diff --git a/files/styles/style-dark.css b/files/styles/style-dark.css
index fc653de73763752fd1b6cc222d7df51c02b1c74e..a0b8d910877f0e4086e73b63a151335ec099cf0d 100644
--- a/files/styles/style-dark.css
+++ b/files/styles/style-dark.css
@@ -256,6 +256,13 @@ QLabel#calibrationExplanationLabel {
     font-size: 20pt;
 }
 
+QLabel#tabTitleLabel {
+    font-size: 28pt;
+    font-weight: lighter;
+    margin-top: 16px;
+    margin-bottom: 8px;
+}
+
 QLabel#instructionLabel {
     color: #FEC654;
     font-size: 26pt;
@@ -372,11 +379,11 @@ QPushButton#planePushButton, QPushButton#flyingWingPushButton, QPushButton#quadX
 QPushButton#quadPlusPushButton, QPushButton#hexaXPushButton, QPushButton#hexaPlusPushButton,
 QPushButton#octoXPushButton, QPushButton#octoPlusPushButton, QPushButton#hPushButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
-    border-radius: 12px;
+    border-radius: 5px;
     min-height: 140px;
     max-height: 240px;
     min-width: 140px;
-    border: 3px solid #465158;
+    border: 1px solid #465158;
 }
 
 QPushButton:checked#planePushButton, QPushButton:checked#flyingWingPushButton, QPushButton:checked#quadXPushButton,
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 4cdf530311654dd63b7b86962da9da9678a15a56..593f410ed3192f64ccd6ff01f74b533eea6d70e4 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -234,31 +234,37 @@ void QGCPX4VehicleConfig::rcMenuButtonClicked()
 {
     //TODO eg ui->stackedWidget->findChild("rcConfig");
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_RC);
+    ui->tabTitleLabel->setText(tr("Radio Calibration"));
 }
 
 void QGCPX4VehicleConfig::sensorMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_SENSOR_CAL);
+    ui->tabTitleLabel->setText(tr("Sensor Calibration"));
 }
 
 void QGCPX4VehicleConfig::generalMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_GENERAL_CONFIG);
+    ui->tabTitleLabel->setText(tr("General Configuration Options"));
 }
 
 void QGCPX4VehicleConfig::advancedMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_ADV_CONFIG);
+    ui->tabTitleLabel->setText(tr("Advanced Configuration Options"));
 }
 
 void QGCPX4VehicleConfig::airframeMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_AIRFRAME_CONFIG);
+    ui->tabTitleLabel->setText(tr("Airframe Configuration"));
 }
 
 void QGCPX4VehicleConfig::firmwareMenuButtonClicked()
 {
     ui->stackedWidget->setCurrentIndex(WIDGET_INDEX_FIRMWARE);
+    ui->tabTitleLabel->setText(tr("Firmware Upgrade"));
 }
 
 void QGCPX4VehicleConfig::identifyChannelMapping(int aert_index)
diff --git a/src/ui/QGCPX4VehicleConfig.ui b/src/ui/QGCPX4VehicleConfig.ui
index 9793992d73332e988e1386baccede50546421361..a9f062e9cf22592f45abe67ae662656e69edd7e4 100644
--- a/src/ui/QGCPX4VehicleConfig.ui
+++ b/src/ui/QGCPX4VehicleConfig.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>1256</width>
-    <height>912</height>
+    <height>918</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -19,223 +19,36 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout_11" stretch="0,0">
+  <layout class="QGridLayout" name="gridLayout_3">
    <property name="margin">
     <number>0</number>
    </property>
-   <item>
-    <widget class="QWidget" name="navBarWidget" native="true">
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <property name="margin">
-       <number>0</number>
-      </property>
-      <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>
-          <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>
-          <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>
-          <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>
-          <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>
-          <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>
-          <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>
+   <item row="1" column="1">
+    <widget class="QLabel" name="tabTitleLabel">
+     <property name="font">
+      <font>
+       <pointsize>16</pointsize>
+       <weight>75</weight>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="text">
+      <string>Configuration</string>
+     </property>
     </widget>
    </item>
-   <item>
+   <item row="2" column="1">
     <layout class="QVBoxLayout" name="verticalLayout">
      <item>
       <widget class="QStackedWidget" name="stackedWidget">
        <property name="currentIndex">
-        <number>5</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="firmwareTab">
-        <layout class="QVBoxLayout" name="firmwareLayout">
-         <item>
-          <widget class="QLabel" name="label_5">
-           <property name="text">
-            <string>Firmware Upgrade</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
+        <layout class="QVBoxLayout" name="firmwareLayout"/>
        </widget>
        <widget class="QWidget" name="rcTab">
         <layout class="QVBoxLayout" name="verticalLayout_17">
-         <item>
-          <widget class="QLabel" name="tabTitleLabel_4">
-           <property name="font">
-            <font>
-             <pointsize>16</pointsize>
-             <weight>75</weight>
-             <bold>true</bold>
-            </font>
-           </property>
-           <property name="text">
-            <string>RC Calibration</string>
-           </property>
-          </widget>
-         </item>
          <item>
           <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0" columnstretch="0,0,0,0">
            <item row="2" column="1">
@@ -985,13 +798,6 @@ Config</string>
          </font>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_11">
-         <item>
-          <widget class="QLabel" name="tabTitleLabel_2">
-           <property name="text">
-            <string>General Config</string>
-           </property>
-          </widget>
-         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_7">
            <item>
@@ -1108,20 +914,6 @@ Config</string>
        </widget>
        <widget class="QWidget" name="advancedTab">
         <layout class="QVBoxLayout" name="verticalLayout_13">
-         <item>
-          <widget class="QLabel" name="tabTitleLabel">
-           <property name="font">
-            <font>
-             <pointsize>16</pointsize>
-             <weight>75</weight>
-             <bold>true</bold>
-            </font>
-           </property>
-           <property name="text">
-            <string>Advanced Configuration</string>
-           </property>
-          </widget>
-         </item>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_2">
            <item>
@@ -1176,8 +968,8 @@ Config</string>
                   <rect>
                    <x>0</x>
                    <y>0</y>
-                   <width>571</width>
-                   <height>764</height>
+                   <width>98</width>
+                   <height>28</height>
                   </rect>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -1284,6 +1076,185 @@ Config</string>
      </item>
     </layout>
    </item>
+   <item row="0" column="0" rowspan="3">
+    <widget class="QWidget" name="navBarWidget" native="true">
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>0</number>
+      </property>
+      <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>
+          <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>
+          <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>
+          <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>
+          <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>
+          <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>
+          <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>
   </layout>
  </widget>
  <customwidgets>