diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index fcf375d399d2fe112f6ea55d17a8d4911f4853c8..bf5ace6e15875d528032676054c96a743f53a8a4 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -449,7 +449,6 @@ HEADERS += src/MG.h \
     src/ui/designer/QGCComboBox.h \
     src/ui/designer/QGCTextLabel.h \
     src/ui/submainwindow.h \
-    src/ui/dockwidgettitlebareventfilter.h \
     src/ui/uas/UASQuickView.h \
     src/ui/uas/UASQuickViewItem.h \
     src/ui/linechart/ChartPlot.h \
@@ -507,7 +506,7 @@ HEADERS += src/MG.h \
     src/ui/QGCBaseParamWidget.h \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.h \
     src/ui/px4_configuration/QGCPX4SensorCalibration.h \
-    src/ui/dockwidgeteventfilter.h
+    src/ui/menuactionhelper.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -672,7 +671,6 @@ SOURCES += src/main.cc \
     src/ui/designer/QGCComboBox.cc \
     src/ui/designer/QGCTextLabel.cc \
     src/ui/submainwindow.cpp \
-    src/ui/dockwidgettitlebareventfilter.cpp \
     src/ui/uas/UASQuickViewItem.cc \
     src/ui/uas/UASQuickView.cc \
     src/ui/linechart/ChartPlot.cc \
@@ -730,7 +728,7 @@ SOURCES += src/main.cc \
     src/ui/QGCBaseParamWidget.cc \
     src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
     src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
-    src/ui/dockwidgeteventfilter.cpp
+    src/ui/menuactionhelper.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc
index 7c11cd86bd8b5bcc2c736fc9689a1f3974f68280..d3c12290aacc01b6db03377f51cc1f29d95e76aa 100644
--- a/src/ui/HDDisplay.cc
+++ b/src/ui/HDDisplay.cc
@@ -27,7 +27,7 @@
 #include "MainWindow.h"
 #include <QDebug>
 
-HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
+HDDisplay::HDDisplay(const QStringList &plotList, QString title, QWidget *parent) :
     QGraphicsView(parent),
     uas(NULL),
     xCenterOffset(0.0f),
@@ -60,11 +60,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
     setAutoFillBackground(true);
 
     // Add all items in accept list to gauge
-    if (plotList) {
-        for(int i = 0; i < plotList->length(); ++i) {
-            addGauge(plotList->at(i));
-        }
-    }
+    for(int i = 0; i < plotList.length(); ++i)
+        addGauge(plotList.at(i));
 
     restoreState();
     // Set preferred size
diff --git a/src/ui/HDDisplay.h b/src/ui/HDDisplay.h
index f6c5295d79edfc53b2c175ce9f1990e9682fffd3..e39090d7c499d1ee674345dfdf6adba954fea5e0 100644
--- a/src/ui/HDDisplay.h
+++ b/src/ui/HDDisplay.h
@@ -60,7 +60,7 @@ class HDDisplay : public QGraphicsView
 {
     Q_OBJECT
 public:
-    HDDisplay(QStringList* plotList, QString title="", QWidget *parent = 0);
+    HDDisplay(const QStringList& plotList, QString title="", QWidget *parent = 0);
     ~HDDisplay();
 
 public slots:
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index a1e0cc1c89ba1d6950f83463a4bf49b9e3d0ca86..4e05a479a6068578c6d521f623216e916f81289f 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -49,7 +49,7 @@ This file is part of the QGROUNDCONTROL project
 
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
-    HDDisplay(NULL, "HSI", parent),
+    HDDisplay(QStringList(), "HSI", parent),
     dragStarted(false),
     leftDragStarted(false),
     mouseHasMoved(false),
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index f3d65230bde412ab17311442f5232b7dc04b4bfb..31662b8ba2d3aa467222e31c9b5e8f6314c19f2e 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -39,8 +39,6 @@ This file is part of the QGROUNDCONTROL project
 #include <QGCHilConfiguration.h>
 #include <QGCHilFlightGearConfiguration.h>
 #include <QDeclarativeView>
-#include "dockwidgettitlebareventfilter.h"
-#include "dockwidgeteventfilter.h"
 #include "QGC.h"
 #include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
@@ -72,6 +70,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QGCConfigView.h>
 #include "SerialSettingsDialog.h"
 #include "terminalconsole.h"
+#include "menuactionhelper.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -128,12 +127,12 @@ MainWindow::MainWindow(QWidget *parent):
     autoReconnect(false),
     simulationLink(NULL),
     lowPowerMode(false),
-    isAdvancedMode(false),
     mavlink(new MAVLinkProtocol()),
-    dockWidgetTitleBarEnabled(true),
-    customMode(CUSTOM_MODE_NONE)
+    customMode(CUSTOM_MODE_NONE),
+    menuActionHelper(new MenuActionHelper())
 {
     this->setAttribute(Qt::WA_DeleteOnClose);
+    connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
     //TODO:  move protocol outside UI
     connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
     loadSettings();
@@ -155,7 +154,7 @@ void MainWindow::init()
 
     if (settings.contains("ADVANCED_MODE"))
     {
-        isAdvancedMode = settings.value("ADVANCED_MODE").toBool();
+        menuActionHelper->setAdvancedMode(settings.value("ADVANCED_MODE").toBool());
     }
 
     if (!settings.contains("CURRENT_VIEW"))
@@ -182,6 +181,7 @@ void MainWindow::init()
     // Setup user interface
     ui.setupUi(this);
     hide();
+    menuActionHelper->setMenu(ui.menuTools);
 
     // We only need this menu if we have more than one system
     //    ui.menuConnected_Systems->setEnabled(false);
@@ -386,12 +386,8 @@ MainWindow::~MainWindow()
         }
     }
     // Delete all UAS objects
-
-
-    if (debugConsole)
-    {
-        delete debugConsole;
-    }
+    delete debugConsole;
+    delete menuActionHelper;
     for (int i=0;i<commsWidgetList.size();i++)
     {
         commsWidgetList[i]->deleteLater();
@@ -439,17 +435,6 @@ void MainWindow::buildCustomWidget()
             QSettings settings;
             settings.beginGroup("QGC_MAINWINDOW");
 
-            /*QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
-            dock->setObjectName(tool->objectName()+"_DOCK");
-            dock->setWidget(tool);
-            connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
-            QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
-            showAction->setCheckable(true);
-            connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
-            connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
-            widgets.at(i)->setMainMenuAction(showAction);
-            ui.menuTools->addAction(showAction);*/
-
             // Load dock widget location (default is bottom)
             Qt::DockWidgetArea location = tool->getDockWidgetArea(currentView);
 
@@ -577,36 +562,19 @@ void MainWindow::buildCommonWidgets()
     }
 
     // Dock widgets
-    QAction* tempAction = ui.menuTools->addAction(tr("Control"));
-    tempAction->setCheckable(true);
-    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-
     createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
 
     createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
     createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
 
-    {
-        //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
-        QAction* tempAction = ui.menuTools->addAction(tr("Mission Plan"));
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        menuToDockNameMap[tempAction] = "WAYPOINT_LIST_DOCKWIDGET";
-    }
-
     createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
     createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
 
     createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
     createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
 
+    menuActionHelper->createToolAction(tr("Status Details"), "UAS_STATUS_DETAILS_DOCKWIDGET");
 
-    {
-        QAction* tempAction = ui.menuTools->addAction(tr("Status Details"));
-        menuToDockNameMap[tempAction] = "UAS_STATUS_DETAILS_DOCKWIDGET";
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-    }
     {
         if (!debugConsole)
         {
@@ -614,40 +582,22 @@ void MainWindow::buildCommonWidgets()
             debugConsole->setWindowTitle("Communications Console");
             debugConsole->hide();
             QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
-            //menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
             tempAction->setCheckable(true);
             connect(tempAction,SIGNAL(triggered(bool)),debugConsole,SLOT(setShown(bool)));
-
         }
     }
     createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
 
-    {
-        QAction* tempAction = ui.menuTools->addAction(tr("Flight Display"));
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
-    }
-
-    {
-        QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status"));
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
-    }
-
-    {
-        QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-    }
+    menuActionHelper->createToolAction(tr("Flight Display"), "HEAD_DOWN_DISPLAY_1_DOCKWIDGET");
+    menuActionHelper->createToolAction(tr("Actuator Status"), "HEAD_DOWN_DISPLAY_2_DOCKWIDGET");
+    menuActionHelper->createToolAction(tr("Radio Control"));
 
-    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,QSize(this->width()/1.5,0));
 
-    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,QSize(this->width()/1.5,0));
 
-    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
-    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,QSize(this->width()/1.5,0));
+    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,QSize(this->width()/1.8,0));
 
     QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
     infoview->addSource(mavlinkDecoder);
@@ -730,83 +680,38 @@ void MainWindow::buildCommonWidgets()
 
 void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
 {
-    QList<QAction*> actionlist = ui.menuTools->actions();
-    bool found = false;
-    QAction *targetAction;
-    for (int i=0;i<actionlist.size();i++)
-    {
-        if (actionlist[i]->text() == title)
-        {
-            found = true;
-            targetAction = actionlist[i];
-        }
-    }
-    if (!found)
-    {
-        QAction* tempAction = ui.menuTools->addAction(title);
-        tempAction->setCheckable(true);
-        menuToDockNameMap[tempAction] = widget->objectName();
-        if (!centralWidgetToDockWidgetsMap.contains(view))
-        {
-            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
-        }
-        centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
-        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
-        connect(widget, SIGNAL(destroyed()), tempAction, SLOT(deleteLater()));
-        tempAction->setChecked(widget->isVisible());
-    }
-    else
-    {
-        if (!menuToDockNameMap.contains(targetAction))
-        {
-            menuToDockNameMap[targetAction] = widget->objectName();
-            //menuToDockNameMap[targetAction] = title;
-        }
-        if (!centralWidgetToDockWidgetsMap.contains(view))
-        {
-            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
-        }
-        centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
-        connect(widget, SIGNAL(visibilityChanged(bool)), targetAction, SLOT(setChecked(bool)));
-    }
+    menuActionHelper->createToolActionForCustomDockWidget(title, widget->objectName(), widget, view);
     parent->addDockWidget(area,widget);
 }
 
-QDockWidget* MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
+QDockWidget* MainWindow::createDockWidget(QWidget *subMainWindowParent,QWidget *child,const QString& title,const QString& objectName,VIEW_SECTIONS view,Qt::DockWidgetArea area,const QSize& minSize)
 {
-    child->setObjectName(objectname);
-    QDockWidget *widget = new QDockWidget(title,this);
-    dockWidgets.append(widget);
-    setDockWidgetTitleBar(widget);
-    widget->setObjectName(child->objectName());
-    widget->setWidget(child);
-    if (minheight != 0 || minwidth != 0)
-    {
-        widget->setMinimumHeight(minheight);
-        widget->setMinimumWidth(minwidth);
-    }
-    addTool(qobject_cast<SubMainWindow*>(parent),view,widget,title,area);
-    connect(child, SIGNAL(destroyed()), widget, SLOT(deleteLater()));
-    connect(widget, SIGNAL(destroyed()), this, SLOT(dockWidgetDestroyed()));
+    SubMainWindow *parent = qobject_cast<SubMainWindow*>(subMainWindowParent);
+    Q_ASSERT(parent);
+    QDockWidget* dockWidget = menuActionHelper->createDockWidget(title, objectName);
+    child->setObjectName(objectName);
+    dockWidget->setWidget(child); //Set child objectName before setting dockwidget, since the dock widget might react to object name changes
+    connect(child, SIGNAL(destroyed()), dockWidget, SLOT(deleteLater()));  //Our dockwidget only has only child widget, so kill the dock widget if the child is deleted
 
-    return widget;
+    if (!minSize.isNull())
+        dockWidget->setMinimumSize(minSize);
+    addTool(parent,view,dockWidget,title,area);
+    return dockWidget;
 }
-void MainWindow::dockWidgetDestroyed()
-{
-    QDockWidget *dock = dynamic_cast<QDockWidget *>(QObject::sender());
-    Q_ASSERT(dock);
-    if(!dock) return;
 
-    dockWidgets.removeAll(dock);
+void MainWindow::showDockWidget(const QString& name, bool show)
+{
+    QDockWidget *dockWidget = menuActionHelper->getDockWidget(currentView, name);
+    if(dockWidget)
+        dockWidget->setVisible(show);
+    else if (show)
+        loadDockWidget(name);
 }
 
-void MainWindow::loadDockWidget(QString name)
+void MainWindow::loadDockWidget(const QString& name)
 {
-    if (centralWidgetToDockWidgetsMap[currentView].contains(name))
-    {
+    if(menuActionHelper->containsDockWidget(currentView, name))
         return;
-    }
     if (name.startsWith("HIL_CONFIG"))
     {
         //It's a HIL widget.
@@ -839,8 +744,6 @@ void MainWindow::loadDockWidget(QString name)
     else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
     {
         //This is now a permanently detached window.
-        //centralWidgetToDockWidgetsMap[currentView][name] = console;
-        //createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
     }
     else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET")
     {
@@ -848,21 +751,19 @@ void MainWindow::loadDockWidget(QString name)
     }
     else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET")
     {
-        //FIXME: memory of acceptList will never be freed again
-        QStringList* acceptList = new QStringList();
-        acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s");
-        acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
-        acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
+        QStringList acceptList;
+        acceptList.append("-3.3,ATTITUDE.roll,rad,+3.3,s");
+        acceptList.append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
+        acceptList.append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
         HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this);
         hddisplay->addSource(mavlinkDecoder);
         createDockWidget(centerStack->currentWidget(),hddisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET")
     {
-        //FIXME: memory of acceptList2 will never be freed again
-        QStringList* acceptList2 = new QStringList();
-        acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");
-        HDDisplay *hddisplay = new HDDisplay(acceptList2,"Actuator Status",this);
+        QStringList acceptList;
+        acceptList.append("0,RAW_PRESSURE.pres_abs,hPa,65500");
+        HDDisplay *hddisplay = new HDDisplay(acceptList,"Actuator Status",this);
         hddisplay->addSource(mavlinkDecoder);
         createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
@@ -873,7 +774,6 @@ void MainWindow::loadDockWidget(QString name)
     }
     else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
     {
-        // createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
         createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
@@ -894,80 +794,6 @@ void MainWindow::loadDockWidget(QString name)
     }
 }
 
-void MainWindow::setDockWidgetTitleBar(QDockWidget* widget)
-{
-    QWidget* oldTitleBar = widget->titleBarWidget();
-
-    // In advanced mode, we use the default titlebar provided by Qt.
-    if (isAdvancedMode)
-    {
-        widget->setTitleBarWidget(0);
-    }
-    // Otherwise, if just a textlabel should be shown, make that the titlebar.
-    else if (dockWidgetTitleBarEnabled)
-    {
-        QLabel* label = new QLabel(this);
-        label->setText(widget->windowTitle());
-        label->installEventFilter(new DockWidgetTitleBarEventFilter()); //Ignore mouse clicks
-        widget->installEventFilter(new DockWidgetEventFilter()); //Update label if window title changes
-        widget->setTitleBarWidget(label);
-    }
-    // And if nothing should be shown, use an empty widget.
-    else
-    {
-        QWidget* newTitleBar = new QWidget(this);
-        widget->setTitleBarWidget(newTitleBar);
-    }
-
-    // Be sure to clean up the old titlebar. When using QDockWidget::setTitleBarWidget(),
-    // it doesn't delete the old titlebar object.
-    if (oldTitleBar)
-    {
-        delete oldTitleBar;
-    }
-}
-
-void MainWindow::showTool(bool show)
-{
-    //Called when a menu item is clicked on, regardless of view.
-
-    QAction* act = qobject_cast<QAction *>(sender());
-    if (menuToDockNameMap.contains(act))
-    {
-        QString name = menuToDockNameMap[act];
-        if (centralWidgetToDockWidgetsMap.contains(currentView))
-        {
-            if (centralWidgetToDockWidgetsMap[currentView].contains(name))
-            {
-                if (show)
-                {
-                    centralWidgetToDockWidgetsMap[currentView][name]->show();
-                }
-                else
-                {
-                    centralWidgetToDockWidgetsMap[currentView][name]->hide();
-                }
-            }
-            else if (show)
-            {
-                loadDockWidget(name);
-            }
-        }
-    }
-    //QWidget* widget = qVariantValue<QWidget *>(act->data());
-    //widget->setVisible(show);
-}
-/*void addToolByName(QString name,SubMainWindow parent,const QString& title, Qt::DockWidgetArea area)
-{
-    if (name == "Control")
-    {
-        QDockWidget *widget = new QDockWidget(tr("Control"),this);
-        dockToTitleBarMap[widget] = widget->titleBarWidget();
-        widget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
-        widget->setWidget(new UASControlWidget(this));
-        addTool(parent,VIEW_SIMULATION,widget,tr("Control"),area);
-    }
-}*/
 void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title)
 {
     Q_UNUSED(title);
@@ -977,7 +803,6 @@ void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSe
     if (centerStack->indexOf(widget) == -1)
     {
         centerStack->addWidget(widget);
-        centralWidgetToDockWidgetsMap[viewSection] = QMap<QString,QWidget*>();
     }
 }
 
@@ -996,18 +821,10 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
 
     if (mav && !hilDocks.contains(mav->getUASID()))
     {
-        //QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
-        //createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
-
         QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
         QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
         QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
         hilDocks.insert(mav->getUASID(), hilDock);
-
-        //        if (currentView != VIEW_SIMULATION)
-        //            hilDock->hide();
-        //        else
-        //            hilDock->show();
     }
 }
 
@@ -1035,33 +852,20 @@ void MainWindow::connectCommonWidgets()
 
 void MainWindow::createCustomWidget()
 {
-    //void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
-    //QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
-
     if (QGCToolWidget::instances()->isEmpty())
     {
         // This is the first widget
         ui.menuTools->addSeparator();
     }
-    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
-    createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
-    //tool->setObjectName("UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()));
+    QString title = "Unnamed Tool " + QString::number(ui.menuTools->actions().size());
+    QString objectName = "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK";
+    QGCToolWidget* tool = new QGCToolWidget(objectName, title);
+    createDockWidget(centerStack->currentWidget(),tool,title,objectName,currentView,Qt::BottomDockWidgetArea);
+
     QSettings settings;
     settings.beginGroup("QGC_MAINWINDOW");
     settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
     settings.endGroup();
-
-    //connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
-    //dock->setWidget(tool);
-
-    //QAction* showAction = new QAction(tool->getTitle(), this);
-    //showAction->setCheckable(true);
-    //connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
-    //connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
-    //tool->setMainMenuAction(showAction);
-    //ui.menuTools->addAction(showAction);
-    //this->addDockWidget(Qt::BottomDockWidgetArea, dock);
-    //dock->setVisible(true);
 }
 
 void MainWindow::loadCustomWidget()
@@ -1072,7 +876,7 @@ void MainWindow::loadCustomWidget()
 }
 void MainWindow::loadCustomWidget(const QString& fileName, int view)
 {
-    QGCToolWidget* tool = new QGCToolWidget("", this);
+    QGCToolWidget* tool = new QGCToolWidget("", "", this);
     if (tool->loadSettings(fileName, true))
     {
         qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
@@ -1091,16 +895,12 @@ void MainWindow::loadCustomWidget(const QString& fileName, int view)
             createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         default:
-        {
+            {
             //Delete tool, create menu item to tie it to.
             customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
-            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
-            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
-            tempAction->setCheckable(true);
-            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+            menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK");
             tool->deleteLater();
-            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-        }
+            }
             break;
         }
     }
@@ -1112,7 +912,7 @@ void MainWindow::loadCustomWidget(const QString& fileName, int view)
 
 void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
 {
-    QGCToolWidget* tool = new QGCToolWidget("", this);
+    QGCToolWidget* tool = new QGCToolWidget("", "", this);
     if (tool->loadSettings(fileName, true) || !singleinstance)
     {
         qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
@@ -1136,35 +936,18 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
             createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
             break;
         default:
-        {
+            {
             //Delete tool, create menu item to tie it to.
             customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
-            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
-            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
-            tempAction->setCheckable(true);
-            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+            QAction *action = menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK");
+            ui.menuTools->addAction(action);
             tool->deleteLater();
-            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-        }
+            }
             break;
         }
 
 
         settings.endGroup();
-        // Add widget to UI
-        /*QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
-        connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
-        dock->setWidget(tool);
-        tool->setParent(dock);
-
-        QAction* showAction = new QAction(tool->getTitle(), this);
-        showAction->setCheckable(true);
-        connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
-        connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
-        tool->setMainMenuAction(showAction);
-        ui.menuTools->addAction(showAction);
-        this->addDockWidget(Qt::BottomDockWidgetArea, dock);
-        dock->hide();*/
     }
     else
     {
@@ -1214,7 +997,7 @@ void MainWindow::loadSettings()
     darkStyleFileName = settings.value("DARK_STYLE_FILENAME", darkStyleFileName).toString();
     lightStyleFileName = settings.value("LIGHT_STYLE_FILENAME", lightStyleFileName).toString();
     lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
-    dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool();
+    bool dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",menuActionHelper->dockWidgetTitleBarsEnabled()).toBool();
     settings.endGroup();
     enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
 }
@@ -1308,17 +1091,12 @@ void MainWindow::saveScreen()
 }
 void MainWindow::enableDockWidgetTitleBars(bool enabled)
 {
-    dockWidgetTitleBarEnabled = enabled;
+    menuActionHelper->setDockWidgetTitleBarsEnabled(enabled);
     QSettings settings;
     settings.beginGroup("QGC_MAINWINDOW");
-    settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled);
+    settings.setValue("DOCK_WIDGET_TITLEBARS",enabled);
     settings.endGroup();
     settings.sync();
-
-    for (int i = 0; i < dockWidgets.size(); i++)
-    {
-        setDockWidgetTitleBar(dockWidgets[i]);
-    }
 }
 
 void MainWindow::enableAutoReconnect(bool enabled)
@@ -1488,8 +1266,8 @@ void MainWindow::connectCommonActions()
 
     // Connect actions from ui
     connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
-    ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
-    connect(ui.actionAdvanced_Mode,SIGNAL(triggered()),this,SLOT(setAdvancedMode()));
+    ui.actionAdvanced_Mode->setChecked(menuActionHelper->isAdvancedMode());
+    connect(ui.actionAdvanced_Mode,SIGNAL(toggled(bool)),this,SLOT(setAdvancedMode(bool)));
 
     // Connect internal actions
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));
@@ -2085,16 +1863,11 @@ void MainWindow::loadViewState()
         win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
     }
 }
-void MainWindow::setAdvancedMode()
+void MainWindow::setAdvancedMode(bool isAdvancedMode)
 {
-    isAdvancedMode = !isAdvancedMode;
+    menuActionHelper->setAdvancedMode(isAdvancedMode);
     ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
     settings.setValue("ADVANCED_MODE",isAdvancedMode);
-
-    for (int i = 0; i < dockWidgets.size(); i++)
-    {
-        setDockWidgetTitleBar(dockWidgets[i]);
-    }
 }
 
 void MainWindow::loadEngineerView()
@@ -2217,11 +1990,16 @@ void MainWindow::loadMAVLinkView()
 //}
 
 
-QList<QAction*> MainWindow::listLinkMenuActions(void)
+QList<QAction*> MainWindow::listLinkMenuActions()
 {
     return ui.menuNetwork->actions();
 }
 
+bool MainWindow::dockWidgetTitleBarsEnabled() const
+{
+    return menuActionHelper->dockWidgetTitleBarsEnabled();
+}
+
 #ifdef MOUSE_ENABLED_LINUX
 bool MainWindow::x11Event(XEvent *event)
 {
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index b5a5b50304cde6ce358c402df64054418aaf2884..9390d6fd2c9c78109fc0da2b39c6b1d9c0222e54 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -86,6 +86,7 @@ class QGCStatusBar;
 class Linecharts;
 class QGCDataPlot2D;
 class JoystickWidget;
+class MenuActionHelper;
 
 /**
  * @brief Main Application Window
@@ -142,41 +143,38 @@ public:
     static const QString defaultLightStyle;
 
     /** @brief Get current visual style */
-    QGC_MAINWINDOW_STYLE getStyle()
+    QGC_MAINWINDOW_STYLE getStyle() const
     {
         return currentStyle;
     }
 
     /** @brief Get current light visual stylesheet */
-    QString getLightStyleSheet()
+    QString getLightStyleSheet() const
     {
         return lightStyleFileName;
     }
 
     /** @brief Get current dark visual stylesheet */
-    QString getDarkStyleSheet()
+    QString getDarkStyleSheet() const
     {
         return darkStyleFileName;
     }
     /** @brief Get auto link reconnect setting */
-    bool autoReconnectEnabled()
+    bool autoReconnectEnabled() const
     {
         return autoReconnect;
     }
 
     /** @brief Get title bar mode setting */
-    bool dockWidgetTitleBarsEnabled()
-    {
-        return dockWidgetTitleBarEnabled;
-    }
+    bool dockWidgetTitleBarsEnabled() const;
 
     /** @brief Get low power mode setting */
-    bool lowPowerModeEnabled()
+    bool lowPowerModeEnabled() const
     {
         return lowPowerMode;
     }
 
-    void setCustomMode(enum MainWindow::CUSTOM_MODE mode)
+    void setCustomMode(MainWindow::CUSTOM_MODE mode)
     {
         if (mode != CUSTOM_MODE_UNCHANGED)
         {
@@ -184,12 +182,12 @@ public:
         }
     }
 
-    enum MainWindow::CUSTOM_MODE getCustomMode()
+    MainWindow::CUSTOM_MODE getCustomMode() const
     {
         return customMode;
     }
 
-    QList<QAction*> listLinkMenuActions(void);
+    QList<QAction*> listLinkMenuActions();
 
 public slots:
     /** @brief Shows a status message on the bottom status bar */
@@ -224,7 +222,7 @@ public slots:
     void saveScreen();
 
     /** @brief Sets advanced mode, allowing for editing of tool widget locations */
-    void setAdvancedMode();
+    void setAdvancedMode(bool isAdvancedMode);
     /** @brief Load configuration views */
     void loadHardwareConfigView();
     void loadSoftwareConfigView();
@@ -283,16 +281,6 @@ public slots:
     /** @brief Load data view, allowing to plot flight data */
 //    void loadDataView(QString fileName);
 
-    /**
-     * @brief Shows a Docked Widget based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addTool() function
-     * It shows the QDockedWidget based on the action sender
-     *
-     */
-    void showTool(bool visible);
-
-
     /**
      * @brief Shows a Widget from the center stack based on the action sender
      *
@@ -308,8 +296,7 @@ public slots:
     void commsWidgetDestroyed(QObject *obj);
 
 protected slots:
-    /** @brief Called by a dock widget when it is has been deleted */
-    void dockWidgetDestroyed();
+    void showDockWidget(const QString &name, bool show);
 
 signals:
     void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newTheme);
@@ -362,8 +349,9 @@ protected:
      * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
      */
     void addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area);
-    void loadDockWidget(QString name);
-    QDockWidget* createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth=0,int minheight=0);
+    void loadDockWidget(const QString &name);
+
+    QDockWidget* createDockWidget(QWidget *subMainWindowParent,QWidget *child,const QString& title,const QString& objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,const QSize& minSize = QSize());
     /**
      * @brief Adds an already instantiated QWidget to the center stack
      *
@@ -514,11 +502,7 @@ protected:
 private:
     QList<QObject*> commsWidgetList;
     QMap<QString,QString> customWidgetNameToFilenameMap;
-    QMap<QAction*,QString > menuToDockNameMap;
-    QList<QDockWidget*> dockWidgets;
-    QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
-    bool isAdvancedMode; ///< If enabled dock widgets can be moved and floated.
-    bool dockWidgetTitleBarEnabled; ///< If enabled, dock widget titlebars are displayed when NOT in advanced mode.
+    MenuActionHelper *menuActionHelper;
     Ui::MainWindow ui;
 
     /** @brief Set the appropriate titlebar for a given dock widget.
@@ -529,6 +513,7 @@ private:
     QString getWindowStateKey();
     QString getWindowGeometryKey();
 
+    friend class MenuActionHelper; //For VIEW_SECTIONS
 };
 
 #endif /* _MAINWINDOW_H_ */
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index d2419ec37a383d4c18f45c861176f178b3c1dfbf..3cc3603b794b0e5dee295b8341769fa0c75648ec 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -576,7 +576,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     {
         if (file.toLower().endsWith(".qgw")) {
             QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
-            tool = new QGCToolWidget("", parent);
+            tool = new QGCToolWidget("", "", parent);
             if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
             {
                 toolWidgets.append(tool);
@@ -651,7 +651,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", tab);
+                tool = new QGCToolWidget("", "", tab);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
                     toolWidgets.append(tool);
@@ -698,7 +698,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", tab);
+                tool = new QGCToolWidget("", "", tab);
                 tool->addUAS(mav);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
@@ -953,10 +953,8 @@ void QGCPX4VehicleConfig::loadConfig()
                                 {
                                     parent = ui->generalRightContents;
                                 }
-                                tool = new QGCToolWidget("", parent);
+                                tool = new QGCToolWidget(parametersname, parametersname, parent);
                                 tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
                                 tool->setSettings(genset);
                                 QList<QString> paramlist = tool->getParamList();
                                 for (int i=0;i<paramlist.size();i++)
@@ -1007,10 +1005,8 @@ void QGCPX4VehicleConfig::loadConfig()
                                 {
                                     parent = ui->generalRightContents;
                                 }
-                                tool = new QGCToolWidget("", parent);
+                                tool = new QGCToolWidget(parametersname, parametersname, parent);
                                 tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
                                 tool->setSettings(advset);
                                 QList<QString> paramlist = tool->getParamList();
                                 for (int i=0;i<paramlist.size();i++)
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index 919eec4b4fb2a5d8a08aef0180a6a548c712d60f..98ce31537d5521ee61a6c0a074d8aea33a5d2c74 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -261,7 +261,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     {
         if (file.toLower().endsWith(".qgw")) {
             QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
-            tool = new QGCToolWidget("", parent);
+            tool = new QGCToolWidget("", "", parent);
             if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
             {
                 toolWidgets.append(tool);
@@ -291,7 +291,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     {
         if (file.toLower().endsWith(".qgw")) {
             QWidget* parent = left?ui->advancedLeftContents:ui->advancedRightContents;
-            tool = new QGCToolWidget("", parent);
+            tool = new QGCToolWidget("", "", parent);
             if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
             {
                 toolWidgets.append(tool);
@@ -342,7 +342,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", tab);
+                tool = new QGCToolWidget("", "", tab);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
                     toolWidgets.append(tool);
@@ -389,7 +389,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", tab);
+                tool = new QGCToolWidget("","", tab);
                 tool->addUAS(mav);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
@@ -411,7 +411,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
 
     // Load general calibration for autopilot
     //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
-    tool = new QGCToolWidget("", ui->sensorContents);
+    tool = new QGCToolWidget("", "", ui->sensorContents);
     tool->addUAS(mav);
     if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
     {
@@ -426,7 +426,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
     }
 
     // Load vehicle-specific autopilot configuration
-    tool = new QGCToolWidget("", ui->sensorContents);
+    tool = new QGCToolWidget("", "", ui->sensorContents);
     tool->addUAS(mav);
     if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
     {
@@ -681,10 +681,8 @@ void QGCVehicleConfig::loadConfig()
                                 {
                                     parent = ui->generalRightContents;
                                 }
-                                tool = new QGCToolWidget("", parent);
+                                tool = new QGCToolWidget(parametersname, parametersname, parent);
                                 tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
                                 tool->setSettings(genset);
                                 QList<QString> paramlist = tool->getParamList();
                                 for (int i=0;i<paramlist.size();i++)
@@ -735,10 +733,8 @@ void QGCVehicleConfig::loadConfig()
                                 {
                                     parent = ui->generalRightContents;
                                 }
-                                tool = new QGCToolWidget("", parent);
+                                tool = new QGCToolWidget(parametersname, parametersname, parent);
                                 tool->addUAS(mav);
-                                tool->setTitle(parametersname);
-                                tool->setObjectName(parametersname);
                                 tool->setSettings(advset);
                                 QList<QString> paramlist = tool->getParamList();
                                 for (int i=0;i<paramlist.size();i++)
@@ -1175,14 +1171,12 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
             }
 
             // Create the tool, attaching it to the QGroupBox
-            QGCToolWidget *tool = new QGCToolWidget("", parent);
             QString tooltitle = parameterName;
             if (parameterName.split("_").size() > 1)
             {
                 tooltitle = parameterName.split("_")[0] + "_";
             }
-            tool->setTitle(tooltitle);
-            tool->setObjectName(tooltitle);
+            QGCToolWidget *tool = new QGCToolWidget(tooltitle, tooltitle, parent);
             //tool->setSettings(set);
             libParamToWidgetMap.insert(parameterName,tool);
             toolWidgets.append(tool);
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 73eae34c9805d3b1435d5488e53b45f7fcf29f0d..6610e03d509c9219eac0182084de3df48205e05f 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -16,7 +16,7 @@
 #include "QGCCommandButton.h"
 #include "UASManager.h"
 
-QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent, QSettings* settings) :
+QGCToolWidget::QGCToolWidget(const QString& objectName, const QString& title, QWidget *parent, QSettings* settings) :
         QWidget(parent),
         mav(NULL),
         mainMenuAction(NULL),
@@ -50,6 +50,11 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent, QSettings* s
     }
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
 
+    if(!objectName.isEmpty()) {
+        instances()->insert(objectName, this);
+        setObjectName(objectName);
+    } //Otherwise we must call loadSettings() immediately to set the object name
+
     // Enforce storage if this not loaded from settings
     // is MUST NOT BE SAVED if it was loaded from settings!
     //if (!settings) storeWidgetsToSettings();
@@ -58,7 +63,7 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent, QSettings* s
 QGCToolWidget::~QGCToolWidget()
 {
     if (mainMenuAction) mainMenuAction->deleteLater();
-    if (QGCToolWidget::instances()) QGCToolWidget::instances()->remove(widgetTitle);
+    if (QGCToolWidget::instances()) QGCToolWidget::instances()->remove(objectName());
     delete ui;
 }
 
@@ -98,11 +103,10 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
         QString name = settings->value("TITLE", "").toString();
         QString objname = settings->value("OBJECT_NAME", "").toString();
 
-        if (!instances()->contains(name) && name.length() != 0)
+        if (!instances()->contains(objname) && !objname.isEmpty())
         {
             //qDebug() << "CREATED WIDGET:" << name;
-            QGCToolWidget* tool = new QGCToolWidget(name, parent, settings);
-            tool->setObjectName(objname);
+            QGCToolWidget* tool = new QGCToolWidget(objname, name, parent, settings);
             newWidgets.append(tool);
         }
         else if (name.length() == 0)
@@ -154,12 +158,13 @@ bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance)
     QStringList groups = set.childGroups();
     if (groups.length() > 0)
     {
-        QString widgetName = groups.first();
-	this->setObjectName(widgetName);
-        if (singleinstance && QGCToolWidget::instances()->keys().contains(widgetName)) return false;
+        QString objectName = groups.first();
+        setObjectName(objectName);
+        if (singleinstance && QGCToolWidget::instances()->contains(objectName)) return false;
+        instances()->insert(objectName, this);
         // Do not use setTitle() here,
         // interferes with loading settings
-        widgetTitle = widgetName;
+        widgetTitle = objectName;
         //qDebug() << "WIDGET TITLE LOADED: " << widgetName;
         loadSettings(set);
         return true;
@@ -385,7 +390,7 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
                 settings->setArrayIndex(num++);
                 settings->setValue("TITLE", instances()->values().at(i)->getTitle());
                 settings->setValue("OBJECT_NAME", instances()->values().at(i)->objectName());
-                //qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle();
+                qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle() << "object:" << instances()->values().at(i)->objectName();
             }
         }
         else
@@ -640,20 +645,16 @@ void QGCToolWidget::setTitle()
 
 void QGCToolWidget::setTitle(const QString& title)
 {
-    if (instances()->contains(widgetTitle)) instances()->remove(widgetTitle);
-    if (!instances()->contains(title)) instances()->insert(title, this);
-
     // Sets title and calls setWindowTitle on QWidget
     widgetTitle = title;
     QWidget::setWindowTitle(title);
-    setObjectName(widgetTitle);
     QDockWidget* dock = dynamic_cast<QDockWidget*>(this->parentWidget());
-    if (dock) {
+    if (dock)
         dock->setWindowTitle(widgetTitle);
-        dock->setObjectName(widgetTitle+"DOCK");
-    }
     emit titleChanged(title);
     if (mainMenuAction) mainMenuAction->setText(title);
+
+    storeWidgetsToSettings();
 }
 
 void QGCToolWidget::setMainMenuAction(QAction* action)
@@ -667,7 +668,7 @@ void QGCToolWidget::deleteWidget()
 
     // Hide
     this->hide();
-    instances()->remove(getTitle());
+    instances()->remove(objectName());
 
     QSettings settings;
     settings.beginGroup("QGC_MAINWINDOW");
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index 5d1f56d0c94781353070237fe589c99e28087f08..2e08337c2baa2731356a8ec4c3cc2be4ad36fc10 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -19,7 +19,7 @@ class QGCToolWidget : public QWidget
     Q_OBJECT
 
 public:
-    explicit QGCToolWidget(const QString& title=QString("Unnamed Tool"), QWidget *parent = 0, QSettings* settings = 0);
+    explicit QGCToolWidget(const QString& objectName, const QString& title, QWidget *parent = 0, QSettings* settings = 0);
     ~QGCToolWidget();
 
     /** @brief Factory method to instantiate all tool widgets */
@@ -85,7 +85,6 @@ protected:
     QMap<int, Qt::DockWidgetArea> dockWidgetArea;   ///< Dock widget area desired by this widget
     QMap<int, bool> viewVisible;  ///< Visibility in one view
     QString widgetTitle;
-    static int instanceCount;     ///< Number of instances around
 
     void contextMenuEvent(QContextMenuEvent* event);
     void createActions();
@@ -104,6 +103,12 @@ protected slots:
     void setTitle();
 
 private:
+    /** Do not use this from outside the class to set the object name,
+     * because we cannot track changes to the object name, and the
+     * QObject::setObjectName() function is not virtual. Instead only
+     * pass in the object name to the constructor, or use the , then
+     * never change it again. */
+    void setObjectName(const QString &name) { QWidget::setObjectName(name); }
     Ui::QGCToolWidget *ui;
 };
 
diff --git a/src/ui/dockwidgeteventfilter.cpp b/src/ui/dockwidgeteventfilter.cpp
deleted file mode 100644
index 260e3a5466614e1eb81f9827f6feb55a0ddfa238..0000000000000000000000000000000000000000
--- a/src/ui/dockwidgeteventfilter.cpp
+++ /dev/null
@@ -1,21 +0,0 @@
-#include <QDockWidget>
-#include <QEvent>
-#include <QLabel>
-
-#include "dockwidgeteventfilter.h"
-
-DockWidgetEventFilter::DockWidgetEventFilter(QObject *parent) : QObject(parent) {}
-
-bool DockWidgetEventFilter::eventFilter(QObject *object,QEvent *event)
-{
-    if (event->type() == QEvent::WindowTitleChange)
-    {
-        QDockWidget *dock = dynamic_cast<QDockWidget *>(object);
-        if(dock) {
-            QLabel *label = dynamic_cast<QLabel *>(dock->titleBarWidget());
-            if(label)
-                label->setText(dock->windowTitle());
-        }
-    }
-    return QObject::eventFilter(object,event);
-}
diff --git a/src/ui/dockwidgeteventfilter.h b/src/ui/dockwidgeteventfilter.h
deleted file mode 100644
index 60de1e4002bb942f609cb2fe859c8d18b82d9d24..0000000000000000000000000000000000000000
--- a/src/ui/dockwidgeteventfilter.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef DOCKWIDGETEVENTFILTER_H
-#define DOCKWIDGETEVENTFILTER_H
-
-#include <QObject>
-
-/** Event filter to update a QLabel titleBarWidget if the window's title changes */
-class DockWidgetEventFilter : public QObject
-{
-    Q_OBJECT
-public:
-    DockWidgetEventFilter(QObject *parent = 0);
-protected:
-    virtual bool eventFilter(QObject *object,QEvent *event) override;
-};
-
-#endif // DOCKWIDGETEVENTFILTER_H
diff --git a/src/ui/dockwidgettitlebareventfilter.cpp b/src/ui/dockwidgettitlebareventfilter.cpp
deleted file mode 100644
index 52519215ade4e5fb6d1fcb8927a4366fdf6f7da5..0000000000000000000000000000000000000000
--- a/src/ui/dockwidgettitlebareventfilter.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "dockwidgettitlebareventfilter.h"
-#include <QDebug>
-#include <QEvent>
-DockWidgetTitleBarEventFilter::DockWidgetTitleBarEventFilter(QObject *parent) : QObject(parent)
-{
-}
-bool DockWidgetTitleBarEventFilter::eventFilter(QObject *object,QEvent *event)
-{
-    if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
-    {
-        return true;
-    }
-    return QObject::eventFilter(object,event);
-}
diff --git a/src/ui/dockwidgettitlebareventfilter.h b/src/ui/dockwidgettitlebareventfilter.h
deleted file mode 100644
index d57edef1fb862711ba55d810b34614bc38dfad0f..0000000000000000000000000000000000000000
--- a/src/ui/dockwidgettitlebareventfilter.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef DOCKWIDGETTITLEBAREVENTFILTER_H
-#define DOCKWIDGETTITLEBAREVENTFILTER_H
-
-#include <QObject>
-
-class DockWidgetTitleBarEventFilter : public QObject
-{
-    Q_OBJECT
-public:
-    explicit DockWidgetTitleBarEventFilter(QObject *parent = 0);
-protected:
-    bool eventFilter(QObject *object,QEvent *event);
-signals:
-    
-public slots:
-    
-};
-
-#endif // DOCKWIDGETTITLEBAREVENTFILTER_H
diff --git a/src/ui/menuactionhelper.cpp b/src/ui/menuactionhelper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a9b3a8d766adade0551a099972b3400889fee488
--- /dev/null
+++ b/src/ui/menuactionhelper.cpp
@@ -0,0 +1,184 @@
+#include "menuactionhelper.h"
+
+MenuActionHelper::MenuActionHelper(QObject *parent) : QObject(parent),
+    m_isAdvancedMode(false),
+    m_dockWidgetTitleBarsEnabled(true),
+    m_addedCustomSeperator(false)
+{
+}
+
+QAction *MenuActionHelper::createToolAction(const QString &title, const QString &name)
+{
+    QAction *action = m_menuToDockNameMap.key(name);  //For sanity, check that the action is not NULL
+    if(action) {
+            qWarning() << "createToolAction was called for action" << name << "which already exists in the menu";
+            return action;
+    }
+
+    action = new QAction(title, NULL);
+    action->setCheckable(true);
+    connect(action,SIGNAL(triggered(bool)),this,SLOT(showTool(bool)));
+    m_menuToDockNameMap[action] = name;
+    m_menu->addAction(action);
+    return action;
+}
+
+void MenuActionHelper::removeDockWidget()
+{
+    QObject *dockWidget = QObject::sender(); //Note that we can't cast to QDockWidget because we are in its destructor
+    Q_ASSERT(dockWidget);
+
+    qDebug() << "Dockwidget:"  << dockWidget->objectName() << "of type" << dockWidget->metaObject()->className();
+
+    QAction *action = m_menuToDockNameMap.key(dockWidget->objectName());
+    if(action) {
+        m_menuToDockNameMap.remove(action);
+        action->deleteLater();
+    }
+    QMap<MainWindow::VIEW_SECTIONS,QMap<QString,QDockWidget*> >::iterator it;
+    for (it = m_centralWidgetToDockWidgetsMap.begin(); it != m_centralWidgetToDockWidgetsMap.end(); ++it) {
+        QMap<QString,QDockWidget*>::iterator it2 = it.value().begin();
+        while( it2 != it.value().end()) {
+            if(it2.value() == dockWidget)
+                it2 = it.value().erase(it2);
+            else
+                ++it2;
+        }
+    }
+    //Don't delete the dockWidget because this could have been called from the dockWidget destructor
+    m_dockWidgets.removeAll(static_cast<QDockWidget*>(dockWidget));
+}
+
+QAction *MenuActionHelper::createToolActionForCustomDockWidget(const QString &title, const QString& name, QDockWidget* dockWidget, MainWindow::VIEW_SECTIONS view) {
+    bool found = false;
+    QAction *action = NULL;
+    foreach(QAction *act, m_menuToDockNameMap.keys()) {
+        if(act->text() == title) {
+            found = true;
+            action = act;
+        }
+    }
+
+    if(!found)
+        action = createToolAction(title, name);
+    else
+        m_menuToDockNameMap[action] = name;
+
+    m_centralWidgetToDockWidgetsMap[view][name] = dockWidget;
+    connect(dockWidget, SIGNAL(destroyed()), SLOT(removeDockWidget()),Qt::UniqueConnection); //Use UniqueConnection since we might have already created this connection in createDockWidget
+    connect(dockWidget, SIGNAL(visibilityChanged(bool)), action, SLOT(setChecked(bool)));
+    action->setChecked(dockWidget->isVisible());
+    return action;
+}
+
+QDockWidget* MenuActionHelper::createDockWidget(const QString& title,const QString& name)
+{
+    QDockWidget *dockWidget = new QDockWidget(title);
+    m_dockWidgets.append(dockWidget);
+    setDockWidgetTitleBar(dockWidget);
+    dockWidget->setObjectName(name);
+    connect(dockWidget, SIGNAL(destroyed()), SLOT(removeDockWidget()));
+
+    return dockWidget;
+}
+
+bool MenuActionHelper::containsDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const {
+
+    return m_centralWidgetToDockWidgetsMap.contains(view) && m_centralWidgetToDockWidgetsMap[view].contains(name);
+}
+
+QDockWidget *MenuActionHelper::getDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const {
+    if(!m_centralWidgetToDockWidgetsMap.contains(view))
+        return NULL;
+    return m_centralWidgetToDockWidgetsMap[view].value(name);
+}
+
+void MenuActionHelper::showTool(bool show) {
+    //Called when a menu item is clicked on, regardless of view.
+    QAction* act = qobject_cast<QAction *>(sender());
+    Q_ASSERT(act);
+    if (m_menuToDockNameMap.contains(act)) {
+        QString name = m_menuToDockNameMap[act];
+        emit needToShowDockWidget(name, show);
+    }
+}
+
+void MenuActionHelper::setDockWidgetTitleBarsEnabled(bool enabled)
+{
+    m_dockWidgetTitleBarsEnabled = enabled;
+    for (int i = 0; i < m_dockWidgets.size(); i++)
+        setDockWidgetTitleBar(m_dockWidgets[i]);
+}
+
+
+void MenuActionHelper::setAdvancedMode(bool advancedMode)
+{
+    m_isAdvancedMode = advancedMode;
+    for (int i = 0; i < m_dockWidgets.size(); i++)
+        setDockWidgetTitleBar(m_dockWidgets[i]);
+}
+
+void MenuActionHelper::setDockWidgetTitleBar(QDockWidget* widget)
+{
+    Q_ASSERT(widget);
+    QWidget* oldTitleBar = widget->titleBarWidget();
+
+    // In advanced mode, we use the default titlebar provided by Qt.
+    if (m_isAdvancedMode)
+    {
+        widget->setTitleBarWidget(0);
+    }
+    // Otherwise, if just a textlabel should be shown, make that the titlebar.
+    else if (m_dockWidgetTitleBarsEnabled)
+    {
+        QLabel* label = new QLabel(widget);
+        label->setText(widget->windowTitle());
+        label->installEventFilter(this); //Ignore mouse clicks
+        widget->installEventFilter(this); //Update label if window title changes. See eventFilter below
+        widget->setTitleBarWidget(label);
+    }
+    // And if nothing should be shown, use an empty widget.
+    else
+    {
+        QWidget* newTitleBar = new QWidget(widget);
+        widget->setTitleBarWidget(newTitleBar);
+    }
+
+    // Be sure to clean up the old titlebar. When using QDockWidget::setTitleBarWidget(),
+    // it doesn't delete the old titlebar object.
+    delete oldTitleBar;
+}
+
+bool MenuActionHelper::eventFilter(QObject *object,QEvent *event)
+{
+    if (event->type() == QEvent::WindowTitleChange)
+    {
+        QDockWidget *dock = qobject_cast<QDockWidget *>(object);
+        if(dock) {
+            // Update the dock title bar label
+            QLabel *label = dynamic_cast<QLabel *>(dock->titleBarWidget());
+            if(label)
+                label->setText(dock->windowTitle());
+            // Now update the action label
+            QString oldObjectName = dock->objectName();
+            QAction *action = m_menuToDockNameMap.key(oldObjectName);
+            if(action)
+                action->setText(dock->windowTitle());
+            //Now modify the object name - it is a strange naming scheme..
+/*            QString newObjectName = widgetTitle+"DOCK";
+            dock->setObjectName(newObjectName);
+            m_menuToDockNameMap[action] = newObjectName;
+            QMap<MainWindow::VIEW_SECTIONS,QMap<QString,QDockWidget*> >::iterator it;
+            for (it = m_centralWidgetToDockWidgetsMap.begin(); it != m_centralWidgetToDockWidgetsMap.end(); ++it) {
+                QMap<QString,QDockWidget*> &map = it.value();
+                map[newObjectName] = map[oldObjectName];
+                map.remove(oldObjectName);
+            }*/
+        }
+    } else if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
+    {
+        if(qobject_cast<QLabel *>(object))
+            return true;
+    }
+    return QObject::eventFilter(object,event);
+}
diff --git a/src/ui/menuactionhelper.h b/src/ui/menuactionhelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..cde788348868daa6581b481128b222bb4003fb8d
--- /dev/null
+++ b/src/ui/menuactionhelper.h
@@ -0,0 +1,50 @@
+#ifndef MENUACTIONHELPER_H
+#define MENUACTIONHELPER_H
+
+#include "MainWindow.h"
+
+class MenuActionHelper : public QObject
+{
+    Q_OBJECT
+public:
+    MenuActionHelper(QObject *parent = NULL);
+    ~MenuActionHelper() {}
+
+    /** @brief Get title bar mode setting */
+    bool dockWidgetTitleBarsEnabled() const { return m_dockWidgetTitleBarsEnabled; }
+    void setDockWidgetTitleBarsEnabled(bool enabled);
+    bool isAdvancedMode() const { return m_isAdvancedMode; }
+    void setAdvancedMode(bool advancedMode);
+    QAction *createToolAction(const QString &title, const QString &name = QString());
+    QAction *createToolActionForCustomDockWidget(const QString& title, const QString& name, QDockWidget* dockWidget, MainWindow::VIEW_SECTIONS view);
+    QDockWidget *createDockWidget(const QString& title, const QString& name);
+    bool containsDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const;
+    QDockWidget *getDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const;
+
+    /** QMenu to add QActions to */
+    void setMenu(QMenu *menu) { m_menu = menu; }
+
+protected:
+    virtual bool eventFilter(QObject *object,QEvent *event);
+
+private slots:
+    void removeDockWidget();
+    /** @brief Shows a Docked Widget based on the action sender */
+    void showTool(bool show);
+
+signals:
+    void needToShowDockWidget(const QString& name, bool show);
+private:
+    QMap<QAction*,QString > m_menuToDockNameMap;
+    QList<QDockWidget*> m_dockWidgets;
+    QMap<MainWindow::VIEW_SECTIONS,QMap<QString,QDockWidget*> > m_centralWidgetToDockWidgetsMap;
+    bool m_isAdvancedMode; ///< If enabled dock widgets can be moved and floated.
+    bool m_dockWidgetTitleBarsEnabled; ///< If enabled, dock widget titlebars are displayed when NOT in advanced mode.
+    QMenu *m_menu; ///< \see setMenu()
+    bool m_addedCustomSeperator; ///< Whether we have added a seperator between the actions and the custom actions
+
+    void setDockWidgetTitleBar(QDockWidget* widget);
+
+};
+
+#endif // MENUACTIONHELPER_H