Checkpoint: This is looking sweet

files/styles/style-dark.css

@@ -358,6 +358,16 @@ QPushButton, QToolButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #777, stop: 1 #333);
 }
 
+QPushButton#advancedMenuButton, QPushButton#airframeMenuButton, QPushButton#firmwareMenuButton,
+QPushButton#generalMenuButton, QPushButton#rcMenuButton, QPushButton#sensorMenuButton {
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #333, stop: 1 #111);
+    border-radius: 5px;
+    min-height: 64px;
+    max-height: 64px;
+    min-width: 80px;
+    border: 1px solid #000000;
+}
+
 QPushButton#planePushButton, QPushButton#flyingWingPushButton, QPushButton#quadXPushButton,
 QPushButton#quadPlusPushButton, QPushButton#hexaXPushButton, QPushButton#hexaPlusPushButton,
 QPushButton#octoXPushButton, QPushButton#octoPlusPushButton, QPushButton#hPushButton {
@@ -392,6 +402,12 @@ QWidget#containerWidget {
     border: 2px solid #CCCCCC;
 }
 
+QWidget#navBarWidget {
+    background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:1, y2:0, stop:0 #404040, stop:1 #727272);
+    border-radius: 0px;
+    border: 1px solid #222222;
+}
+
 QPushButton#connectButton, QPushButton#controlButton {
     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #73D95D, stop: 1 #18A154);
 }

qgroundcontrol.qrc

@@ -175,6 +175,11 @@
         <file>files/images/px4/calibration/accel_z-.png</file>
         <file>files/images/px4/calibration/accel_y+.png</file>
         <file>files/images/px4/calibration/mag_calibration_figure8.png</file>
+        <file>files/images/px4/menu/sensors.png</file>
+        <file>files/images/px4/menu/firmware_upgrade.png</file>
+        <file>files/images/px4/menu/plane.png</file>
+        <file>files/images/px4/menu/remote.png</file>
+        <file>files/images/px4/menu/cogwheels.png</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>

src/ui/QGCConfigView.cc

@@ -18,8 +18,14 @@ QGCConfigView::QGCConfigView(QWidget *parent) :
 
     // The config screens are required for firmware uploading
     if (MainWindow::instance()->getCustomMode() == MainWindow::CUSTOM_MODE_PX4) {
+
+        ui->gridLayout->removeWidget(ui->waitingLabel);
+        ui->waitingLabel->setVisible(false);
+        delete ui->waitingLabel;
+
         config = new QGCPX4VehicleConfig();
         ui->gridLayout->addWidget(config);
+
     } else {
         //don't show a configuration widget if no vehicle is connected
         //show a placeholder informational widget instead
@@ -37,23 +43,28 @@ void QGCConfigView::activeUASChanged(UASInterface* uas)
     if (mav == uas)
         return;
 
-    //remove all child widgets since they could contain stale data
-    //for example, when we switch from one PX4 UAS to another UAS
-    foreach (QObject* obj, ui->gridLayout->children()) {
-        QWidget* w = dynamic_cast<QWidget*>(obj);
-        if (w) {
-            if (obj != ui->waitingLabel) {
-                ui->gridLayout->removeWidget(w);
-                delete obj;
-            }
-        }
-    }
+    int type = -1;
+    if (mav)
+        type = mav->getAutopilotType();
 
     mav = uas;
-    if (NULL != mav) {
+    if (NULL != uas && type != uas->getAutopilotType()) {
+
         ui->gridLayout->removeWidget(ui->waitingLabel);
         ui->waitingLabel->setVisible(false);
 
+        //remove all child widgets since they could contain stale data
+        //for example, when we switch from one PX4 UAS to another UAS
+        foreach (QObject* obj, ui->gridLayout->children()) {
+            QWidget* w = dynamic_cast<QWidget*>(obj);
+            if (w) {
+                if (obj != ui->waitingLabel) {
+                    ui->gridLayout->removeWidget(w);
+                    delete obj;
+                }
+            }
+        }
+
         int autopilotType = mav->getAutopilotType();
         switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:

src/ui/QGCConfigView.ui

@@ -14,6 +14,9 @@
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
    <item row="0" column="0">
     <widget class="QLabel" name="waitingLabel">
      <property name="text">

src/ui/QGCPX4VehicleConfig.cc

@@ -89,6 +89,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     ui->airframeMenuButton->setEnabled(false);
     ui->sensorMenuButton->setEnabled(false);
     ui->rcMenuButton->setEnabled(false);
+    ui->generalMenuButton->hide();
 
     px4AirframeConfig = new QGCPX4AirframeConfig(this);
     ui->airframeLayout->addWidget(px4AirframeConfig);
@@ -554,7 +555,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     // Load tabs for general configuration
     foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
+        QPushButton *button = new QPushButton(this);
         connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
         ui->navBarLayout->insertWidget(2,button);
         button->setMinimumHeight(75);
@@ -598,7 +599,7 @@ void QGCPX4VehicleConfig::loadQgcConfig(bool primary)
     // Load additional tabs for vehicle specific configuration
     foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
-        QPushButton *button = new QPushButton(ui->leftNavScrollAreaWidgetContents);
+        QPushButton *button = new QPushButton(this);
         connect(button,SIGNAL(clicked()),this,SLOT(menuButtonClicked()));
         ui->navBarLayout->insertWidget(2,button);