diff --git a/src/ui/JoystickWidget.cc b/src/ui/JoystickWidget.cc
index 03df9be2ce40d8844d2ce9cffb4feb405d51309a..541d546c9a6d52ecf49083aa33b7b7b3d9f68d53 100644
--- a/src/ui/JoystickWidget.cc
+++ b/src/ui/JoystickWidget.cc
@@ -7,7 +7,7 @@
 #include <QDesktopWidget>
 
 JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
-    QDialog(parent),
+    QWidget(parent),
     joystick(joystick),
     m_ui(new Ui::JoystickWidget)
 {
diff --git a/src/ui/JoystickWidget.h b/src/ui/JoystickWidget.h
index 36250decc0ff0e29983c7f0fdacf10cca635ccec..a0d9d9856e98763715f7b8cc3550d261d0a74658 100644
--- a/src/ui/JoystickWidget.h
+++ b/src/ui/JoystickWidget.h
@@ -31,7 +31,7 @@ This file is part of the PIXHAWK project
 #ifndef JOYSTICKWIDGET_H
 #define JOYSTICKWIDGET_H
 
-#include <QDialog>
+#include <QWidget>
 #include <QLabel>
 #include <QMap>
 #include "JoystickInput.h"
@@ -44,7 +44,7 @@ namespace Ui
 class JoystickWidget;
 }
 
-class JoystickWidget : public QDialog
+class JoystickWidget : public QWidget
 {
     Q_OBJECT
     Q_DISABLE_COPY(JoystickWidget)
diff --git a/src/ui/JoystickWidget.ui b/src/ui/JoystickWidget.ui
index f33134eb650d3b93031162cec4b22b819a9a1981..a56cc40179a4a56e426c40f6ae10e2ef77722aed 100644
--- a/src/ui/JoystickWidget.ui
+++ b/src/ui/JoystickWidget.ui
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
  <class>JoystickWidget</class>
- <widget class="QDialog" name="JoystickWidget">
+ <widget class="QWidget" name="JoystickWidget">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -30,7 +30,7 @@
     <number>8</number>
    </property>
    <property name="sizeConstraint">
-    <enum>QLayout::SetFixedSize</enum>
+    <enum>QLayout::SetDefaultConstraint</enum>
    </property>
    <property name="leftMargin">
     <number>8</number>
@@ -50,7 +50,7 @@
       <bool>true</bool>
      </property>
      <property name="text">
-      <string>Enable joysticks</string>
+      <string>Enable controllers</string>
      </property>
     </widget>
    </item>
@@ -174,53 +174,8 @@
      </layout>
     </widget>
    </item>
-   <item>
-    <widget class="QDialogButtonBox" name="dialogButtonsBox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>50</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Ok</set>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <resources/>
- <connections>
-  <connection>
-   <sender>dialogButtonsBox</sender>
-   <signal>accepted()</signal>
-   <receiver>JoystickWidget</receiver>
-   <slot>accept()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>263</x>
-     <y>438</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>157</x>
-     <y>274</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
+ <connections/>
 </ui>
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 50de05b0a092374ed83698fc581d09b1fcca5411..c209145add77fca2e2dda0879ae7b1714c217d1a 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -279,7 +279,6 @@ void MainWindow::init()
 
     // Connect user interface devices
     emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
-    joystickWidget = 0;
     joystick = new JoystickInput();
 
 #ifdef QGC_MOUSE_ENABLED_WIN
@@ -1329,9 +1328,6 @@ void MainWindow::connectCommonActions()
     // so no ressources spend on this.
     ui.actionJoystickSettings->setVisible(true);
 
-    // Configuration
-    // Joystick
-    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
     // Application Settings
     connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
 
@@ -1380,22 +1376,9 @@ void MainWindow::showRoadMap()
     }
 }
 
-void MainWindow::configure()
-{
-    if (!joystickWidget)
-    {
-        if (!joystick->isRunning())
-        {
-            joystick->start();
-        }
-        joystickWidget = new JoystickWidget(joystick, this);
-    }
-    joystickWidget->show();
-}
-
 void MainWindow::showSettings()
 {
-    QGCSettingsWidget* settings = new QGCSettingsWidget(this);
+    QGCSettingsWidget* settings = new QGCSettingsWidget(joystick, this);
     settings->show();
 }
 
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 5e65b73073b983df0b1dbd9ca3772e63c5d7c4fa..5cfdec60aa5dcc9596a00284a57e081833c777a5 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -81,7 +81,6 @@ class QSplashScreen;
 class QGCStatusBar;
 class Linecharts;
 class QGCDataPlot2D;
-class JoystickWidget;
 class MenuActionHelper;
 class QGCUASFileViewMulti;
 
@@ -202,7 +201,6 @@ public slots:
     LinkInterface* addLink();
     void addLink(LinkInterface* link);
     bool configLink(LinkInterface *link);
-    void configure();
     /** @brief Simulate a link */
     void simulateLink(bool simulate);
     /** @brief Set the currently controlled UAS */
@@ -459,10 +457,7 @@ protected:
 
     QPointer<QGCUASFileViewMulti> fileWidget;
 
-    // Popup widgets
-    JoystickWidget* joystickWidget;
-
-    JoystickInput* joystick;
+    JoystickInput* joystick; ///< The joystick manager for QGC
 
 #ifdef QGC_MOUSE_ENABLED_WIN
     /** @brief 3d Mouse support (WIN only) */
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index ea87b9e18ff118a534f903d5da6e0c2ab54acb38..c8c3f1ae14814024a8c34327e8fdb5b71a89a55f 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -62,7 +62,6 @@
     <addaction name="actionSimulate"/>
     <addaction name="separator"/>
     <addaction name="actionMuteAudioOutput"/>
-    <addaction name="actionJoystickSettings"/>
     <addaction name="actionSettings"/>
     <addaction name="actionAdvanced_Mode"/>
     <addaction name="separator"/>
diff --git a/src/ui/QGCSettingsWidget.cc b/src/ui/QGCSettingsWidget.cc
index c5328b3ad6ecdf0df7ad6b0dbc066255fef531ac..fddf9fe6a389c3fbb01e3d22fc0f3142010745b6 100644
--- a/src/ui/QGCSettingsWidget.cc
+++ b/src/ui/QGCSettingsWidget.cc
@@ -5,14 +5,13 @@
 #include "MainWindow.h"
 #include "ui_QGCSettingsWidget.h"
 
+#include "JoystickWidget.h"
 #include "LinkManager.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSettingsWidget.h"
 #include "GAudioOutput.h"
 
-//, Qt::WindowFlags flags
-
-QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) :
+QGCSettingsWidget::QGCSettingsWidget(JoystickInput *joystick, QWidget *parent, Qt::WindowFlags flags) :
     QDialog(parent, flags),
     mainWindow((MainWindow*)parent),
     ui(new Ui::QGCSettingsWidget)
@@ -24,6 +23,9 @@ QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) :
     position.moveCenter(QApplication::desktop()->availableGeometry().center());
     move(position.topLeft());
 
+    // Add the joystick settings pane
+    ui->tabWidget->addTab(new JoystickWidget(joystick, this), "Controllers");
+
     // Add all protocols
     QList<ProtocolInterface*> protocols = LinkManager::instance()->getProtocols();
     foreach (ProtocolInterface* protocol, protocols) {
diff --git a/src/ui/QGCSettingsWidget.h b/src/ui/QGCSettingsWidget.h
index b9fa70d7eda4157306f252281e5f7a11af39450c..98851ad67e8451955ec9f35ef0962689a6736797 100644
--- a/src/ui/QGCSettingsWidget.h
+++ b/src/ui/QGCSettingsWidget.h
@@ -14,7 +14,7 @@ class QGCSettingsWidget : public QDialog
     Q_OBJECT
 
 public:
-    QGCSettingsWidget(QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
+    QGCSettingsWidget(JoystickInput *joystick, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
     ~QGCSettingsWidget();
 
 public slots: