diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index b84dc7611dafa670285fa70a012895a28ef1f98b..a2f4948b8b9f9e1f92f3bf8214041cb8a3810374 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -49,7 +49,6 @@ This file is part of the QGROUNDCONTROL project
 #include "JoystickWidget.h"
 #endif
 #include "GAudioOutput.h"
-#include "QGCToolWidget.h"
 #include "QGCMAVLinkLogPlayer.h"
 #include "SettingsDialog.h"
 #include "QGCMapTool.h"
@@ -297,18 +296,16 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
     _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
     _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
     _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0));
-    _ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
-    _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0));
-    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+7", 0));
+    _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
+    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0));
     _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0));
 #else
     _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0));
     _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0));
     _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0));
     _ui.actionAnalyze->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0));
-    _ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
-    _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0));
-    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+7", 0));
+    _ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
+    _ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0));
     _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0));
 #endif
 
@@ -380,24 +377,6 @@ QString MainWindow::_getWindowGeometryKey()
     return "_geometry";
 }
 
-void MainWindow::_buildCustomWidgets(void)
-{
-    Q_ASSERT(_customWidgets.count() == 0);
-    // Create custom widgets
-    _customWidgets = QGCToolWidget::createWidgetsFromSettings(this);
-    if (_customWidgets.size() > 0)
-    {
-        _ui.menuTools->addSeparator();
-    }
-    foreach(QGCToolWidget* tool, _customWidgets) {
-        // Check if this widget already has a parent, do not create it in this case
-        QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
-        if (!dock) {
-            _createDockWidget(tool->getTitle(), tool->objectName(), Qt::BottomDockWidgetArea, tool);
-        }
-    }
-}
-
 void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget)
 {
     Q_ASSERT(!_mapName2DockWidget.contains(name));
@@ -472,8 +451,6 @@ void MainWindow::_buildCommonWidgets(void)
         const struct DockWidgetInfo* pDockInfo = &rgDockWidgetInfo[i];
         _createDockWidget(pDockInfo->title, pDockInfo->name, pDockInfo->area, NULL /* no inner widget yet */);
     }
-
-    _buildCustomWidgets();
 }
 
 void MainWindow::_buildPlanView(void)
@@ -532,16 +509,6 @@ void MainWindow::_buildTerminalView(void)
     }
 }
 
-void MainWindow::_buildLocal3DView(void)
-{
-#ifdef QGC_OSG_ENABLED
-    if (!_local3DView) {
-        _local3DView = Q3DWidgetFactory::get("PIXHAWK", this);
-        _local3DView->setVisible(false);
-    }
-#endif
-}
-
 /// Shows or hides the specified dock widget, creating if necessary
 void MainWindow::_showDockWidget(const QString& name, bool show)
 {
@@ -716,45 +683,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
     event->accept();
 }
 
-void MainWindow::_createNewCustomWidget(void)
-{
-    if (QGCToolWidget::instances()->isEmpty())
-    {
-        // This is the first widget
-        _ui.menuTools->addSeparator();
-    }
-    QString objectName;
-    int customToolIndex = 0;
-    //Find the next unique object name that we can use
-    do {
-        ++customToolIndex;
-        objectName = QString("CUSTOM_TOOL_%1").arg(customToolIndex) + "DOCK";
-    } while(QGCToolWidget::instances()->contains(objectName));
-    QString title = tr("Custom Tool %1").arg(customToolIndex );
-    QGCToolWidget* tool = new QGCToolWidget(objectName, title);
-    tool->resize(100, 100);
-    _createDockWidget(title, objectName, Qt::BottomDockWidgetArea, tool);
-    _mapName2DockWidget[objectName]->setVisible(true);
-}
-
-void MainWindow::_loadCustomWidgetFromFile(void)
-{
-    QString fileName = QGCFileDialog::getOpenFileName(
-        this, tr("Load Widget File"),
-        QStandardPaths::writableLocation(QStandardPaths::DesktopLocation),
-        tr("QGroundControl Widgets (*.qgw);;All Files (*)"));
-    if (!fileName.isEmpty()) {
-        QGCToolWidget* tool = new QGCToolWidget("", "", this);
-        if (tool->loadSettings(fileName, true)) {
-            QString objectName = tool->objectName() + "DOCK";
-
-            _createDockWidget(tool->getTitle(), objectName, Qt::LeftDockWidgetArea, tool);
-            _mapName2DockWidget[objectName]->widget()->setVisible(true);
-        }
-    }
-    // TODO Add error dialog if widget could not be loaded
-}
-
 void MainWindow::loadSettings()
 {
     // Why the screaming?
@@ -776,9 +704,6 @@ void MainWindow::loadSettings()
         case VIEW_SIMULATION:
         case VIEW_SETUP:
         case VIEW_TERMINAL:
-#ifdef QGC_OSG_ENABLED
-        case VIEW_LOCAL3D:
-#endif
             _currentView = currentViewCandidate;
             break;
         default:
@@ -804,9 +729,6 @@ void MainWindow::storeSettings()
     // Save the last current view in any case
     settings.setValue("CURRENT_VIEW", _currentView);
     settings.setValue(_getWindowStateKey(), saveState());
-	
-    // And save any custom weidgets
-    QGCToolWidget::storeWidgetsToSettings(settings);
 }
 
 void MainWindow::configureWindowName()
@@ -848,15 +770,9 @@ void MainWindow::connectCommonActions()
     perspectives->addAction(_ui.actionPlan);
     perspectives->addAction(_ui.actionSetup);
     perspectives->addAction(_ui.actionTerminalView);
-    perspectives->addAction(_ui.actionLocal3DView);
     perspectives->addAction(_ui.actionExperimentalPlanView);
     perspectives->setExclusive(true);
 
-    /* Hide the actions that are not relevant */
-#ifndef QGC_OSG_ENABLED
-    _ui.actionLocal3DView->setVisible(false);
-#endif
-
     // Mark the right one as selected
     if (_currentView == VIEW_ANALYZE)
     {
@@ -893,11 +809,6 @@ void MainWindow::connectCommonActions()
         _ui.actionTerminalView->setChecked(true);
         _ui.actionTerminalView->activate(QAction::Trigger);
     }
-    if (_currentView == VIEW_LOCAL3D)
-    {
-        _ui.actionLocal3DView->setChecked(true);
-        _ui.actionLocal3DView->activate(QAction::Trigger);
-    }
 
     // The UAS actions are not enabled without connection to system
     _ui.actionLiftoff->setEnabled(false);
@@ -925,7 +836,6 @@ void MainWindow::connectCommonActions()
     connect(_ui.actionAnalyze, SIGNAL(triggered()), this, SLOT(loadAnalyzeView()));
     connect(_ui.actionPlan, SIGNAL(triggered()), this, SLOT(loadPlanView()));
     connect(_ui.actionExperimentalPlanView, SIGNAL(triggered()), this, SLOT(loadOldPlanView()));
-    connect(_ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView()));
     connect(_ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView()));
 
     // Help Actions
@@ -933,10 +843,6 @@ void MainWindow::connectCommonActions()
     connect(_ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
     connect(_ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
 
-    // Custom widget actions
-    connect(_ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(_createNewCustomWidget()));
-    connect(_ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(_loadCustomWidgetFromFile()));
-
     // Audio output
     _ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
     connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), _ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
@@ -1112,10 +1018,9 @@ void MainWindow::_loadCurrentViewState(void)
             _buildTerminalView();
             centerView = _terminalView;
             break;
-
-        case VIEW_LOCAL3D:
-            _buildLocal3DView();
-            centerView = _local3DView;
+            
+        default:
+            Q_ASSERT(false);
             break;
     }
 
@@ -1267,17 +1172,6 @@ void MainWindow::loadTerminalView()
     }
 }
 
-void MainWindow::loadLocal3DView()
-{
-    if (_currentView != VIEW_LOCAL3D)
-    {
-        _storeCurrentViewState();
-        _currentView = VIEW_LOCAL3D;
-        _ui.actionLocal3DView->setChecked(true);
-        _loadCurrentViewState();
-    }
-}
-
 void MainWindow::loadFlightView()
 {
     if (_currentView != VIEW_FLIGHT)
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 373a507ff187ab0dba0f1557e58286868bfd443d..16856c3f6504fd1608010cd7dc41af2cce84ba79 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -67,7 +67,6 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkDecoder.h"
 #include "QGCUASFileViewMulti.h"
 #include "QGCFlightGearLink.h"
-#include "QGCToolWidget.h"
 
 class QGCMapTool;
 class QGCMAVLinkMessageSender;
@@ -162,8 +161,6 @@ public slots:
     void loadOldPlanView();
     /** @brief Load Terminal Console views */
     void loadTerminalView();
-    /** @brief Load local 3D view */
-    void loadLocal3DView();
     /** @brief Manage Links */
     void manageLinks();
 
@@ -231,14 +228,14 @@ protected:
 
     typedef enum _VIEW_SECTIONS
     {
-        VIEW_ANALYZE,         // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
-        VIEW_PLAN,          // New (QtQuick) 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.
-        VIEW_SETUP,            // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
-        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_EXPERIMENTAL_PLAN,      // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
+        VIEW_ANALYZE,           // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters
+        VIEW_PLAN,              // New (QtQuick) 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.
+        VIEW_SETUP,             // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation.
+        VIEW_TERMINAL,          // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode.
+        VIEW_LOCAL3D,           // Unused
+        VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands.
     } VIEW_SECTIONS;
 
     /** @brief Catch window resize events */
@@ -300,8 +297,6 @@ protected:
 
 private slots:
     void _showDockWidgetAction(bool show);
-    void _loadCustomWidgetFromFile(void);
-    void _createNewCustomWidget(void);
     void _linkStateChange(LinkInterface*);
 #ifdef UNITTEST_BUILD
     void _showQmlTestWidget(void);
@@ -321,7 +316,6 @@ private:
     QPointer<QWidget> _analyzeView;
     QPointer<QWidget> _simView;
     QPointer<QWidget> _terminalView;
-    QPointer<QWidget> _local3DView;
 
     // Dock widget names
     static const char* _uasControlDockWidgetName;
@@ -351,14 +345,12 @@ private:
     void _buildAnalyzeView(void);
     void _buildSimView(void);
     void _buildTerminalView(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);
@@ -370,7 +362,6 @@ private:
     bool                    _showStatusBar;
     QActionGroup*           _centerStackActionGroup;
     MAVLinkSimulationLink*  _simulationLink;
-    QList<QGCToolWidget*>   _customWidgets;
     QVBoxLayout*            _centralLayout;
     QList<QObject*>         _commsWidgetList;
     QWidget*                _currentViewWidget;     ///< Currently displayed view widget
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index dfba294009a30720a216105811e17cdc36599bfd..bcc22f598a4ae2c5da9fea91a0135ca3af7a5d69 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -95,12 +95,9 @@
      <property name="title">
       <string>Tool Widgets</string>
      </property>
-     <addaction name="actionNewCustomWidget"/>
-     <addaction name="actionLoadCustomWidgetFile"/>
      <addaction name="separator"/>
     </widget>
     <addaction name="actionExperimentalPlanView"/>
-    <addaction name="actionLocal3DView"/>
     <addaction name="actionTerminalView"/>
     <addaction name="actionSimulationView"/>
     <addaction name="separator"/>
@@ -223,11 +220,6 @@
     <string>Fly</string>
    </property>
   </action>
-  <action name="actionNewCustomWidget">
-   <property name="text">
-    <string>New Custom Widget</string>
-   </property>
-  </action>
   <action name="actionMuteAudioOutput">
    <property name="checkable">
     <bool>true</bool>
@@ -287,11 +279,6 @@
     <string>Esc</string>
    </property>
   </action>
-  <action name="actionLoadCustomWidgetFile">
-   <property name="text">
-    <string>Load Custom Widget File</string>
-   </property>
-  </action>
   <action name="actionSetup">
    <property name="checkable">
     <bool>true</bool>
@@ -330,14 +317,6 @@
     <string>Terminal</string>
    </property>
   </action>
-  <action name="actionLocal3DView">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Local 3D View</string>
-   </property>
-  </action>
   <action name="actionStatusBar">
    <property name="checkable">
     <bool>true</bool>