diff --git a/files/images/px4/menu/cogwheels.png b/files/images/px4/menu/cogwheels.png
new file mode 100644
index 0000000000000000000000000000000000000000..8079ca4169aca274ab014c0fb82f51f1c387b33b
Binary files /dev/null and b/files/images/px4/menu/cogwheels.png differ
diff --git a/files/images/px4/menu/firmware_upgrade.png b/files/images/px4/menu/firmware_upgrade.png
new file mode 100644
index 0000000000000000000000000000000000000000..83397753376d9e9234d6cd1698d1d1c74bf5ea65
Binary files /dev/null and b/files/images/px4/menu/firmware_upgrade.png differ
diff --git a/files/images/px4/menu/plane.png b/files/images/px4/menu/plane.png
new file mode 100644
index 0000000000000000000000000000000000000000..e22d605a6bbaebf2e8dffd5e48f94657b52f099f
Binary files /dev/null and b/files/images/px4/menu/plane.png differ
diff --git a/files/images/px4/menu/remote.png b/files/images/px4/menu/remote.png
new file mode 100644
index 0000000000000000000000000000000000000000..9785678d79b080bd0efd500790336f2ef2b2dd4e
Binary files /dev/null and b/files/images/px4/menu/remote.png differ
diff --git a/files/images/px4/menu/sensors.png b/files/images/px4/menu/sensors.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c972fae53bf98facc3d8a9f2ce1ee5cc40be6d3
Binary files /dev/null and b/files/images/px4/menu/sensors.png differ
diff --git a/files/styles/style-dark.css b/files/styles/style-dark.css
index db24be25841fda72f1c7f2d8a8c3976606f8479f..fc653de73763752fd1b6cc222d7df51c02b1c74e 100644
--- a/files/styles/style-dark.css
+++ b/files/styles/style-dark.css
@@ -358,6 +358,16 @@ QPushButton, QToolButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
 }
 
+QPushButton#advancedMenuButton, QPushButton#airframeMenuButton, QPushButton#firmwareMenuButton,
+QPushButton#generalMenuButton, QPushButton#rcMenuButton, QPushButton#sensorMenuButton {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #333, stop: 1 #111);
+    border-radius: 5px;
+    min-height: 64px;
+    max-height: 64px;
+    min-width: 80px;
+    border: 1px solid #000000;
+}
+
 QPushButton#planePushButton, QPushButton#flyingWingPushButton, QPushButton#quadXPushButton,
 QPushButton#quadPlusPushButton, QPushButton#hexaXPushButton, QPushButton#hexaPlusPushButton,
 QPushButton#octoXPushButton, QPushButton#octoPlusPushButton, QPushButton#hPushButton {
@@ -392,6 +402,12 @@ QWidget#containerWidget {
     border: 2px solid #CCCCCC;
 }
 
+QWidget#navBarWidget {
+    background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:1, y2:0, stop:0 #404040, stop:1 #727272);
+    border-radius: 0px;
+    border: 1px solid #222222;
+}
+
 QPushButton#connectButton, QPushButton#controlButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
 }
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index d19abb7000212c6f8015805e99fa0d87da8f29b7..0e5a041496de986b3453658309a1e47e4a1a1134 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -175,6 +175,11 @@
         <file>files/images/px4/calibration/accel_z-.png</file>
         <file>files/images/px4/calibration/accel_y+.png</file>
         <file>files/images/px4/calibration/mag_calibration_figure8.png</file>
+        <file>files/images/px4/menu/sensors.png</file>
+        <file>files/images/px4/menu/firmware_upgrade.png</file>
+        <file>files/images/px4/menu/plane.png</file>
+        <file>files/images/px4/menu/remote.png</file>
+        <file>files/images/px4/menu/cogwheels.png</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>
diff --git a/src/ui/QGCConfigView.cc b/src/ui/QGCConfigView.cc
index fbf5bb8abe183f88cb46403c4f8130f63880706d..8e647cd804581a2a070eea615278043ace8a0800 100644
--- a/src/ui/QGCConfigView.cc
+++ b/src/ui/QGCConfigView.cc
@@ -18,8 +18,14 @@ QGCConfigView::QGCConfigView(QWidget *parent) :
 
     // The config screens are required for firmware uploading
     if (MainWindow::instance()->getCustomMode() == MainWindow::CUSTOM_MODE_PX4) {
+
+        ui->gridLayout->removeWidget(ui->waitingLabel);
+        ui->waitingLabel->setVisible(false);
+        delete ui->waitingLabel;
+
         config = new QGCPX4VehicleConfig();
         ui->gridLayout->addWidget(config);
+
     } else {
         //don't show a configuration widget if no vehicle is connected
         //show a placeholder informational widget instead
@@ -37,23 +43,28 @@ void QGCConfigView::activeUASChanged(UASInterface* uas)
     if (mav == uas)
         return;
 
-    //remove all child widgets since they could contain stale data
-    //for example, when we switch from one PX4 UAS to another UAS
-    foreach (QObject* obj, ui->gridLayout->children()) {
-        QWidget* w = dynamic_cast<QWidget*>(obj);
-        if (w) {
-            if (obj != ui->waitingLabel) {
-                ui->gridLayout->removeWidget(w);
-                delete obj;
-            }
-        }
-    }
+    int type = -1;
+    if (mav)
+        type = mav->getAutopilotType();
 
     mav = uas;
-    if (NULL != mav) {
+    if (NULL != uas && type != uas->getAutopilotType()) {
+
         ui->gridLayout->removeWidget(ui->waitingLabel);
         ui->waitingLabel->setVisible(false);
 
+        //remove all child widgets since they could contain stale data
+        //for example, when we switch from one PX4 UAS to another UAS
+        foreach (QObject* obj, ui->gridLayout->children()) {
+            QWidget* w = dynamic_cast<QWidget*>(obj);
+            if (w) {
+                if (obj != ui->waitingLabel) {
+                    ui->gridLayout->removeWidget(w);
+                    delete obj;
+                }
+            }
+        }
+
         int autopilotType = mav->getAutopilotType();
         switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:
diff --git a/src/ui/QGCConfigView.ui b/src/ui/QGCConfigView.ui
index cd4b9c98fed1366a88f5be3452f1e8b9dc6d4c84..38ce1ce7774ec6d80a70474fdb36eace4d5cdb90 100644
--- a/src/ui/QGCConfigView.ui
+++ b/src/ui/QGCConfigView.ui
@@ -14,6 +14,9 @@
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
    <item row="0" column="0">
     <widget class="QLabel" name="waitingLabel">
      <property name="text">
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 740b14714990e4412c3ffa7a4b876f34d370f14e..4cdf530311654dd63b7b86962da9da9678a15a56 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -89,6 +89,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     ui->airframeMenuButton->setEnabled(false);
     ui->sensorMenuButton->setEnabled(false);
     ui->rcMenuButton->setEnabled(false);
+    ui->generalMenuButton->hide();
 
     px4AirframeConfig = new QGCPX4AirframeConfig(this);
     ui->airframeLayout->addWidget(px4AirframeConfig);
@@ -554,7 +555,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     // Load tabs for general configuration
     foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
+        QPushButton *button = new QPushButton(this);
         connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
         ui->navBarLayout->insertWidget(2,button);
         button->setMinimumHeight(75);
@@ -598,7 +599,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     // Load additional tabs for vehicle specific configuration
     foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
+        QPushButton *button = new QPushButton(this);
         connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
         ui->navBarLayout->insertWidget(2,button);
 
diff --git a/src/ui/QGCPX4VehicleConfig.ui b/src/ui/QGCPX4VehicleConfig.ui
index 458e0046e77e08f67f1cc5f487ba194029888af5..9793992d73332e988e1386baccede50546421361 100644
--- a/src/ui/QGCPX4VehicleConfig.ui
+++ b/src/ui/QGCPX4VehicleConfig.ui
@@ -19,134 +19,187 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout_11">
+  <layout class="QHBoxLayout" name="horizontalLayout_11" stretch="0,0">
+   <property name="margin">
+    <number>0</number>
+   </property>
    <item>
-    <widget class="QScrollArea" name="leftNavScrollArea">
-     <property name="minimumSize">
-      <size>
-       <width>135</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>135</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
-     </property>
-     <widget class="QWidget" name="leftNavScrollAreaWidgetContents">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>133</width>
-        <height>886</height>
-       </rect>
+    <widget class="QWidget" name="navBarWidget" native="true">
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>0</number>
       </property>
-      <layout class="QVBoxLayout" name="verticalLayout_12">
-       <item>
-        <layout class="QVBoxLayout" name="navBarLayout">
-         <property name="sizeConstraint">
-          <enum>QLayout::SetMinAndMaxSize</enum>
-         </property>
-         <item>
-          <widget class="QPushButton" name="firmwareMenuButton">
-           <property name="text">
-            <string>Firmware
+      <item>
+       <layout class="QVBoxLayout" name="navBarLayout">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetMinAndMaxSize</enum>
+        </property>
+        <property name="leftMargin">
+         <number>12</number>
+        </property>
+        <property name="topMargin">
+         <number>12</number>
+        </property>
+        <property name="rightMargin">
+         <number>24</number>
+        </property>
+        <property name="bottomMargin">
+         <number>12</number>
+        </property>
+        <item>
+         <widget class="QPushButton" name="firmwareMenuButton">
+          <property name="text">
+           <string>Firmware
 Upgrade</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="rcMenuButton">
-           <property name="minimumSize">
-            <size>
-             <width>100</width>
-             <height>75</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="text">
-            <string>RC
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/firmware_upgrade.png</normaloff>:/files/images/px4/menu/firmware_upgrade.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="rcMenuButton">
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>75</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>16777215</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Radio
 Calibration</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="sensorMenuButton">
-           <property name="minimumSize">
-            <size>
-             <width>100</width>
-             <height>75</height>
-            </size>
-           </property>
-           <property name="text">
-            <string>Sensor
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/remote.png</normaloff>:/files/images/px4/menu/remote.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="sensorMenuButton">
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>75</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Sensor
 Calibration</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="airframeMenuButton">
-           <property name="text">
-            <string>Airframe
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/sensors.png</normaloff>:/files/images/px4/menu/sensors.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="airframeMenuButton">
+          <property name="text">
+           <string>Airframe
 Config</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="generalMenuButton">
-           <property name="minimumSize">
-            <size>
-             <width>100</width>
-             <height>75</height>
-            </size>
-           </property>
-           <property name="text">
-            <string>General
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/plane.png</normaloff>:/files/images/px4/menu/plane.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="generalMenuButton">
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>75</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>General
 Config</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="advancedMenuButton">
-           <property name="minimumSize">
-            <size>
-             <width>100</width>
-             <height>75</height>
-            </size>
-           </property>
-           <property name="text">
-            <string>Advanced
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/cogwheels.png</normaloff>:/files/images/px4/menu/cogwheels.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="advancedMenuButton">
+          <property name="minimumSize">
+           <size>
+            <width>100</width>
+            <height>75</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Advanced
 Config</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="verticalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </item>
-      </layout>
-     </widget>
+          </property>
+          <property name="icon">
+           <iconset resource="../../qgroundcontrol.qrc">
+            <normaloff>:/files/images/px4/menu/cogwheels.png</normaloff>:/files/images/px4/menu/cogwheels.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="verticalSpacer_2">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </item>
+     </layout>
     </widget>
    </item>
    <item>
@@ -154,7 +207,7 @@ Config</string>
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>2</number>
+        <number>5</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
         <layout class="QVBoxLayout" name="firmwareLayout">
@@ -1123,8 +1176,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>597</width>
-                   <height>740</height>
+                   <width>571</width>
+                   <height>764</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -1253,6 +1306,8 @@ Config</string>
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources/>
+ <resources>
+  <include location="../../qgroundcontrol.qrc"/>
+ </resources>
  <connections/>
 </ui>