New MainWindow central and dock widget architecture

- Central widget no longer stacked. Views are added/removed to layout to switch view - Dock Widgets are globals with single instance of each type - Both central views and dock widgets are just-in-time created saving lots of memory

New MainWindow central and dock widget architecture
- Central widget no longer stacked. Views are added/removed to layout to switch view - Dock Widgets are globals with single instance of each type - Both central views and dock widgets are just-in-time created saving lots of memory
4d40f298 · Don Gagne · 78507bfe · 4d40f298 · 4d40f298 · 4d40f298
Commit 4d40f298 authored Dec 29, 2014 by Don Gagne
11 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -451,7 +451,6 @@ HEADERS += \
    src/ui/QGCHilFlightGearConfiguration.h \
    src/ui/QGCHilJSBSimConfiguration.h \
    src/ui/QGCHilXPlaneConfiguration.h \
-    src/ui/submainwindow.h \
    src/ui/uas/UASQuickView.h \
    src/ui/uas/UASQuickViewItem.h \
    src/ui/linechart/ChartPlot.h \
@@ -480,7 +479,6 @@ HEADERS += \
    src/ui/px4_configuration/PX4Bootloader.h \
    src/ui/px4_configuration/PX4FirmwareUpgradeThread.h \
    src/ui/px4_configuration/PX4FirmwareUpgrade.h \
-    src/ui/menuactionhelper.h \
    src/uas/UASManagerInterface.h \
    src/uas/QGCUASParamManagerInterface.h \
    src/uas/QGCUASFileManager.h \
@@ -495,6 +493,7 @@ HEADERS += \
    src/QGCQuickWidget.h \
    src/QGCPalette.h \
    src/QGCQmlWidgetHolder.h \
+    src/QGCDockWidget.h \
 SOURCES += \
    src/main.cc \
@@ -595,7 +594,6 @@ SOURCES += \
    src/ui/QGCHilFlightGearConfiguration.cc \
    src/ui/QGCHilJSBSimConfiguration.cc \
    src/ui/QGCHilXPlaneConfiguration.cc \
-    src/ui/submainwindow.cpp \
    src/ui/uas/UASQuickViewItem.cc \
    src/ui/uas/UASQuickView.cc \
    src/ui/linechart/ChartPlot.cc \
@@ -624,7 +622,6 @@ SOURCES += \
    src/ui/px4_configuration/PX4Bootloader.cc \
    src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc \
    src/ui/px4_configuration/PX4FirmwareUpgrade.cc \
-    src/ui/menuactionhelper.cpp \
    src/uas/QGCUASFileManager.cc \
    src/ui/QGCUASFileView.cc \
    src/CmdLineOptParser.cc \
@@ -636,6 +633,7 @@ SOURCES += \
    src/QGCQuickWidget.cc \
    src/QGCPalette.cc \
    src/QGCQmlWidgetHolder.cpp \
+    src/QGCDockWidget.cc \
 #
 # Unit Test specific configuration goes here

--- a/src/QGCConfig.h
+++ b/src/QGCConfig.h
@@ -12,7 +12,7 @@
 // If you need to make an incompatible changes to stored settings, bump this version number
 // up by 1. This will caused store settings to be cleared on next boot.
-#define QGC_SETTINGS_VERSION 2
+#define QGC_SETTINGS_VERSION 3
 #define QGC_APPLICATION_NAME "QGroundControl"
 #define QGC_ORG_NAME "QGroundControl.org"

--- a/src/QGCDockWidget.cc
+++ b/src/QGCDockWidget.cc
+/*=====================================================================
+ QGroundControl Open Source Ground Control Station
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ This file is part of the QGROUNDCONTROL project
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ ======================================================================*/
+#include "QGCDockWidget.h"
+#include <QCloseEvent>
+QGCDockWidget::QGCDockWidget(const QString& title, QWidget *parent, Qt::WindowFlags flags) :
+    QDockWidget(title, parent, flags)
+{
+}
+// Instead of destroying the widget just hide it
+void QGCDockWidget::closeEvent(QCloseEvent* event)
+{
+    event->ignore();
+    setVisible(false);
+}
--- a/src/QGCDockWidget.h
+++ b/src/QGCDockWidget.h
+/*=====================================================================
+ QGroundControl Open Source Ground Control Station
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ This file is part of the QGROUNDCONTROL project
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ ======================================================================*/
+#ifndef QGCDockWidget_h
+#define QGCDockWidget_h
+#include <QDockWidget>
+/// @file
+///     @brief Subclass of QDockWidget so we can intercept the closeEvent.
+///
+///     @author Don Gagne <don@thegagnes.com>
+class QGCDockWidget : public QDockWidget {
+    Q_OBJECT
+public:
+    QGCDockWidget(const QString& title, QWidget *parent = 0, Qt::WindowFlags flags = 0);
+    void closeEvent(QCloseEvent* event);
+};
+#endif
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -28,7 +28,6 @@ This file is part of the QGROUNDCONTROL project
 */
 #include <QSettings>
-#include <QDockWidget>
 #include <QNetworkInterface>
 #include <QDebug>
 #include <QTimer>
@@ -66,11 +65,11 @@ This file is part of the QGROUNDCONTROL project
 #include "SetupView.h"
 #include "SerialSettingsDialog.h"
 #include "terminalconsole.h"
-#include "menuactionhelper.h"
 #include "QGCUASFileViewMulti.h"
 #include "QGCApplication.h"
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
+#include "QGCDockWidget.h"
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -78,6 +77,22 @@ This file is part of the QGROUNDCONTROL project
 #include "LogCompressor.h"
+const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET";
+const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
+const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
+const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
+const char* MainWindow::_parametersDockWidgetName = "PARAMETER_INTERFACE_DOCKWIDGET";
+const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET";
+const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET";
+const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET";
+const char* MainWindow::_hsiDockWidgetName = "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET";
+const char* MainWindow::_hdd1DockWidgetName = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
+const char* MainWindow::_hdd2DockWidgetName = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
+const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
+const char* MainWindow::_hudDockWidgetName = "HEAD_UP_DISPLAY_DOCKWIDGET";
+const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET";
+const char* MainWindow::_debugConsoleDockWidgetName = "COMMUNICATION_CONSOLE_DOCKWIDGET";
 static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton
 MainWindow* MainWindow::_create(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode)
@@ -106,13 +121,13 @@ void MainWindow::deleteInstance(void)
 ///         by MainWindow::_create method. Hence no other code should have access to
 ///         constructor.
 MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode) :
-    currentView(VIEW_FLIGHT),
    centerStackActionGroup(new QActionGroup(this)),
    autoReconnect(false),
    simulationLink(NULL),
    lowPowerMode(false),
    customMode(mode),
-    menuActionHelper(new MenuActionHelper()),
+    _currentView(VIEW_FLIGHT),
+    _currentViewWidget(NULL),
    _splashScreen(splashScreen)
 {
    Q_ASSERT(_instance == NULL);
@@ -122,52 +137,42 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
        connect(this, &MainWindow::initStatusChanged, splashScreen, &QSplashScreen::showMessage);
    }
-    connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
    loadSettings();
-    if (settings.contains("ADVANCED_MODE"))
-    {
-        menuActionHelper->setAdvancedMode(settings.value("ADVANCED_MODE").toBool());
-    }
    // Select the proper view. Default to the flight view or load the last one used if it's supported.
-    if (!settings.contains("CURRENT_VIEW"))
+    VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", _currentView).toInt();
-    {
+    switch (currentViewCandidate) {
-        settings.setValue("CURRENT_VIEW", currentView);
+        case VIEW_ENGINEER:
-    }
+        case VIEW_MISSION:
-    else
+        case VIEW_FLIGHT:
-    {
+        case VIEW_SIMULATION:
-        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
+        case VIEW_SETUP:
-        switch (currentViewCandidate) {
+        case VIEW_TERMINAL:
-            case VIEW_ENGINEER:
-            case VIEW_MISSION:
-            case VIEW_FLIGHT:
-            case VIEW_SIMULATION:
-            case VIEW_SETUP:
-            case VIEW_TERMINAL:
-// And only re-load views if they're supported with the current QGC build
 #ifdef QGC_OSG_ENABLED
-            case VIEW_LOCAL3D:
+        case VIEW_LOCAL3D:
 #endif
 #ifdef QGC_GOOGLE_EARTH_ENABLED
-            case VIEW_GOOGLEEARTH:
+        case VIEW_GOOGLEEARTH:
 #endif
+            _currentView = currentViewCandidate;
-                currentView = currentViewCandidate;
+            break;
-            default:
-                // If an invalid view candidate was found in the settings file, just use the default view and re-save.
+        default:
-                settings.setValue("CURRENT_VIEW", currentView);
+            // Leave _currentView to the default
-                break;
+            break;
-        }
    }
+    // Put it back, which will set it to a valid value
+    settings.setValue("CURRENT_VIEW", _currentView);
    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    // Setup user interface
    ui.setupUi(this);
-    menuActionHelper->setMenu(ui.menuTools);
+    // Setup central widget with a layout to hold the views
+    _centralLayout = new QVBoxLayout();
+    centralWidget()->setLayout(_centralLayout);
    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
@@ -186,10 +191,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
    // Setup UI state machines
    centerStackActionGroup->setExclusive(true);
-    centerStack = new QStackedWidget(this);
-    setCentralWidget(centerStack);
    // Load Toolbar
    toolBar = new QGCToolBar(this);
    this->addToolBar(toolBar);
@@ -215,8 +216,7 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
    emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    buildCommonWidgets();
+    _buildCommonWidgets();
-    connectCommonWidgets();
    emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
@@ -267,13 +267,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
    // Set low power mode
    enableLowPowerMode(lowPowerMode);
-    // Initialize window state
-    windowStateVal = windowState();
    emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    // Restore the window setup
-    loadViewState();
+    _loadCurrentViewState();
    emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    // Restore the window position and size
@@ -363,31 +360,7 @@ MainWindow::~MainWindow()
        joystick = NULL;
    }
-    // Get and delete all dockwidgets and contained
-    // widgets
-    QObjectList childList(this->children());
-    QObjectList::iterator i;
-    QDockWidget* dockWidget;
-    for (i = childList.begin(); i != childList.end(); ++i)
-    {
-        dockWidget = dynamic_cast<QDockWidget*>(*i);
-        if (dockWidget)
-        {
-            // Remove dock widget from main window
-            // removeDockWidget(dockWidget);
-            // delete dockWidget->widget();
-            delete dockWidget;
-            dockWidget = NULL;
-        }
-        else if (dynamic_cast<QWidget*>(*i))
-        {
-            delete dynamic_cast<QWidget*>(*i);
-            *i = NULL;
-        }
-    }
    // Delete all UAS objects
-    delete menuActionHelper;
    for (int i=0;i<commsWidgetList.size();i++)
    {
        commsWidgetList[i]->deleteLater();
@@ -405,10 +378,10 @@ QString MainWindow::getWindowStateKey()
 {
    if (UASManager::instance()->getActiveUAS())
    {
-        return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode()) + "_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
+        return QString::number(_currentView)+"_windowstate_" + QString::number(getCustomMode()) + "_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
    }
    else
-        return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode());
+        return QString::number(_currentView)+"_windowstate_" + QString::number(getCustomMode());
 }
 QString MainWindow::getWindowGeometryKey()
@@ -416,64 +389,61 @@ QString MainWindow::getWindowGeometryKey()
    return "_geometry";
 }
-void MainWindow::buildCustomWidget()
+void MainWindow::_buildCustomWidgets(void)
 {
+    Q_ASSERT(_customWidgets.count() == 0);
    // Create custom widgets
-    QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);
+    _customWidgets = QGCToolWidget::createWidgetsFromSettings(this);
-    if (widgets.size() > 0)
+    if (_customWidgets.size() > 0)
    {
        ui.menuTools->addSeparator();
    }
-    for(int i = 0; i < widgets.size(); ++i)
+    foreach(QGCToolWidget* tool, _customWidgets) {
-    {
        // Check if this widget already has a parent, do not create it in this case
-        QGCToolWidget* tool = widgets.at(i);
        QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
-        if (!dock)
-        {
+        if (!dock) {
-            QSettings settings;
+            _createDockWidget(tool->getTitle(), tool->objectName(), Qt::BottomDockWidgetArea, tool);
-            settings.beginGroup("QGC_MAINWINDOW");
-            // Load dock widget location (default is bottom)
-            Qt::DockWidgetArea location = tool->getDockWidgetArea(currentView);
-            int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
-            settings.endGroup();
-            QDockWidget* dock;
-            switch (view)
-            {
-            case VIEW_ENGINEER:
-                dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            default: // Flight view is the default.
-            case VIEW_FLIGHT:
-                dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            case VIEW_SIMULATION:
-                dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            case VIEW_MISSION:
-                dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            case VIEW_GOOGLEEARTH:
-                dock = createDockWidget(googleEarthView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            case VIEW_LOCAL3D:
-                dock = createDockWidget(local3DView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
-                break;
-            }
-            // XXX temporary "fix"
-            dock->hide();
        }
    }
 }
-void MainWindow::buildCommonWidgets()
+void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget)
+{
+    Q_ASSERT(!_mapName2DockWidget.contains(name));
+    QGCDockWidget* dockWidget = new QGCDockWidget(title, this);
+    Q_CHECK_PTR(dockWidget);
+    dockWidget->setObjectName(name);
+    dockWidget->setVisible (false);
+    if (innerWidget) {
+        // Put inner widget inside QDockWidget
+        innerWidget->setParent(dockWidget);
+        dockWidget->setWidget(innerWidget);
+        innerWidget->setVisible(true);
+    }
+    // Add to menu
+    QAction* action = new QAction(title, NULL);
+    action->setCheckable(true);
+    action->setData(name);
+    connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
+    ui.menuTools->addAction(action);
+    _mapName2DockWidget[name] = dockWidget;
+    _mapDockWidget2Action[dockWidget] = action;
+    addDockWidget(area, dockWidget);
+}
+void MainWindow::_buildCommonWidgets(void)
 {
    // Add generic MAVLink decoder
    mavlinkDecoder = new MAVLinkDecoder(MAVLinkProtocol::instance(), this);
@@ -484,274 +454,246 @@ void MainWindow::buildCommonWidgets()
    logPlayer = new QGCMAVLinkLogPlayer(MAVLinkProtocol::instance(), statusBar());
    statusBar()->addPermanentWidget(logPlayer);
-    // Initialize all of the views, if they haven't been already, and add their central widgets
+    // In order for Qt to save and restore state of widgets all widgets must be created ahead of time. We only create the QDockWidget
-    if (!plannerView)
+    // holders. We do not create the actual inner widget until it is needed. This saves memory and cpu from running widgets that are
-    {
+    // never shown.
-        plannerView = new SubMainWindow(this);
-        plannerView->setObjectName("VIEW_MISSION");
+    struct DockWidgetInfo {
-        plannerView->setCentralWidget(new QGCMapTool(this));
+        const char* name;
-        addToCentralStackedWidget(plannerView, VIEW_MISSION, "Maps");
+        const char* title;
-    }
+        Qt::DockWidgetArea area;
-    if (!pilotView)
+    };
-    {
-        pilotView = new SubMainWindow(this);
+    static const struct DockWidgetInfo rgDockWidgetInfo[] = {
-        pilotView->setObjectName("VIEW_FLIGHT");
+        { _uasControlDockWidgetName,        "Control",                  Qt::LeftDockWidgetArea },
-        pilotView->setCentralWidget(new PrimaryFlightDisplay(this));
+        { _uasListDockWidgetName,           "Unmanned Systems",         Qt::RightDockWidgetArea },
-        addToCentralStackedWidget(pilotView, VIEW_FLIGHT, "Pilot");
+        { _waypointsDockWidgetName,         "Mission Plan",             Qt::BottomDockWidgetArea },
-    }
+        { _mavlinkDockWidgetName,           "MAVLink Inspector",        Qt::RightDockWidgetArea },
-    if (!terminalView)
+        { _parametersDockWidgetName,        "Onboard Parameters",       Qt::RightDockWidgetArea },
-    {
+        { _filesDockWidgetName,             "Onboard Files",            Qt::RightDockWidgetArea },
-        terminalView = new SubMainWindow(this);
+        { _uasStatusDetailsDockWidgetName,  "Status Details",           Qt::RightDockWidgetArea },
-        terminalView->setObjectName("VIEW_TERMINAL");
+        { _mapViewDockWidgetName,           "Map view",                 Qt::RightDockWidgetArea },
-        TerminalConsole *terminalConsole = new TerminalConsole(this);
+        { _hsiDockWidgetName,               "Horizontal Situation",     Qt::BottomDockWidgetArea },
-        terminalView->setCentralWidget(terminalConsole);
+        { _hdd1DockWidgetName,              "Flight Display",           Qt::RightDockWidgetArea },
-        addToCentralStackedWidget(terminalView, VIEW_TERMINAL, tr("Terminal View"));
+        { _hdd2DockWidgetName,              "Actuator Status",          Qt::RightDockWidgetArea },
-    }
+        { _pfdDockWidgetName,               "Primary Flight Display",   Qt::RightDockWidgetArea },
-    if (!setupView)
+        { _hudDockWidgetName,               "Video Downlink",           Qt::RightDockWidgetArea },
-    {
+        { _uasInfoViewDockWidgetName,       "Info View",                Qt::LeftDockWidgetArea },
-        setupView = new SubMainWindow(this);
+        { _debugConsoleDockWidgetName,      "Communications Console",   Qt::LeftDockWidgetArea }
-        setupView->setObjectName("VIEW_SETUP");
+    };
-        setupView->setCentralWidget((QWidget*)new SetupView(this));
+    static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]);
-        addToCentralStackedWidget(setupView, VIEW_SETUP, "Setup");
-    }
+    for (size_t i=0; i<cDockWidgetInfo; i++) {
-    if (!engineeringView)
+        const struct DockWidgetInfo* pDockInfo = &rgDockWidgetInfo[i];
-    {
-        engineeringView = new SubMainWindow(this);
+        _createDockWidget(pDockInfo->title, pDockInfo->name, pDockInfo->area, NULL /* no inner widget yet */);
-        engineeringView->setObjectName("VIEW_ENGINEER");
-        engineeringView->setCentralWidget(new QGCDataPlot2D(this));
-        addToCentralStackedWidget(engineeringView, VIEW_ENGINEER, tr("Logfile Plot"));
-    }
-#ifdef QGC_GOOGLE_EARTH_ENABLED
-    if (!googleEarthView)
-    {
-        googleEarthView = new SubMainWindow(this);
-        googleEarthView->setObjectName("VIEW_GOOGLEEARTH");
-        googleEarthView->setCentralWidget(new QGCGoogleEarthView(this));
-        addToCentralStackedWidget(googleEarthView, VIEW_GOOGLEEARTH, tr("Google Earth View"));
    }
-#endif
-#ifdef QGC_OSG_ENABLED
-    if (!local3DView)
-    {
-        q3DWidget = Q3DWidgetFactory::get("PIXHAWK", this);
-        q3DWidget->setObjectName("VIEW_3DWIDGET");
-        local3DView = new SubMainWindow(this);
+    _buildCustomWidgets();
-        local3DView->setObjectName("VIEW_LOCAL3D");
+}
-        local3DView->setCentralWidget(q3DWidget);
-        addToCentralStackedWidget(local3DView, VIEW_LOCAL3D, tr("Local 3D View"));
-    }
-#endif
-    if (!simView)
+void MainWindow::_buildPlannerView(void)
-    {
+{
-        simView = new SubMainWindow(this);
+    if (!_plannerView) {
-        simView->setObjectName("VIEW_SIMULATOR");
+        _plannerView = new QGCMapTool(this);
-        simView->setCentralWidget(new QGCMapTool(this));
+        _plannerView->setVisible(false);
-        addToCentralStackedWidget(simView, VIEW_SIMULATION, tr("Simulation View"));
    }
+}
-    // Add dock widgets for the planner view
+void MainWindow::_buildPilotView(void)
-    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);
+    if (!_pilotView) {
+        _pilotView = new PrimaryFlightDisplay(this);
-    // Add dock widgets for the pilot view
+        _pilotView->setVisible(false);
-    createDockWidget(pilotView, new DebugConsole(this), tr("Communications Console"), "COMMUNICATION_CONSOLE_DOCKWIDGET", VIEW_FLIGHT, Qt::LeftDockWidgetArea);
+    }
-    QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
-    infoview->addSource(mavlinkDecoder);
-    createDockWidget(pilotView, infoview, tr("Info View"), "UAS_INFO_INFOVIEW_DOCKWIDGET", VIEW_FLIGHT, Qt::LeftDockWidgetArea);
-    // Add dock widgets for the simulation view
-    createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
-    createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
-    createDockWidget(simView, new ParameterInterface(this), tr("Onboard Parameters"), "PARAMETER_INTERFACE_DOCKWIDGET", VIEW_SIMULATION, Qt::RightDockWidgetArea);
-    createDockWidget(simView, new PrimaryFlightDisplay(this), tr("Primary Flight Display"), "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET", VIEW_SIMULATION, Qt::RightDockWidgetArea);
-    // Add dock widgets for the engineering view
-    createDockWidget(engineeringView, new QGCMAVLinkInspector(MAVLinkProtocol::instance(), 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(engineeringView, new QGCUASFileViewMulti(this), tr("Onboard Files"), "FILE_VIEW_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
-    createDockWidget(engineeringView, new HUD(320, 240, this), tr("Video Downlink"), "HEAD_UP_DISPLAY_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
-    // Add some extra widgets to the Tool Widgets menu
-    menuActionHelper->createToolAction(tr("Map View"), "MAP_VIEW_DOCKWIDGET");
-    menuActionHelper->createToolAction(tr("Status Details"), "UAS_STATUS_DETAILS_DOCKWIDGET");
-    menuActionHelper->createToolAction(tr("Flight Display"), "HEAD_DOWN_DISPLAY_1_DOCKWIDGET");
-    menuActionHelper->createToolAction(tr("Actuator Status"), "HEAD_DOWN_DISPLAY_2_DOCKWIDGET");
-    // Add any custom widgets last to all menus and layouts
-    buildCustomWidget();
 }
-void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
+void MainWindow::_buildSetupView(void)
 {
-    menuActionHelper->createToolActionForCustomDockWidget(title, widget->objectName(), widget, view);
+    if (!_setupView) {
-    parent->addDockWidget(area,widget);
+        _setupView = new SetupView(this);
+        _setupView->setVisible(false);
+    }
 }
-QDockWidget* MainWindow::createDockWidget(QWidget *subMainWindowParent,QWidget *child,const QString& title,const QString& objectName,VIEW_SECTIONS view,Qt::DockWidgetArea area,const QSize& minSize)
+void MainWindow::_buildEngineeringView(void)
 {
-    SubMainWindow *parent = qobject_cast<SubMainWindow*>(subMainWindowParent);
+    if (!_engineeringView) {
-    Q_ASSERT(parent);
+        _engineeringView = new QGCDataPlot2D(this);
-    QDockWidget* dockWidget = menuActionHelper->createDockWidget(title, objectName);
+        _engineeringView->setVisible(false);
-    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
-    if (minSize.height() >= 0)
+void MainWindow::_buildSimView(void)
-        dockWidget->setMinimumHeight(minSize.height());
+{
-    if (minSize.width() >= 0)
+    if (!_simView) {
-        dockWidget->setMinimumWidth(minSize.width());
+        _simView = new QGCMapTool(this);
-    addTool(parent,view,dockWidget,title,area);
+        _simView->setVisible(false);
-    return dockWidget;
+    }
 }
-void MainWindow::showDockWidget(const QString& name, bool show)
+void MainWindow::_buildTerminalView(void)
 {
-    QDockWidget *dockWidget = menuActionHelper->getDockWidget(currentView, name);
+    if (!_terminalView) {
-    if(dockWidget)
+        _terminalView = new TerminalConsole(this);
-        dockWidget->setVisible(show);
+        _terminalView->setVisible(false);
-    else if (show)
+    }
-        loadDockWidget(name);
 }
-void MainWindow::fullScreenActionItemCallback()
+void MainWindow::_buildGoogleEarthView(void)
 {
-    ui.actionNormal->setChecked(false);
+#ifdef QGC_GOOGLE_EARTH_ENABLED
+    if (!_googleEarthView) {
+        _googleEarthView = new QGCGoogleEarthView(this);
+        _googleEarthView->setVisible(false);
+    }
+#endif
 }
-void MainWindow::normalActionItemCallback()
+void MainWindow::_buildLocal3DView(void)
 {
-    ui.actionFullscreen->setChecked(false);
+#ifdef QGC_OSG_ENABLED
+    if (!_local3DView) {
+        _local3DView = Q3DWidgetFactory::get("PIXHAWK", this);
+        _local3DView->setVisible(false);
+    }
+#endif
 }
-void MainWindow::loadDockWidget(const QString& name)
+/// Shows or hides the specified dock widget, creating if necessary
+void MainWindow::_showDockWidget(const QString& name, bool show)
 {
-    if(menuActionHelper->containsDockWidget(currentView, name))
+    if (!_mapName2DockWidget.contains(name)) {
+        qWarning() << "Attempt to show unknown dock widget" << name;
        return;
-    if (name.startsWith("HIL_CONFIG"))
-    {
-        //It's a HIL widget.
-        showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
-    }
-    else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
-    }
-    else if (name == "UNMANNED_SYSTEM_LIST_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
-    }
-    else if (name == "WAYPOINT_LIST_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
-    }
-    else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
-    }
-    else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
-    }
-    else if (name == "FILE_VIEW_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
-    }
-    else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
-    else if (name == "MAP_VIEW_DOCKWIDGET")
-    {
+    // Create the inner widget if we need to
-        createDockWidget(centerStack->currentWidget(),new QGCMapTool(this),tr("Map view"),"MAP_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+    if (!_mapName2DockWidget[name]->widget()) {
-    }
+        _createInnerDockWidget(name);
-    else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
-    {
-        //This is now a permanently detached window.
-    }
-    else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET")
-    {
-        createDockWidget(centerStack->currentWidget(),new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
    }
-    else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET")
-    {
+    Q_ASSERT(_mapName2DockWidget.contains(name));
+    QDockWidget* dockWidget = _mapName2DockWidget[name];
+    Q_ASSERT(dockWidget);
+    dockWidget->setVisible(show);
+    Q_ASSERT(_mapDockWidget2Action.contains(dockWidget));
+    _mapDockWidget2Action[dockWidget]->setChecked(show);
+}
+/// Creates the specified inner dock widget and adds to the QDockWidget
+void MainWindow::_createInnerDockWidget(const QString& widgetName)
+{
+    Q_ASSERT(_mapName2DockWidget.contains(widgetName)); // QDockWidget should already exist
+    Q_ASSERT(!_mapName2DockWidget[widgetName]->widget());     // Inner widget should not
+    QWidget* widget = NULL;
+    if (widgetName == _uasControlDockWidgetName) {
+        widget = new UASControlWidget(this);
+    } else if (widgetName == _uasListDockWidgetName) {
+        widget = new UASListWidget(this);
+    } else if (widgetName == _waypointsDockWidgetName) {
+        widget = new QGCWaypointListMulti(this);
+    } else if (widgetName == _mavlinkDockWidgetName) {
+        widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this);
+    } else if (widgetName == _parametersDockWidgetName) {
+        widget = new ParameterInterface(this);
+    } else if (widgetName == _filesDockWidgetName) {
+        widget = new QGCUASFileViewMulti(this);
+    } else if (widgetName == _uasStatusDetailsDockWidgetName) {
+        widget = new UASInfoWidget(this);
+    } else if (widgetName == _mapViewDockWidgetName) {
+        widget = new QGCMapTool(this);
+    } else if (widgetName == _hsiDockWidgetName) {
+        widget = new HSIDisplay(this);
+    } else if (widgetName == _hdd1DockWidgetName) {
        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);
-    }
+        widget = hddisplay;
-    else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET")
+    } else if (widgetName == _hdd2DockWidgetName) {
-    {
        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);
-    }
+        widget = hddisplay;
-    else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
+    } else if (widgetName == _pfdDockWidgetName) {
-    {
+        widget = new PrimaryFlightDisplay(this);
-        createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+    } else if (widgetName == _hudDockWidgetName) {
-    }
+        widget = new HUD(320,240,this);
-    else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
+    } else if (widgetName == _uasInfoViewDockWidgetName) {
-    {
+        widget = new QGCTabbedInfoView(this);
-        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+    } else if (widgetName == _debugConsoleDockWidgetName) {
-    }
+        widget = new DebugConsole(this);
-    else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
+    } else {
-    {
+        qWarning() << "Attempt to create unknown Inner Dock Widget" << widgetName;
-        createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
    }
-    else
-    {
+    if (widget) {
-        if (customWidgetNameToFilenameMap.contains(name))
+        QDockWidget* dockWidget = _mapName2DockWidget[widgetName];
-        {
+        Q_CHECK_PTR(dockWidget);
-            loadCustomWidget(customWidgetNameToFilenameMap[name],currentView);
-        }
+        widget->setParent(dockWidget);
-        else
+        dockWidget->setWidget(widget);
-        {
-            qDebug() << "Error loading window:" << name;
-        }
    }
 }
-void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title)
+void MainWindow::_showHILConfigurationWidgets(void)
 {
-    Q_UNUSED(viewSection);
+    UASInterface* uas = UASManager::instance()->getActiveUAS();
-    Q_UNUSED(title);
-    Q_ASSERT(widget->objectName().length() != 0);
+    if (!uas) {
+        return;
+    }
+    UAS* mav = dynamic_cast<UAS*>(uas);
+    Q_ASSERT(mav);
+    int uasId = mav->getUASID();
-    // Check if this widget already has been added
+    if (!_mapUasId2HilDockWidget.contains(uasId)) {
-    if (centerStack->indexOf(widget) == -1)
-    {
+        // Create QDockWidget
-        centerStack->addWidget(widget);
+        QGCDockWidget* dockWidget = new QGCDockWidget(tr("HIL Config %1").arg(uasId), this);
+        Q_CHECK_PTR(dockWidget);
+        dockWidget->setObjectName(tr("HIL_CONFIG_%1").arg(uasId));
+        dockWidget->setVisible (false);
+        // Create inner widget and set it
+        QWidget* widget = new QGCHilConfiguration(mav, dockWidget);
+        widget->setParent(dockWidget);
+        dockWidget->setWidget(widget);
+        _mapUasId2HilDockWidget[uasId] = dockWidget;
+        addDockWidget(Qt::LeftDockWidgetArea, dockWidget);
+    }
+    if (_currentView == VIEW_SIMULATION) {
+        // HIL dock widgets only show up on simulation view
+        foreach (QDockWidget* dockWidget, _mapUasId2HilDockWidget) {
+            dockWidget->setVisible(true);
+        }
    }
 }
+void MainWindow::fullScreenActionItemCallback()
-void MainWindow::showCentralWidget()
 {
-    QAction* act = qobject_cast<QAction *>(sender());
+    ui.actionNormal->setChecked(false);
-    QWidget* widget = act->data().value<QWidget *>();
-    centerStack->setCurrentWidget(widget);
 }
-void MainWindow::showHILConfigurationWidget(UASInterface* uas)
+void MainWindow::normalActionItemCallback()
 {
-    // Add simulation configuration widget
+    ui.actionFullscreen->setChecked(false);
-    UAS* mav = dynamic_cast<UAS*>(uas);
-    if (mav && !hilDocks.contains(mav->getUASID()))
-    {
-        QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
-        QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
-        QString hilDockObjectName = QString("HIL_CONFIG_%1").arg(uas->getUASName().toUpper().replace(' ','_'));
-        QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockObjectName,VIEW_SIMULATION,Qt::LeftDockWidgetArea);
-        hilDocks.insert(mav->getUASID(), hilDock);
-    }
 }
 void MainWindow::closeEvent(QCloseEvent *event)
@@ -790,25 +732,13 @@ void MainWindow::closeEvent(QCloseEvent *event)
        Q_ASSERT(!link->isConnected());
    }
-    storeViewState();
+    _storeCurrentViewState();
    storeSettings();
    UASManager::instance()->storeSettings();
    event->accept();
 }
-/**
+void MainWindow::_createNewCustomWidget(void)
- * Connect the signals and slots of the common window widgets
- */
-void MainWindow::connectCommonWidgets()
-{
-    if (infoDockWidget && infoDockWidget->widget())
-    {
-        connect(MAVLinkProtocol::instance(), SIGNAL(receiveLossChanged(int, float)),
-                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
-    }
-}
-void MainWindow::createCustomWidget()
 {
    if (QGCToolWidget::instances()->isEmpty())
    {
@@ -826,110 +756,23 @@ void MainWindow::createCustomWidget()
    QString title = tr("Custom Tool %1").arg(customToolIndex );
    QGCToolWidget* tool = new QGCToolWidget(objectName, title);
-    createDockWidget(centerStack->currentWidget(),tool,title,objectName,currentView,Qt::BottomDockWidgetArea);
+    tool->resize(100, 100);
+    _createDockWidget(title, objectName, Qt::BottomDockWidgetArea, tool);
-    QSettings settings;
-    settings.beginGroup("QGC_MAINWINDOW");
+    _mapName2DockWidget[objectName]->setVisible(true);
-    settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
-    settings.endGroup();
 }
-void MainWindow::loadCustomWidget()
+void MainWindow::_loadCustomWidgetFromFile(void)
 {
    QString widgetFileExtension(".qgw");
    QString fileName = QGCFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
-    if (fileName != "") loadCustomWidget(fileName);
+    if (fileName != "") {
-}
+        QGCToolWidget* tool = new QGCToolWidget("", "", this);
-void MainWindow::loadCustomWidget(const QString& fileName, int view)
+        if (tool->loadSettings(fileName, true)) {
-{
+            QString objectName = tool->objectName() + "DOCK";
-    QGCToolWidget* tool = new QGCToolWidget("", "", this);
-    if (tool->loadSettings(fileName, true))
+            _createDockWidget(tool->getTitle(), objectName, Qt::LeftDockWidgetArea, tool);
-    {
+            _mapName2DockWidget[objectName]->widget()->setVisible(true);
-        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
-        switch ((VIEW_SECTIONS)view)
-        {
-        case VIEW_ENGINEER:
-            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        default: // Flight view is the default.
-        case VIEW_FLIGHT:
-            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        case VIEW_SIMULATION:
-            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        case VIEW_MISSION:
-            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        }
-    }
-    else
-    {
-        return;
-    }
-}
-void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
-{
-    QGCToolWidget* tool = new QGCToolWidget("", "", this);
-    if (tool->loadSettings(fileName, true) || !singleinstance)
-    {
-        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
-        QSettings settings;
-        settings.beginGroup("QGC_MAINWINDOW");
-        int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
-        switch (view)
-        {
-        case VIEW_ENGINEER:
-            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        default: // Flight view is the default.
-        case VIEW_FLIGHT:
-            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        case VIEW_SIMULATION:
-            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        case VIEW_MISSION:
-            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
-            break;
-        }
-        settings.endGroup();
-    }
-    else
-    {
-        return;
-    }
-}
-void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
-{
-    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
-    QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";
-    QDir widgets(defaultsDir);
-    QStringList files = widgets.entryList();
-    QDir platformWidgets(platformDir);
-    files.append(platformWidgets.entryList());
-    if (files.count() == 0)
-    {
-        qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
-        qDebug() << "Tried with path: " << defaultsDir;
-    }
-    // Load all custom widgets found in the AP folder
-    for(int i = 0; i < files.count(); ++i)
-    {
-        QString file = files[i];
-        if (file.endsWith(".qgw"))
-        {
-            // Will only be loaded if not already a custom widget with
-            // the same name is present
-            loadCustomWidget(defaultsDir+"/"+file, true);
        }
    }
 }
@@ -943,10 +786,7 @@ void MainWindow::loadSettings()
    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
-    bool dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",menuActionHelper->dockWidgetTitleBarsEnabled()).toBool();
    settings.endGroup();
-    enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
 }
 void MainWindow::storeSettings()
@@ -963,13 +803,13 @@ void MainWindow::storeSettings()
    settings.setValue(getWindowGeometryKey(), saveGeometry());
    // Save the last current view in any case
-    settings.setValue("CURRENT_VIEW", currentView);
+    settings.setValue("CURRENT_VIEW", _currentView);
    // Save the current window state, but only if a system is connected (else no real number of widgets would be present))
    if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState());
    // Save the current UAS view if a UAS is connected
-    if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
+    if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", _currentView);
    // And save any custom weidgets
    QGCToolWidget::storeWidgetsToSettings(settings);
@@ -1030,14 +870,6 @@ void MainWindow::saveScreen()
        window.save(screenFileName, format.toLatin1());
    }
 }
-void MainWindow::enableDockWidgetTitleBars(bool enabled)
-{
-    menuActionHelper->setDockWidgetTitleBarsEnabled(enabled);
-    QSettings settings;
-    settings.beginGroup("QGC_MAINWINDOW");
-    settings.setValue("DOCK_WIDGET_TITLEBARS",enabled);
-    settings.endGroup();
-}
 void MainWindow::enableAutoReconnect(bool enabled)
 {
@@ -1071,42 +903,42 @@ void MainWindow::connectCommonActions()
 #endif
    // Mark the right one as selected
-    if (currentView == VIEW_ENGINEER)
+    if (_currentView == VIEW_ENGINEER)
    {
        ui.actionEngineersView->setChecked(true);
        ui.actionEngineersView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_FLIGHT)
+    if (_currentView == VIEW_FLIGHT)
    {
        ui.actionFlightView->setChecked(true);
        ui.actionFlightView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_SIMULATION)
+    if (_currentView == VIEW_SIMULATION)
    {
        ui.actionSimulationView->setChecked(true);
        ui.actionSimulationView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_MISSION)
+    if (_currentView == VIEW_MISSION)
    {
        ui.actionMissionView->setChecked(true);
        ui.actionMissionView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_SETUP)
+    if (_currentView == VIEW_SETUP)
    {
        ui.actionSetup->setChecked(true);
        ui.actionSetup->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_TERMINAL)
+    if (_currentView == VIEW_TERMINAL)
    {
        ui.actionTerminalView->setChecked(true);
        ui.actionTerminalView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_GOOGLEEARTH)
+    if (_currentView == VIEW_GOOGLEEARTH)
    {
        ui.actionGoogleEarthView->setChecked(true);
        ui.actionGoogleEarthView->activate(QAction::Trigger);
    }
-    if (currentView == VIEW_LOCAL3D)
+    if (_currentView == VIEW_LOCAL3D)
    {
        ui.actionLocal3DView->setChecked(true);
        ui.actionLocal3DView->activate(QAction::Trigger);
@@ -1121,8 +953,6 @@ void MainWindow::connectCommonActions()
    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
-    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*)));
@@ -1151,8 +981,8 @@ void MainWindow::connectCommonActions()
    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
    // Custom widget actions
-    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
+    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(_createNewCustomWidget()));
-    connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(loadCustomWidget()));
+    connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(_loadCustomWidgetFromFile()));
    // Audio output
    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
@@ -1302,8 +1132,7 @@ void MainWindow::setActiveUAS(UASInterface* uas)
    Q_UNUSED(uas);
    if (settings.contains(getWindowStateKey()))
    {
-        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
+        restoreState(settings.value(getWindowStateKey()).toByteArray());
-        win->restoreState(settings.value(getWindowStateKey()).toByteArray());
    }
 }
@@ -1316,10 +1145,6 @@ void MainWindow::UASSpecsChanged(int uas)
 void MainWindow::UASCreated(UASInterface* uas)
 {
-    // The pilot, operator and engineer views were not available on startup, enable them now
-    ui.actionFlightView->setEnabled(true);
-    ui.actionMissionView->setEnabled(true);
-    ui.actionEngineersView->setEnabled(true);
    // The UAS actions are not enabled without connection to system
    ui.actionLiftoff->setEnabled(true);
    ui.actionLand->setEnabled(true);
@@ -1390,31 +1215,27 @@ void MainWindow::UASCreated(UASInterface* uas)
        break;
    }
    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
    connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
    connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*)));
    // HIL
-    showHILConfigurationWidget(uas);
+    _showHILConfigurationWidgets();
    if (!linechartWidget)
    {
        linechartWidget = new Linecharts(this);
+        linechartWidget->setVisible(false);
    }
    linechartWidget->addSource(mavlinkDecoder);
-    if (engineeringView->centralWidget() != linechartWidget)
+    if (_engineeringView != linechartWidget)
    {
-        engineeringView->setCentralWidget(linechartWidget);
+        _engineeringView = linechartWidget;
-        linechartWidget->show();
    }
-    // Load default custom widgets for this autopilot type
-    loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
    // Reload view state in case new widgets were added
-    loadViewState();
+    _loadCurrentViewState();
 }
 void MainWindow::UASDeleted(UASInterface* uas)
@@ -1423,104 +1244,146 @@ void MainWindow::UASDeleted(UASInterface* uas)
    // TODO: Update the UI when a UAS is deleted
 }
-/**
+/// Stores the state of the toolbar, status bar and widgets associated with the current view
- * Stores the current view state
+void MainWindow::_storeCurrentViewState(void)
- */
-void MainWindow::storeViewState()
 {
-    // Save current state
+    // HIL dock widgets are dynamic and are not part of the saved state
-    SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
+    _hideAllHilDockWidgets();
-    QList<QDockWidget*> widgets = win->findChildren<QDockWidget*>();
-    QString widgetnames = "";
+    // Save list of visible widgets
-    for (int i=0;i<widgets.size();i++)
-    {
+    bool firstWidget = true;
-        widgetnames += widgets[i]->objectName() + ",";
+    QString widgetNames = "";
+    foreach(QDockWidget* dockWidget, _mapName2DockWidget) {
+        if (dockWidget->isVisible()) {
+            if (!firstWidget) {
+                widgetNames += ",";
+            }
+            widgetNames += dockWidget->objectName();
+            firstWidget = false;
+        }
    }
-    widgetnames = widgetnames.mid(0,widgetnames.length()-1);
+    settings.setValue(getWindowStateKey() + "WIDGETS", widgetNames);
-    settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames);
+    settings.setValue(getWindowStateKey(), saveState());
-    settings.setValue(getWindowStateKey(), win->saveState());
-    settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
-    // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
-    // therefore this state is stored here and restored after applying the rest of the settings in the new
-    // perspective.
-    windowStateVal = this->windowState();
    settings.setValue(getWindowGeometryKey(), saveGeometry());
 }
-void MainWindow::loadViewState()
+/// Restores the state of the toolbar, status bar and widgets associated with the current view
+void MainWindow::_loadCurrentViewState(void)
 {
-    // Restore center stack state
+    QWidget* centerView;
-    int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
+    QString defaultWidgets;
-    if (index != -1)
+    switch (_currentView) {
-    {
-        centerStack->setCurrentIndex(index);
-    }
-    else
-    {
-        // Hide custom widgets
-        if (detectionDockWidget) detectionDockWidget->hide();
-        if (watchdogControlDockWidget) watchdogControlDockWidget->hide();
-        // Load defaults
-        switch (currentView)
-        {
        case VIEW_SETUP:
-            centerStack->setCurrentWidget(setupView);
+            _buildSetupView();
+            centerView = _setupView;
            break;
        case VIEW_ENGINEER:
-            centerStack->setCurrentWidget(engineeringView);
+            _buildEngineeringView();
+            centerView = _engineeringView;
+            defaultWidgets = "MAVLINK_INSPECTOR_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,FILE_VIEW_DOCKWIDGET,HEAD_UP_DISPLAY_DOCKWIDGET";
            break;
-        default: // Default to the flight view
        case VIEW_FLIGHT:
-            centerStack->setCurrentWidget(pilotView);
+            _buildPilotView();
+            centerView = _pilotView;
+            defaultWidgets = "COMMUNICATION_CONSOLE_DOCKWIDGET,UAS_INFO_INFOVIEW_DOCKWIDGET";
            break;
        case VIEW_MISSION:
-            centerStack->setCurrentWidget(plannerView);
+            _buildPlannerView();
+            centerView = _plannerView;
+            defaultWidgets = "UNMANNED_SYSTEM_LIST_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET";
            break;
        case VIEW_SIMULATION:
-            centerStack->setCurrentWidget(simView);
+            _buildSimView();
+            centerView = _simView;
+            defaultWidgets = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
            break;
        case VIEW_TERMINAL:
-            centerStack->setCurrentWidget(terminalView);
+            _buildTerminalView();
+            centerView = _terminalView;
            break;
        case VIEW_GOOGLEEARTH:
-            centerStack->setCurrentWidget(googleEarthView);
+            _buildGoogleEarthView();
+            centerView = _googleEarthView;
            break;
        case VIEW_LOCAL3D:
-            centerStack->setCurrentWidget(local3DView);
+            _buildLocal3DView();
+            centerView = _local3DView;
            break;
+    }
+    // Remove old view
+    if (_currentViewWidget) {
+        _currentViewWidget->setVisible(false);
+        Q_ASSERT(_centralLayout->count() == 1);
+        QLayoutItem *child = _centralLayout->takeAt(0);
+        Q_ASSERT(child);
+        delete child;
+    }
+    // Add the new one
+    Q_ASSERT(centerView);
+    Q_ASSERT(_centralLayout->count() == 0);
+    _currentViewWidget = centerView;
+    _centralLayout->addWidget(_currentViewWidget);
+    _currentViewWidget->setVisible(true);
+    // Hide all widgets from previous view
+    _hideAllDockWidgets();
+    // Restore the widgets for the new view
+    QString widgetNames = settings.value(getWindowStateKey() + "WIDGETS", defaultWidgets).toString();
+    if (!widgetNames.isEmpty()) {
+        QStringList split = widgetNames.split(",");
+        foreach (QString widgetName, split) {
+            Q_ASSERT(!widgetName.isEmpty());
+            _showDockWidget(widgetName, true);
        }
    }
-    // Restore the widget positions and size
+    if (settings.contains(getWindowStateKey())) {
-    if (settings.contains(getWindowStateKey() + "WIDGETS"))
+        restoreState(settings.value(getWindowStateKey()).toByteArray());
-    {
-        QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString();
-        QStringList split = widgetstr.split(",");
-        foreach (QString widgetname,split)
-        {
-            if (widgetname != "")
-            {
-                //qDebug() << "Loading widget:" << widgetname;
-                loadDockWidget(widgetname);
-            }
-        }
    }
-    if (settings.contains(getWindowStateKey()))
-    {
+    // HIL dock widget are dynamic and don't take part in the saved window state, so this
-        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
+    // need to happen after we restore state
-        win->restoreState(settings.value(getWindowStateKey()).toByteArray());
+    _showHILConfigurationWidgets();
+}
+void MainWindow::_hideAllHilDockWidgets(void)
+{
+    foreach(QDockWidget* dockWidget, _mapUasId2HilDockWidget) {
+        dockWidget->setVisible(false);
+    }
+}
+void MainWindow::_hideAllDockWidgets(void)
+{
+    foreach(QDockWidget* dockWidget, _mapName2DockWidget) {
+        dockWidget->setVisible(false);
    }
+    _hideAllHilDockWidgets();
 }
-void MainWindow::setAdvancedMode(bool isAdvancedMode)
+void MainWindow::_showDockWidgetAction(bool show)
 {
-    menuActionHelper->setAdvancedMode(isAdvancedMode);
+    QAction* action = dynamic_cast<QAction*>(QObject::sender());
-    ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
+    Q_ASSERT(action);
-    settings.setValue("ADVANCED_MODE",isAdvancedMode);
+    _showDockWidget(action->data().toString(), show);
 }
 void MainWindow::handleMisconfiguration(UASInterface* uas)
 {
    static QTime lastTime;
@@ -1551,88 +1414,88 @@ void MainWindow::handleMisconfiguration(UASInterface* uas)
 void MainWindow::loadEngineerView()
 {
-    if (currentView != VIEW_ENGINEER)
+    if (_currentView != VIEW_ENGINEER)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_ENGINEER;
+        _currentView = VIEW_ENGINEER;
        ui.actionEngineersView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadOperatorView()
 {
-    if (currentView != VIEW_MISSION)
+    if (_currentView != VIEW_MISSION)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_MISSION;
+        _currentView = VIEW_MISSION;
        ui.actionMissionView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadSetupView()
 {
-    if (currentView != VIEW_SETUP)
+    if (_currentView != VIEW_SETUP)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_SETUP;
+        _currentView = VIEW_SETUP;
        ui.actionSetup->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadTerminalView()
 {
-    if (currentView != VIEW_TERMINAL)
+    if (_currentView != VIEW_TERMINAL)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_TERMINAL;
+        _currentView = VIEW_TERMINAL;
        ui.actionTerminalView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadGoogleEarthView()
 {
-    if (currentView != VIEW_GOOGLEEARTH)
+    if (_currentView != VIEW_GOOGLEEARTH)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_GOOGLEEARTH;
+        _currentView = VIEW_GOOGLEEARTH;
        ui.actionGoogleEarthView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadLocal3DView()
 {
-    if (currentView != VIEW_LOCAL3D)
+    if (_currentView != VIEW_LOCAL3D)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_LOCAL3D;
+        _currentView = VIEW_LOCAL3D;
        ui.actionLocal3DView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadPilotView()
 {
-    if (currentView != VIEW_FLIGHT)
+    if (_currentView != VIEW_FLIGHT)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_FLIGHT;
+        _currentView = VIEW_FLIGHT;
        ui.actionFlightView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
 void MainWindow::loadSimulationView()
 {
-    if (currentView != VIEW_SIMULATION)
+    if (_currentView != VIEW_SIMULATION)
    {
-        storeViewState();
+        _storeCurrentViewState();
-        currentView = VIEW_SIMULATION;
+        _currentView = VIEW_SIMULATION;
        ui.actionSimulationView->setChecked(true);
-        loadViewState();
+        _loadCurrentViewState();
    }
 }
@@ -1641,11 +1504,6 @@ QList<QAction*> MainWindow::listLinkMenuActions()
    return ui.menuNetwork->actions();
 }
-bool MainWindow::dockWidgetTitleBarsEnabled() const
-{
-    return menuActionHelper->dockWidgetTitleBarsEnabled();
-}
 /// @brief Hides the spash screen if it is currently being shown
 void MainWindow::hideSplashScreen(void)
 {

--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project
 #include "CameraView.h"
 #include "UASListWidget.h"
 #include "MAVLinkSimulationLink.h"
-#include "submainwindow.h"
 #include "input/JoystickInput.h"
 #if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX)
 #include "Mouse6dofInput.h"
@@ -68,6 +67,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkDecoder.h"
 #include "QGCUASFileViewMulti.h"
 #include "QGCFlightGearLink.h"
+#include "QGCToolWidget.h"
 class QGCMapTool;
 class QGCMAVLinkMessageSender;
@@ -118,9 +118,6 @@ public:
        return autoReconnect;
    }
-    /** @brief Get title bar mode setting */
-    bool dockWidgetTitleBarsEnabled() const;
    /** @brief Get low power mode setting */
    bool lowPowerModeEnabled() const
    {
@@ -165,8 +162,6 @@ public slots:
    void stopVideoCapture();
    void saveScreen();
-    /** @brief Sets advanced mode, allowing for editing of tool widget locations */
-    void setAdvancedMode(bool isAdvancedMode);
    void handleMisconfiguration(UASInterface* uas);
    /** @brief Load configuration views */
    void loadSetupView();
@@ -192,48 +187,20 @@ public slots:
    /** @brief Show the project roadmap */
    void showRoadMap();
-    /** @breif Enable title bars on dock widgets when no in advanced mode */
-    void enableDockWidgetTitleBars(bool enabled);
    /** @brief Automatically reconnect last link */
    void enableAutoReconnect(bool enabled);
    /** @brief Save power by reducing update rates */
    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
-    /** @brief Add a custom tool widget */
-    void createCustomWidget();
-    /** @brief Load a custom tool widget from a file chosen by user (QGCFileDialog) */
-    void loadCustomWidget();
-    /** @brief Load a custom tool widget from a file */
-    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
-    void loadCustomWidget(const QString& fileName, int view);
-    /** @brief Load custom widgets from default file */
-    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
-    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
-    void showHILConfigurationWidget(UASInterface *uas);
    void closeEvent(QCloseEvent* event);
-    /**
-     * @brief Shows a Widget from the center stack based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addCentralWidget() function
-     * It shows the Widget based on the action sender
-     *
-     */
-    void showCentralWidget();
    /** @brief Update the window name */
    void configureWindowName();
    void commsWidgetDestroyed(QObject *obj);
 protected slots:
-    void showDockWidget(const QString &name, bool show);
    /**
     * @brief Unchecks the normalActionItem.
     * Used as a triggered() callback by the fullScreenAction to make sure only one of it or the
@@ -271,54 +238,15 @@ protected:
        VIEW_MISSION,          // Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
        VIEW_FLIGHT,           // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle.
        VIEW_SIMULATION,       // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations.
-        UNUSED1,               // Unused spacer for backwards compatibility with older settings files.
        VIEW_SETUP,            // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
-        UNUSED2,               // Unused spacer for backwards compatibility with older settings files.
        VIEW_TERMINAL,         // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode.
        VIEW_LOCAL3D,          // A local 3D view. Provides a local 3D view that makes visualizing 3D attitude/orientation/pose easy while in operation.
        VIEW_GOOGLEEARTH       // 3D Google Earth view. A 3D terrain view, though the vehicle is still 2D.
    } VIEW_SECTIONS;
-    /**
-     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
-     *
-     * This function does all the hosekeeping to have a QDockedWidget added to the
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item
-     *
-     * @param widget    The QDockWidget being added
-     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
-     * @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(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
-     *
-     * This function does all the hosekeeping to have a QWidget added to the tools menu
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
-     * the center stack.
-     *
-     * @param widget        The QWidget being added
-     * @param title         The entry that will appear in the Menu
-     */
-    void addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title);
    /** @brief Catch window resize events */
    void resizeEvent(QResizeEvent * event);
-    /** @brief Keeps track of the current view */
-    VIEW_SECTIONS currentView;
-    void storeViewState();
-    void loadViewState();
-    void buildCustomWidget();
-    void buildCommonWidgets();
-    void connectCommonWidgets();
    void connectCommonActions();
    void loadSettings();
@@ -328,20 +256,8 @@ protected:
    LinkInterface* udpLink;
    QSettings settings;
-    QStackedWidget *centerStack;
    QActionGroup* centerStackActionGroup;
-    // Center widgets
-    QPointer<SubMainWindow> plannerView;
-    QPointer<SubMainWindow> pilotView;
-    QPointer<SubMainWindow> setupView;
-    QPointer<SubMainWindow> softwareConfigView;
-    QPointer<SubMainWindow> engineeringView;
-    QPointer<SubMainWindow> simView;
-    QPointer<SubMainWindow> terminalView;
-    QPointer<SubMainWindow> googleEarthView;
-    QPointer<SubMainWindow> local3DView;
    // Center widgets
    QPointer<Linecharts> linechartWidget;
 #ifdef QGC_OSG_ENABLED
@@ -352,38 +268,12 @@ protected:
 #endif
    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
-    // Dock widgets
-    QPointer<QDockWidget> controlDockWidget;
-    QPointer<QDockWidget> controlParameterWidget;
-    QPointer<QDockWidget> infoDockWidget;
-    QPointer<QDockWidget> cameraDockWidget;
-    QPointer<QDockWidget> listDockWidget;
-    QPointer<QDockWidget> waypointsDockWidget;
-    QPointer<QDockWidget> detectionDockWidget;
-    QPointer<QDockWidget> debugConsoleDockWidget;
-    QPointer<QDockWidget> parametersDockWidget;
-    QPointer<QDockWidget> headDown1DockWidget;
-    QPointer<QDockWidget> headDown2DockWidget;
-    QPointer<QDockWidget> watchdogControlDockWidget;
-    QPointer<QDockWidget> headUpDockWidget;
-    QPointer<QDockWidget> video1DockWidget;
-    QPointer<QDockWidget> video2DockWidget;
-    QPointer<QDockWidget> rgbd1DockWidget;
-    QPointer<QDockWidget> rgbd2DockWidget;
-    QPointer<QDockWidget> logPlayerDockWidget;
-    QPointer<QDockWidget> hsiDockWidget;
-    QPointer<QDockWidget> rcViewDockWidget;
-    QPointer<QDockWidget> hudDockWidget;
    QPointer<QGCToolBar> toolBar;
    QPointer<QDockWidget> mavlinkInspectorWidget;
    QPointer<MAVLinkDecoder> mavlinkDecoder;
    QPointer<QDockWidget> mavlinkSenderWidget;
    QGCMAVLinkLogPlayer* logPlayer;
-    QMap<int, QDockWidget*> hilDocks;
    QPointer<QGCUASFileViewMulti> fileWidget;
@@ -416,7 +306,6 @@ protected:
    QTimer* videoTimer;
    bool autoReconnect;
    MAVLinkSimulationLink* simulationLink;
-    Qt::WindowStates windowStateVal;
    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
    QGCFlightGearLink* fgLink;
    QTimer windowNameUpdateTimer;
@@ -424,6 +313,9 @@ protected:
 private slots:
    void _addLinkMenu(LinkInterface* link);
+    void _showDockWidgetAction(bool show);
+    void _loadCustomWidgetFromFile(void);
+    void _createNewCustomWidget(void);
 private:
    /// Constructor is private since all creation should be through MainWindow::_create
@@ -431,16 +323,69 @@ private:
    void _openUrl(const QString& url, const QString& errorMessage);
+    // Center widgets
+    QPointer<QWidget> _plannerView;
+    QPointer<QWidget> _pilotView;
+    QPointer<QWidget> _setupView;
+    QPointer<QWidget> _engineeringView;
+    QPointer<QWidget> _simView;
+    QPointer<QWidget> _terminalView;
+    QPointer<QWidget> _googleEarthView;
+    QPointer<QWidget> _local3DView;
+    VIEW_SECTIONS   _currentView;       ///< Currently displayed view
+    QWidget*        _currentViewWidget; ///< Currently displayed view widget
+    // Dock widget names
+    static const char* _uasControlDockWidgetName;
+    static const char* _uasListDockWidgetName;
+    static const char* _waypointsDockWidgetName;
+    static const char* _mavlinkDockWidgetName;
+    static const char* _parametersDockWidgetName;
+    static const char* _filesDockWidgetName;
+    static const char* _uasStatusDetailsDockWidgetName;
+    static const char* _mapViewDockWidgetName;
+    static const char* _hsiDockWidgetName;
+    static const char* _hdd1DockWidgetName;
+    static const char* _hdd2DockWidgetName;
+    static const char* _pfdDockWidgetName;
+    static const char* _hudDockWidgetName;
+    static const char* _uasInfoViewDockWidgetName;
+    static const char* _debugConsoleDockWidgetName;
+    QMap<QString, QDockWidget*>     _mapName2DockWidget;
+    QMap<int, QDockWidget*>         _mapUasId2HilDockWidget;
+    QMap<QDockWidget*, QAction*>    _mapDockWidget2Action;
+    void _buildPlannerView(void);
+    void _buildPilotView(void);
+    void _buildSetupView(void);
+    void _buildEngineeringView(void);
+    void _buildSimView(void);
+    void _buildTerminalView(void);
+    void _buildGoogleEarthView(void);
+    void _buildLocal3DView(void);
+    void _storeCurrentViewState(void);
+    void _loadCurrentViewState(void);
+    void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget);
+    void _createInnerDockWidget(const QString& widgetName);
+    void _buildCustomWidgets(void);
+    void _buildCommonWidgets(void);
+    void _hideAllHilDockWidgets(void);
+    void _hideAllDockWidgets(void);
+    void _showDockWidget(const QString &name, bool show);
+    void _showHILConfigurationWidgets(void);
+    QList<QGCToolWidget*> _customWidgets;
+    QVBoxLayout* _centralLayout;
    QList<QObject*> commsWidgetList;
-    QMap<QString,QString> customWidgetNameToFilenameMap;
    MenuActionHelper *menuActionHelper;
    Ui::MainWindow ui;
-    /** @brief Set the appropriate titlebar for a given dock widget.
-      * Relies on the isAdvancedMode and dockWidgetTitleBarEnabled member variables.
-      */
-    void setDockWidgetTitleBar(QDockWidget* widget);
    QString getWindowStateKey();
    QString getWindowGeometryKey();

--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -62,7 +62,6 @@
    <addaction name="separator"/>
    <addaction name="actionMuteAudioOutput"/>
    <addaction name="actionSettings"/>
-    <addaction name="actionAdvanced_Mode"/>
    <addaction name="separator"/>
    <addaction name="actionExit"/>
   </widget>

--- a/src/ui/menuactionhelper.cpp
+++ b/src/ui/menuactionhelper.cpp
-#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()
-{
-    // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already
-    // been destroyed.
-    QObject *dockWidget = QObject::sender();
-    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..
-        }
-    } else if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
-    {
-        if(qobject_cast<QLabel *>(object))
-            return true;
-    }
-    return QObject::eventFilter(object,event);
-}
--- a/src/ui/menuactionhelper.h
+++ b/src/ui/menuactionhelper.h
-#ifndef MENUACTIONHELPER_H
-#define MENUACTIONHELPER_H
-#include "MainWindow.h"
-#include <QDockWidget>
-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
--- a/src/ui/submainwindow.cpp
+++ b/src/ui/submainwindow.cpp
-#include "submainwindow.h"
-SubMainWindow::SubMainWindow(QWidget *parent) : QMainWindow(parent)
-{
-}
--- a/src/ui/submainwindow.h
+++ b/src/ui/submainwindow.h
-#ifndef SUBMAINWINDOW_H
-#define SUBMAINWINDOW_H
-#include <QMainWindow>
-class SubMainWindow : public QMainWindow
-{
-	Q_OBJECT
-public:
-	explicit SubMainWindow(QWidget *parent = 0);
-signals:
-public slots:
-};
-#endif // SUBMAINWINDOW_H