInterface*)));
             m_ui->buttonLayout->addWidget(button);
             buttons.append(button);
         }