diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h
index f8cbb2628c99fa2be99e3f99d242d7836544679f..9bdda2e5d53c32b6aa635a321675f2c0a408afe2 100644
--- a/src/comm/QGCFlightGearLink.h
+++ b/src/comm/QGCFlightGearLink.h
@@ -79,6 +79,10 @@ public:
         return -1;
     }
 
+    bool sensorHilEnabled() {
+        return _sensorHilEnabled;
+    }
+
     void run();
 
 public slots:
@@ -104,6 +108,12 @@ public slots:
         Q_UNUSED(airframe);
     }
 
+    void enableSensorHIL(bool enable) {
+        if (enable != _sensorHilEnabled)
+            _sensorHilEnabled = enable;
+            emit sensorHilChanged(enable);
+    }
+
     void readBytes();
     /**
      * @brief Write a number of bytes to the interface.
@@ -144,6 +154,7 @@ protected:
     QProcess* terraSync;
     unsigned int flightGearVersion;
     QString startupArguments;
+    bool _sensorHilEnabled;
 
     void setName(QString name);
 
diff --git a/src/comm/QGCHilLink.h b/src/comm/QGCHilLink.h
index d84d128a4e1efe06df3691377d2fd6efefb5da30..b74bac37fa948ea295bd1b91140ca62b168ffd0f 100644
--- a/src/comm/QGCHilLink.h
+++ b/src/comm/QGCHilLink.h
@@ -37,6 +37,12 @@ public:
      */
     virtual int getAirFrameIndex() = 0;
 
+    /**
+     * @brief Check if sensor level HIL is enabled
+     * @return true if sensor HIL is enabled
+     */
+    virtual bool sensorHilEnabled() = 0;
+
 public slots:
     virtual void setPort(int port) = 0;
     /** @brief Add a new host to broadcast messages to */
@@ -47,6 +53,8 @@ public slots:
     virtual void processError(QProcess::ProcessError err) = 0;
     /** @brief Set the simulator version as text string */
     virtual void setVersion(const QString& version) = 0;
+    /** @brief Enable sensor-level HIL (instead of state-level HIL) */
+    virtual void enableSensorHIL(bool enable) = 0;
 
     virtual void selectAirframe(const QString& airframe) = 0;
 
@@ -105,6 +113,9 @@ signals:
 
     /** @brief Selected sim version changed */
     void versionChanged(const QString& version);
+
+    /** @brief Sensor leve HIL state changed */
+    void sensorHilChanged(bool enabled);
 };
 
 #endif // QGCHILLINK_H
diff --git a/src/comm/QGCJSBSimLink.h b/src/comm/QGCJSBSimLink.h
index 4492414b68b735cbbb6c848881105555982160bb..a720f1fff3fbd8d362194027fa826a5822909922 100644
--- a/src/comm/QGCJSBSimLink.h
+++ b/src/comm/QGCJSBSimLink.h
@@ -81,6 +81,10 @@ public:
 
     void run();
 
+    bool sensorHilEnabled() {
+        return _sensorHilEnabled;
+    }
+
 public slots:
 //    void setAddress(QString address);
     void setPort(int port);
@@ -104,6 +108,12 @@ public slots:
         script = airframe;
     }
 
+    void enableSensorHIL(bool enable) {
+        if (enable != _sensorHilEnabled)
+            _sensorHilEnabled = enable;
+            emit sensorHilChanged(enable);
+    }
+
     void readBytes();
     /**
      * @brief Write a number of bytes to the interface.
@@ -142,6 +152,7 @@ protected:
     unsigned int flightGearVersion;
     QString startupArguments;
     QString script;
+    bool _sensorHilEnabled;
 
     void setName(QString name);
 
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index a2f8a4ec9b0c5f7efa7791d9bb83fcf495d96456..9703981553d83909f5afa78e71042f7c687e6a8f 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -54,7 +54,7 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     simUpdateLast(QGC::groundTimeMilliseconds()),
     simUpdateLastText(QGC::groundTimeMilliseconds()),
     simUpdateHz(0),
-    sensorHilEnabled(true)
+    _sensorHilEnabled(true)
 {
     this->localHost = localHost;
     this->localPort = localPort/*+mav->getUASID()*/;
@@ -81,6 +81,7 @@ void QGCXPlaneLink::loadSettings()
     setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
     setVersion(settings.value("XPLANE_VERSION", 10).toInt());
     selectAirframe(settings.value("AIRFRAME", "default").toString());
+    _sensorHilEnabled = settings.value("SENSOR_HIL", _sensorHilEnabled).toBool();
     settings.endGroup();
 }
 
@@ -92,6 +93,7 @@ void QGCXPlaneLink::storeSettings()
     settings.setValue("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
     settings.setValue("XPLANE_VERSION", xPlaneVersion);
     settings.setValue("AIRFRAME", airframeName);
+    settings.setValue("SENSOR_HIL", _sensorHilEnabled);
     settings.endGroup();
     settings.sync();
 }
@@ -623,7 +625,7 @@ void QGCXPlaneLink::readBytes()
         }
         simUpdateLast = QGC::groundTimeMilliseconds();
 
-        if (sensorHilEnabled)
+        if (_sensorHilEnabled)
         {
             diff_pressure = 0.0f;
             pressure_alt = alt;
diff --git a/src/comm/QGCXPlaneLink.h b/src/comm/QGCXPlaneLink.h
index daeaad6c3abe272afe547d20a96243d6de64db88..ec7f362d29589435b990aad0497bca74f6276d00 100644
--- a/src/comm/QGCXPlaneLink.h
+++ b/src/comm/QGCXPlaneLink.h
@@ -91,6 +91,20 @@ public:
         AIRFRAME_FIXED_WING_BIXLER_II_AILERONS
     };
 
+    QString getVersion()
+    {
+        return QString("X-Plane %1").arg(xPlaneVersion);
+    }
+
+    int getAirFrameIndex()
+    {
+        return (int)airframeID;
+    }
+
+    bool sensorHilEnabled() {
+        return _sensorHilEnabled;
+    }
+
 public slots:
 //    void setAddress(QString address);
     void setPort(int port);
@@ -104,14 +118,11 @@ public slots:
     void setVersion(const QString& version);
     /** @brief Set the simulator version as integer */
     void setVersion(unsigned int version);
-    QString getVersion()
-    {
-        return QString("X-Plane %1").arg(xPlaneVersion);
-    }
 
-    int getAirFrameIndex()
-    {
-        return (int)airframeID;
+    void enableSensorHIL(bool enable) {
+        if (enable != _sensorHilEnabled)
+            _sensorHilEnabled = enable;
+            emit sensorHilChanged(enable);
     }
 
     void processError(QProcess::ProcessError err);
@@ -194,10 +205,9 @@ protected:
     quint64 simUpdateLast;
     quint64 simUpdateLastText;
     float simUpdateHz;
-    bool sensorHilEnabled;
+    bool _sensorHilEnabled;
 
     void setName(QString name);
-
 };
 
 #endif // QGCXPLANESIMULATIONLINK_H
diff --git a/src/configuration.h b/src/configuration.h
index 69b926514440627f0444e3352d3add74880ac7d2..b759799d18ffe708f23a1cac2b4d66e041d6e374 100644
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -12,14 +12,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.4 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.0.2 (beta)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 104; // 1.0.4
+const int APPLICATIONVERSION = 105; // 1.0.4
 }
 
 #endif // QGC_CONFIGURATION_H
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index e07c459267a74499abce5f15925765e1c72605a0..e204d29fa794f0a3f153d84c11a64eb4124d2749 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -236,9 +236,10 @@ MainWindow::MainWindow(QWidget *parent):
         const int screenWidth = QApplication::desktop()->width();
         const int screenHeight = QApplication::desktop()->height();
 
-        if (screenWidth < 1200)
+        if (screenWidth < 1400)
         {
-            showFullScreen();
+            resize(screenWidth, screenHeight - 80);
+            show();
         }
         else
         {
@@ -680,7 +681,7 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
         QDockWidget* hilDock = new QDockWidget(hilDockName, this);
         hilDock->setWidget(hconf);
         hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
-        addTool(hilDock, hilDockName, Qt::RightDockWidgetArea);
+        addTool(hilDock, hilDockName, Qt::LeftDockWidgetArea);
         hilDocks.insert(mav->getUASID(), hilDock);
 
         if (currentView != VIEW_SIMULATION)
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index ab688cb4af894262b004a72c977fb79835f25f24..15963dd32119fb1014da3197fb31ee3e591c5282 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -497,7 +497,7 @@
      <normaloff>:/files/images/control/launch.svg</normaloff>:/files/images/control/launch.svg</iconset>
    </property>
    <property name="text">
-    <string>Simulation View</string>
+    <string>Simulation</string>
    </property>
    <property name="toolTip">
     <string>Open the simulation view</string>
diff --git a/src/ui/QGCHilConfiguration.cc b/src/ui/QGCHilConfiguration.cc
index 941707dbbc91275c6c20806707c6bc1f239881a1..4919b4d8c91385b0fbc297a4fd5fce3c3f70bf3e 100644
--- a/src/ui/QGCHilConfiguration.cc
+++ b/src/ui/QGCHilConfiguration.cc
@@ -1,3 +1,5 @@
+#include <QSettings>
+
 #include "QGCHilConfiguration.h"
 #include "ui_QGCHilConfiguration.h"
 
@@ -11,6 +13,22 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     ui(new Ui::QGCHilConfiguration)
 {
     ui->setupUi(this);
+
+    // XXX its quite wrong that this is implicitely a factory
+    // class, but this is something to clean up for later.
+
+    QSettings settings;
+    int i = settings.value("SIMULATOR_INDEX", -1).toInt();
+    settings.beginGroup("QGC_HILCONFIG");
+
+    if (i > 0) {
+        on_simComboBox_currentIndexChanged(i);
+        ui->simComboBox->blockSignals(true);
+        ui->simComboBox->setCurrentIndex(i);
+        ui->simComboBox->blockSignals(false);
+    }
+
+    settings.endGroup();
 }
 
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)
@@ -20,6 +38,11 @@ void QGCHilConfiguration::receiveStatusMessage(const QString& message)
 
 QGCHilConfiguration::~QGCHilConfiguration()
 {
+    QSettings settings;
+    settings.beginGroup("QGC_HILCONFIG");
+    settings.setValue("SIMULATOR_INDEX", ui->simComboBox->currentIndex());
+    settings.endGroup();
+    settings.sync();
     delete ui;
 }
 
@@ -29,8 +52,8 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
     QLayoutItem *child;
     while ((child = ui->simulatorConfigurationLayout->takeAt(0)) != 0)
     {
-      delete child->widget();
-      delete child;
+        delete child->widget();
+        delete child;
     }
 
     if(1 == index)
diff --git a/src/ui/QGCHilXPlaneConfiguration.cc b/src/ui/QGCHilXPlaneConfiguration.cc
index 1eaf7632c934a58b041a0f186d611cca2fe61bc0..f024a428717a4735b8775dc3f30e09c8c2f736fe 100644
--- a/src/ui/QGCHilXPlaneConfiguration.cc
+++ b/src/ui/QGCHilXPlaneConfiguration.cc
@@ -27,6 +27,11 @@ QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *
 //        connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
         connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
         ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
+        // XXX not implemented yet
+        ui->airframeComboBox->hide();
+        ui->sensorHilCheckBox->setChecked(link->sensorHilEnabled());
+        connect(link, SIGNAL(sensorHilChanged(bool)), ui->sensorHilCheckBox, SLOT(setChecked(bool)));
+        connect(ui->sensorHilCheckBox, SIGNAL(clicked(bool)), link, SLOT(enableSensorHIL(bool)));
     }
 
     ui->hostComboBox->clear();
diff --git a/src/ui/QGCHilXPlaneConfiguration.ui b/src/ui/QGCHilXPlaneConfiguration.ui
index dbcc93a97110b2ede278717d8eb1c1300a877252..cc6f1def23338b0acbeef7ce37180c800a80e3b4 100644
--- a/src/ui/QGCHilXPlaneConfiguration.ui
+++ b/src/ui/QGCHilXPlaneConfiguration.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>249</width>
-    <height>100</height>
+    <width>295</width>
+    <height>148</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0,0">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,100" columnstretch="40,10,10,40">
    <property name="margin">
     <number>0</number>
    </property>
@@ -24,19 +24,6 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="0">
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>40</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
    <item row="0" column="1" colspan="3">
     <widget class="QComboBox" name="airframeComboBox">
      <property name="editable">
@@ -127,6 +114,26 @@
      </property>
     </widget>
    </item>
+   <item row="4" column="0" colspan="4">
+    <widget class="QCheckBox" name="sensorHilCheckBox">
+     <property name="text">
+      <string>Enable sensor level HIL</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0" colspan="4">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>1</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/src/ui/map3D/SystemViewParams.cc b/src/ui/map3D/SystemViewParams.cc
index 0dc70e34cb37b38845822d49da8a0b587b8f45ea..a8ed5a5c43d3c3588dba9bbeace1a81dcd4f7424 100644
--- a/src/ui/map3D/SystemViewParams.cc
+++ b/src/ui/map3D/SystemViewParams.cc
@@ -18,6 +18,7 @@ SystemViewParams::SystemViewParams(int systemId)
  , mSetpointHistoryLength(100)
 {
 
+    setObjectName("RGBD VIEW PARAMS");
 }
 
 bool&
diff --git a/src/ui/map3D/ViewParamWidget.cc b/src/ui/map3D/ViewParamWidget.cc
index a689bde5906616e484e69124c651df3525c6c438..adf352c399e229a62904d8d2cb3ca06b1c3a79f9 100644
--- a/src/ui/map3D/ViewParamWidget.cc
+++ b/src/ui/map3D/ViewParamWidget.cc
@@ -19,6 +19,7 @@ ViewParamWidget::ViewParamWidget(GlobalViewParamsPtr& globalViewParams,
  , mFollowCameraComboBox(new QComboBox(this))
  , mTabWidget(new QTabWidget(this))
 {
+    setObjectName("RGBD VIEW PARAMS WIDGET");
     QVBoxLayout* layout = new QVBoxLayout;
     QWidget* widget = new QWidget;
     widget->setLayout(layout);