diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index a24e896ab435b65efb51526d8287921190eb5764..a75042bf372b60a214ac80d6f3877fbc5c781e52 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -855,10 +855,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             break;
             }
         }
-        unsigned char v=data[i];
-        fprintf(stderr,"%02x ", v);
     }
-    fprintf(stderr,"\n");
 
     readyBufferMutex.lock();
     for (int i = 0; i < streampointer; i++)
diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index b0ffb8b924b5e75f4fb6f330c59f0af2c3d2e55d..190e6ccd3940657e031dacdcdf872196af1f3991 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -382,11 +382,11 @@ static void print_message(const mavlink_message_t *msg)
     const mavlink_message_info_t *m = &message_info[msg->msgid];
     const mavlink_field_info_t *f = m->fields;
     unsigned i;
-    qDebug("%s { ", m->name);
-    for (i=0; i<m->num_fields; i++) {
-        print_field(msg, &f[i]);
-    }
-    qDebug("}\n");
+//    qDebug("%s { ", m->name);
+//    for (i=0; i<m->num_fields; i++) {
+//        print_field(msg, &f[i]);
+//    }
+//    qDebug("}\n");
 }
 
 void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc
index de20f996c86c122009d7cc4a3cac8330b792202d..5c79d3a93f9620fc99cedbdc0fcaf184c1017cdb 100644
--- a/src/input/JoystickInput.cc
+++ b/src/input/JoystickInput.cc
@@ -28,9 +28,12 @@
 JoystickInput::JoystickInput() :
     sdlJoystickMin(-32768.0f),
     sdlJoystickMax(32767.0f),
+    isEnabled(false),
+    done(false),
     uas(NULL),
+    autopilotType(0),
+    systemType(0),
     uasCanReverse(false),
-    done(false),
     rollAxis(-1),
     pitchAxis(-1),
     yawAxis(-1),
@@ -39,12 +42,14 @@ JoystickInput::JoystickInput() :
     joystickID(-1),
     joystickNumButtons(0)
 {
+
     for (int i = 0; i < 10; i++) {
         calibrationPositive[i] = sdlJoystickMax;
         calibrationNegative[i] = sdlJoystickMin;
     }
 
-    loadSettings();
+    // Make sure we initialize with the correct UAS.
+    setActiveUAS(UASManager::instance()->getActiveUAS());
 
     // Start this thread. This allows the Joystick Settings window to work correctly even w/o any UASes connected.
     start();
@@ -52,70 +57,116 @@ JoystickInput::JoystickInput() :
 
 JoystickInput::~JoystickInput()
 {
-    storeSettings();
+    storeGeneralSettings();
+    storeJoystickSettings();
     done = true;
 }
 
+void JoystickInput::loadGeneralSettings()
+{
+    // Load defaults from settings
+    QSettings settings;
+    settings.sync();
+
+    // Deal with settings specific to the JoystickInput
+    settings.beginGroup("JOYSTICK_INPUT");
+    isEnabled = settings.value("ENABLED", false).toBool();
+    QString joystickName = settings.value("JOYSTICK", "").toString();
+    settings.endGroup();
+}
+
 /**
  * @brief Restores settings for the current joystick from saved settings file.
  * Assumes that both joystickName & joystickNumAxes are correct.
  */
-void JoystickInput::loadSettings()
+void JoystickInput::loadJoystickSettings()
 {
     // Load defaults from settings
     QSettings settings;
     settings.sync();
+
+    // Now for the current joystick
     settings.beginGroup(joystickName);
     rollAxis = (settings.value("ROLL_AXIS_MAPPING", -1).toInt());
     pitchAxis = (settings.value("PITCH_AXIS_MAPPING", -1).toInt());
     yawAxis = (settings.value("YAW_AXIS_MAPPING", -1).toInt());
     throttleAxis = (settings.value("THROTTLE_AXIS_MAPPING", -1).toInt());
 
-    // Read back the joystickAxesInverted QList one element at a time.
-    // Also, error check.
-    int axesStored = settings.beginReadArray("AXES_INVERTED");
-    if (axesStored != joystickNumAxes)
+    // Clear out and then restore the (AUTOPILOT, SYSTEM) mapping for joystick settings
+    joystickSettings.clear();
+    int autopilots = settings.beginReadArray("AUTOPILOTS");
+    for (int i = 0; i < autopilots; i++)
     {
-        qDebug() << "Invalid number of axes for joystickAxesInverted in settings. Ignoring.";
-        for (int i = 0; i < joystickNumAxes; i++)
-        {
-            joystickAxesInverted.append(false);
-        }
-    }
-    else
-    {
-        for (int i = 0; i < joystickNumAxes; i++)
+        settings.setArrayIndex(i);
+        int autopilotType = settings.value("AUTOPILOT_TYPE", 0).toInt();
+        int systems = settings.beginReadArray("SYSTEMS");
+        for (int j = 0; j < systems; j++)
         {
-            settings.setArrayIndex(i);
-            joystickAxesInverted.append(settings.value("INVERTED", false).toBool());
-        }
-    }
-    settings.endArray();
+            settings.setArrayIndex(j);
+            int systemType = settings.value("SYSTEM_TYPE", 0).toInt();
+            qDebug() << "Loading joystick settings for (" << autopilotType << "," << systemType << ")";
+
+            // Now that both the autopilot and system type are available, update some references.
+            QMap<int, bool>* joystickAxesInverted = &joystickSettings[autopilotType][systemType].axesInverted;
+            QMap<int, bool>* joystickAxesLimited = &joystickSettings[autopilotType][systemType].axesLimited;
+            QMap<int, int>* joystickButtonActions = &joystickSettings[autopilotType][systemType].buttonActions;
+
+            // Read back the joystickAxesInverted QList one element at a time.
+            int axesStored = settings.beginReadArray("AXES_INVERTED");
+            for (int k = 0; k < axesStored; k++)
+            {
+                settings.setArrayIndex(k);
+                int index = settings.value("INDEX", 0).toInt();
+                bool inverted = settings.value("INVERTED", false).toBool();
+                joystickAxesInverted->insert(index, inverted);
+                qDebug() << "Loading inversion status (" << inverted << ") for axis " << index;
+            }
+            settings.endArray();
 
-    // Read back the joystickAxesLimited QList one element at a time.
-    // Also, error check.
-    axesStored = settings.beginReadArray("AXES_LIMITED");
-    if (axesStored != joystickNumAxes)
-    {
-        qDebug() << "Invalid number of axes for joystickAxesLimited in settings. Ignoring.";
-        for (int i = 0; i < joystickNumAxes; i++)
-        {
-            joystickAxesLimited.append(false);
-        }
-    }
-    else
-    {
-        for (int i = 0; i < joystickNumAxes; i++)
-        {
-            settings.setArrayIndex(i);
-            joystickAxesLimited.append(settings.value("LIMITED", false).toBool());
+            // Read back the joystickAxesLimited QList one element at a time.
+            axesStored = settings.beginReadArray("AXES_LIMITED");
+            for (int k = 0; k < axesStored; k++)
+            {
+                settings.setArrayIndex(k);
+                int index = settings.value("INDEX", 0).toInt();
+                bool limited = settings.value("LIMITED", false).toBool();
+                joystickAxesLimited->insert(index, limited);
+                qDebug() << "Loading limited status (" << limited << ") for axis " << index;
+            }
+            settings.endArray();
+
+            // Read back the button->action mapping.
+            int buttonsStored = settings.beginReadArray("BUTTONS_ACTIONS");
+            for (int k = 0; k < buttonsStored; k++)
+            {
+                settings.setArrayIndex(k);
+                int index = settings.value("INDEX", 0).toInt();
+                int action = settings.value("ACTION", 0).toInt();
+                joystickButtonActions->insert(index, action);
+                qDebug() << "Loading action (" << action << ") for button " << index;
+            }
+            settings.endArray();
         }
+        settings.endArray();
     }
     settings.endArray();
+
     settings.endGroup();
+
+    emit joystickSettingsChanged();
+}
+
+void JoystickInput::storeGeneralSettings() const
+{
+    QSettings settings;
+    settings.beginGroup("JOYSTICK_INPUT");
+    settings.setValue("ENABLED", isEnabled);
+    settings.setValue("JOYSTICK_NAME", joystickName);
+    settings.endGroup();
+    settings.sync();
 }
 
-void JoystickInput::storeSettings()
+void JoystickInput::storeJoystickSettings() const
 {
     // Store settings
     QSettings settings;
@@ -124,27 +175,101 @@ void JoystickInput::storeSettings()
     settings.setValue("PITCH_AXIS_MAPPING", pitchAxis);
     settings.setValue("YAW_AXIS_MAPPING", yawAxis);
     settings.setValue("THROTTLE_AXIS_MAPPING", throttleAxis);
-    settings.beginWriteArray("AXES_INVERTED");
-    for (int i = 0; i < joystickNumAxes; i++)
+    settings.beginWriteArray("AUTOPILOTS");
+    QMapIterator<int, QMap<int, JoystickSettings> > i(joystickSettings);
+    int autopilotIndex = 0;
+    while (i.hasNext())
     {
-        settings.setArrayIndex(i);
-        settings.setValue("INVERTED", joystickAxesInverted.at(i));
-    }
-    settings.endArray();
-    settings.beginWriteArray("AXES_LIMITED");
-    for (int i = 0; i < joystickNumAxes; i++)
-    {
-        settings.setArrayIndex(i);
-        settings.setValue("LIMITED", joystickAxesLimited.at(i));
+        i.next();
+        settings.setArrayIndex(autopilotIndex++);
+
+        int autopilotType = i.key();
+        settings.setValue("AUTOPILOT_TYPE", autopilotType);
+
+        settings.beginWriteArray("SYSTEMS");
+        QMapIterator<int, JoystickSettings> j(i.value());
+        int systemIndex = 0;
+        while (j.hasNext())
+        {
+            j.next();
+            settings.setArrayIndex(systemIndex++);
+
+            int systemType = j.key();
+            settings.setValue("SYSTEM_TYPE", systemType);
+            qDebug() << "Saving joystick settings for (" << autopilotType << "," << systemType << ")";
+
+            // Now that both the autopilot and system type are available, update some references.
+            QMapIterator<int, bool> joystickAxesInverted(joystickSettings[autopilotType][systemType].axesInverted);
+            QMapIterator<int, bool> joystickAxesLimited(joystickSettings[autopilotType][systemType].axesLimited);
+            QMapIterator<int, int> joystickButtonActions(joystickSettings[autopilotType][systemType].buttonActions);
+
+            settings.beginWriteArray("AXES_INVERTED");
+            int k = 0;
+            while (joystickAxesInverted.hasNext())
+            {
+                joystickAxesInverted.next();
+                int inverted = joystickAxesInverted.value();
+                // Only save this axes' inversion status if it's not the default
+                if (inverted)
+                {
+                    settings.setArrayIndex(k++);
+                    int index = joystickAxesInverted.key();
+                    settings.setValue("INDEX", index);
+                    settings.setValue("INVERTED", inverted);
+                    qDebug() << "Saving inversion status (" << inverted << ") for axis " << index;
+                }
+            }
+            settings.endArray();
+
+            settings.beginWriteArray("AXES_LIMITED");
+            k = 0;
+            while (joystickAxesLimited.hasNext())
+            {
+                joystickAxesLimited.next();
+                int limited = joystickAxesLimited.value();
+                if (limited)
+                {
+                    settings.setArrayIndex(k++);
+                    int index = joystickAxesLimited.key();
+                    settings.setValue("INDEX", index);
+                    settings.setValue("LIMITED", limited);
+                    qDebug() << "Saving limited status (" << limited << ") for axis " << index;
+                }
+            }
+            settings.endArray();
+
+            settings.beginWriteArray("BUTTONS_ACTIONS");
+            k = 0;
+            while (joystickButtonActions.hasNext())
+            {
+                joystickButtonActions.next();
+                int action = joystickButtonActions.value();
+                if (action != -1)
+                {
+                    settings.setArrayIndex(k++);
+                    int index = joystickButtonActions.key();
+                    settings.setValue("INDEX", index);
+                    settings.setValue("ACTION", action);
+                    qDebug() << "Saving action (" << action << ") for button " << index;
+                }
+            }
+            settings.endArray();
+        }
+        settings.endArray(); // SYSTEMS
     }
-    settings.endArray();
+    settings.endArray(); // AUTOPILOTS
     settings.endGroup();
     settings.sync();
 }
 
-
 void JoystickInput::setActiveUAS(UASInterface* uas)
 {
+    // Do nothing if the UAS hasn't changed.
+    if (uas == this->uas)
+    {
+        return;
+    }
+
     // Only connect / disconnect is the UAS is of a controllable UAS class
     UAS* tmp = 0;
     if (this->uas)
@@ -153,24 +278,44 @@ void JoystickInput::setActiveUAS(UASInterface* uas)
         if(tmp)
         {
             disconnect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
-            disconnect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
+            disconnect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
         }
         uasCanReverse = false;
     }
 
+    // Save any settings for the last UAS
+    if (joystickID > -1)
+    {
+        storeJoystickSettings();
+    }
+
     this->uas = uas;
 
-    if (this->uas)
+    if (this->uas && (tmp = dynamic_cast<UAS*>(this->uas)))
     {
-        tmp = dynamic_cast<UAS*>(this->uas);
-        if(tmp) {
-            connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
-            connect(this, SIGNAL(buttonPressed(int)), tmp, SLOT(receiveButton(int)));
-            uasCanReverse = tmp->systemCanReverse();
-        }
+        connect(this, SIGNAL(joystickChanged(double,double,double,double,int,int,int)), tmp, SLOT(setManualControlCommands(double,double,double,double,int,int,int)));
+        connect(this, SIGNAL(actionTriggered(int)), tmp, SLOT(triggerAction(int)));
+        uasCanReverse = tmp->systemCanReverse();
+
+        // Update the joystick settings for a new UAS.
+        autopilotType = uas->getAutopilotType();
+        systemType = uas->getSystemType();
+        qDebug() << "Switching to UAS with autopilot: " << autopilotType << " and system: " << systemType;
+    }
+
+    // Load any joystick-specific settings now that the UAS has changed.
+    if (joystickID > -1)
+    {
+        loadJoystickSettings();
     }
 }
 
+void JoystickInput::setEnabled(bool enabled)
+{
+    this->isEnabled = enabled;
+    storeJoystickSettings();
+}
+
 void JoystickInput::init()
 {
     // INITIALIZE SDL Joystick support
@@ -207,9 +352,13 @@ void JoystickInput::init()
         SDL_JoystickClose(x);
     }
 
-    // And attach to the first joystick found to start.
+    // Now that we've detected a joystick, load in the joystick-agnostic settings.
+    loadGeneralSettings();
+
+    // And attach to the first joystick found to start, which also loads in joystick-specific settings.
     setActiveJoystick(0);
 
+    // Now make sure we know what the current UAS is and track changes to it.
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 }
@@ -247,7 +396,7 @@ void JoystickInput::run()
             // This is generally not used for controlling a vehicle, but a UI representation, so it being slightly off is fine.
             // Here we map the joystick axis value into the initial range of [0:1].
             float axisValue = SDL_JoystickGetAxis(joystick, i);
-            if (joystickAxesInverted[i])
+            if (joystickSettings[autopilotType][systemType].axesLimited[i])
             {
                 axisValue = (axisValue - calibrationNegative[i]) / (calibrationPositive[i] - calibrationNegative[i]);
             }
@@ -264,7 +413,7 @@ void JoystickInput::run()
             }
             // Otherwise if this vehicle can only go forward, but the axis is limited to only the positive range,
             // scale this so the negative values are ignored for this axis and it's clamped to [0:1].
-            else if (throttleAxis == i && joystickAxesLimited[i])
+            else if (throttleAxis == i && joystickSettings[autopilotType][systemType].axesLimited.value(i))
             {
                 axisValue = axisValue * 2.0f - 1.0f;
                 if (axisValue < 0.0f)
@@ -311,16 +460,23 @@ void JoystickInput::run()
             else if (!SDL_JoystickGetButton(joystick, i) && lastButtonState)
             {
                 emit buttonReleased(i);
+                if (isEnabled && joystickSettings[autopilotType][systemType].buttonActions.contains(i))
+                {
+                    emit actionTriggered(joystickSettings[autopilotType][systemType].buttonActions.value(i));
+                }
                 joystickButtons &= ~(1 << i);
             }
         }
 
         // Now signal an update for all UI together.
-        float roll = rollAxis > -1?joystickAxes[rollAxis]:NAN;
-        float pitch = pitchAxis > -1?joystickAxes[pitchAxis]:NAN;
-        float yaw = yawAxis > -1?joystickAxes[yawAxis]:NAN;
-        float throttle = throttleAxis > -1?joystickAxes[throttleAxis]:NAN;
-        emit joystickChanged(roll, pitch, yaw, throttle, xHat, yHat, joystickButtons);
+        if (isEnabled)
+        {
+            float roll = rollAxis > -1?joystickAxes[rollAxis]:NAN;
+            float pitch = pitchAxis > -1?joystickAxes[pitchAxis]:NAN;
+            float yaw = yawAxis > -1?joystickAxes[yawAxis]:NAN;
+            float throttle = throttleAxis > -1?joystickAxes[throttleAxis]:NAN;
+            emit joystickChanged(roll, pitch, yaw, throttle, xHat, yHat, joystickButtons);
+        }
 
         // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
         QGC::SLEEP::msleep(20);
@@ -332,7 +488,7 @@ void JoystickInput::setActiveJoystick(int id)
     // If we already had a joystick, close that one before opening a new one.
     if (joystick && SDL_JoystickOpened(joystickID))
     {
-        storeSettings();
+        storeJoystickSettings();
         SDL_JoystickClose(joystick);
         joystick = NULL;
         joystickID = -1;
@@ -349,19 +505,21 @@ void JoystickInput::setActiveJoystick(int id)
         joystickNumAxes = SDL_JoystickNumAxes(joystick);
 
         // Restore saved settings for this joystick.
-        loadSettings();
+        loadJoystickSettings();
         qDebug() << "Roll: " << rollAxis << ", Pitch: " << pitchAxis << ", Yaw: " << yawAxis << ", Throttle: " << throttleAxis;
 
-        // Update cached joystick values
+        // Update cached joystick axes values.
+        // Also emit any signals for currently-triggering events
         joystickAxes.clear();
-        joystickAxesInverted.clear();
-        joystickAxesLimited.clear();
         for (int i = 0; i < joystickNumAxes; i++)
         {
             int axisValue = SDL_JoystickGetAxis(joystick, i);
             joystickAxes.append(axisValue);
             emit axisValueChanged(i, axisValue);
         }
+
+        // Update cached joystick button values.
+        // Emit signals for any button events.
         joystickButtons = 0;
         for (int i = 0; i < joystickNumButtons; i++)
         {
@@ -413,51 +571,72 @@ void JoystickInput::setAxisMapping(int axis, JOYSTICK_INPUT_MAPPING newMapping)
             if (throttleAxis == axis)
             {
                 throttleAxis = -1;
-                joystickAxesLimited[axis] = false;
+                joystickSettings[autopilotType][systemType].axesLimited.remove(axis);
             }
             break;
     }
+    storeJoystickSettings();
 }
 
 void JoystickInput::setAxisInversion(int axis, bool inverted)
 {
-    if (axis < joystickAxesInverted.size())
+    if (axis < joystickNumAxes)
     {
-        joystickAxesInverted[axis] = inverted;
+        joystickSettings[autopilotType][systemType].axesInverted[axis] = inverted;
+        storeJoystickSettings();
     }
 }
 
 void JoystickInput::setAxisRangeLimit(int axis, bool limitRange)
 {
-    if (axis < joystickAxesLimited.size())
+    if (axis < joystickNumAxes)
     {
-        joystickAxesLimited[axis] = limitRange;
+        joystickSettings[autopilotType][systemType].axesLimited[axis] = limitRange;
+        storeJoystickSettings();
     }
 }
 
-float JoystickInput::getCurrentValueForAxis(int axis)
+void JoystickInput::setButtonAction(int button, int action)
 {
-    if (axis < joystickAxes.size())
+    if (button < joystickNumButtons)
     {
-        return joystickAxes[axis];
+        joystickSettings[autopilotType][systemType].buttonActions[button] = action;
+        storeJoystickSettings();
+    }
+}
+
+float JoystickInput::getCurrentValueForAxis(int axis) const
+{
+    if (axis < joystickNumAxes)
+    {
+        return joystickAxes.at(axis);
     }
     return 0.0f;
 }
 
-bool JoystickInput::getInvertedForAxis(int axis)
+bool JoystickInput::getInvertedForAxis(int axis) const
 {
-    if (axis < joystickAxes.size())
+    if (axis < joystickNumAxes)
     {
-        return joystickAxesInverted[axis];
+        return joystickSettings[autopilotType][systemType].axesInverted.value(axis);
     }
     return false;
 }
 
-bool JoystickInput::getRangeLimitForAxis(int axis)
+bool JoystickInput::getRangeLimitForAxis(int axis) const
 {
-    if (axis < joystickAxes.size())
+    if (axis < joystickNumAxes)
     {
-        return joystickAxesLimited[axis];
+        return joystickSettings[autopilotType][systemType].axesLimited.value(axis);
     }
     return false;
 }
+
+int JoystickInput::getActionForButton(int button) const
+{
+    if (button < joystickNumButtons && joystickSettings[autopilotType][systemType].buttonActions.contains(button))
+    {
+        return joystickSettings[autopilotType][systemType].buttonActions.value(button);
+    }
+    return -1;
+}
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index 2216fa5a40a76c7b73b0abb6c17d82f93943af5b..2d9688c72537d81135201fc753f7c1f629df9d65 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -44,6 +44,13 @@ This file is part of the PIXHAWK project
 
 #include "UASInterface.h"
 
+struct JoystickSettings {
+    QMap<int, bool> axesInverted; ///< Whether each axis should be used inverted from what was reported.
+    QMap<int, bool> axesLimited; ///< Whether each axis should be limited to only the positive range. Currently this only applies to the throttle axis, but is kept generic here to possibly support other axes.
+    QMap<int, int> buttonActions; ///< The index of the action associated with every button.
+};
+Q_DECLARE_METATYPE(JoystickSettings);
+
 /**
  * @brief Joystick input
  */
@@ -53,7 +60,7 @@ class JoystickInput : public QThread
 
 public:
     JoystickInput();
-	~JoystickInput();
+    ~JoystickInput();
     void run();
     void shutdown();
 
@@ -71,14 +78,27 @@ public:
     };
 
     /**
-     * @brief Load joystick settings
+     * @brief Load joystick-specific settings.
      */
-    void loadSettings();
+    void loadJoystickSettings();
+    /**
+     * @brief Load joystick-independent settings.
+     */
+    void loadGeneralSettings();
 
     /**
-     * @brief Store joystick settings
+     * @brief Store joystick-specific settings.
+     */
+    void storeJoystickSettings() const;
+    /**
+     * @brief Store joystick-independent settings.
      */
-    void storeSettings();
+    void storeGeneralSettings() const;
+
+    bool enabled() const
+    {
+        return isEnabled;
+    }
 
     int getMappingThrottleAxis() const
     {
@@ -130,9 +150,10 @@ public:
         return QString(SDL_JoystickName(id));
     }
 
-    float getCurrentValueForAxis(int axis);
-    bool getInvertedForAxis(int axis);
-    bool getRangeLimitForAxis(int axis);
+    float getCurrentValueForAxis(int axis) const;
+    bool getInvertedForAxis(int axis) const;
+    bool getRangeLimitForAxis(int axis) const;
+    int getActionForButton(int button) const;
 
     const double sdlJoystickMin;
     const double sdlJoystickMax;
@@ -140,10 +161,15 @@ public:
 protected:
     double calibrationPositive[10];
     double calibrationNegative[10];
+
+    bool isEnabled; ///< Track whether the system should emit the higher-level signals: joystickChanged & actionTriggered.
+    bool done;
+
     SDL_Joystick* joystick;
     UASInterface* uas; ///< Track the current UAS.
+    int autopilotType; ///< Cache the autopilotType
+    int systemType; ///< Cache the systemType
     bool uasCanReverse; ///< Track whether the connect UAS can drive a reverse speed.
-    bool done;
 
     // Store the mapping between axis numbers and the roll/pitch/yaw/throttle configuration.
     // Value is one of JoystickAxis::JOYSTICK_INPUT_MAPPING.
@@ -159,9 +185,16 @@ protected:
     int joystickNumAxes;
     int joystickNumButtons;
 
+    // Track axis/button settings based on a Joystick/AutopilotType/SystemType triplet.
+    // This is only a double-map, because settings are stored/loaded based on joystick
+    // name first, so only the settings for the current joystick need to be stored at any given time.
+    // Pointers are kept to the various settings field to reduce lookup times.
+    // Note that the mapping (0,0) corresponds to when no UAS is connected. Since this corresponds
+    // to a generic vehicle type and a generic autopilot, this is a pretty safe default.
+    QMap<int, QMap<int, JoystickSettings> > joystickSettings;
+
+    // Track the last state of the axes, buttons, and hats for only emitting change signals.
     QList<float> joystickAxes; ///< The values of every axes during the last sample.
-    QList<bool> joystickAxesInverted; ///< Whether each axis should be used inverted from what was reported.
-    QList<bool> joystickAxesLimited; ///< Whether each axis should be limited to only the positive range.
     quint16 joystickButtons;   ///< The state of every button. Bitfield supporting 16 buttons with 1s indicating that the button is down.
     int xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
 
@@ -201,6 +234,12 @@ signals:
       */
     void buttonReleased(int key);
 
+    /**
+      * @brief A joystick button was pressed that had a corresponding action.
+      * @param action The index of the action to trigger. Dependent on UAS.
+      */
+    void actionTriggered(int action);
+
     /**
       * @brief Hat (8-way switch on the top) has changed position
       *
@@ -218,7 +257,12 @@ signals:
       */
     void hatDirectionChanged(int x, int y);
 
+    /** @brief Signals that new joystick-specific settings were changed. Useful for triggering updates that at dependent on the current joystick. */
+    void joystickSettingsChanged();
+
 public slots:
+    /** @brief Enable or disable emitting the high-level control signals from the joystick. */
+    void setEnabled(bool enable);
     /** @brief Specify the UAS that this input should forward joystickChanged signals and buttonPresses to. */
     void setActiveUAS(UASInterface* uas);
     /** @brief Switch to a new joystick by ID number. Both buttons and axes are updated with the proper signals emitted. */
@@ -242,6 +286,14 @@ public slots:
      * @param limitRange If true only the positive half of this axis will be read.
      */
     void setAxisRangeLimit(int axis, bool limitRange);
+    /**
+     * @brief Specify a button->action mapping for the given uas.
+     * This mapping is applied based on UAS autopilot type and UAS system type.
+     * Connects the buttonEmitted signal for the corresponding button to the corresponding action for the current UAS.
+     * @param button The numeric ID for the button
+     * @param action The numeric ID of the action for this UAS to map to.
+     */
+    void setButtonAction(int button, int action);
 };
 
 #endif // _JOYSTICKINPUT_H_
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f8c53de7912e1e901d0331645a86c30f02e58522..fef8bc4ebdff5fbc5cf9de63df97b3db8e568f1c 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -33,9 +33,9 @@
 
 /**
 * Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
-* by calling readSettings. This means the new UAS will have the same settings 
+* by calling readSettings. This means the new UAS will have the same settings
 * as the previous one created unless one calls deleteSettings in the code after
-* creating the UAS. 
+* creating the UAS.
 */
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     uasId(id),
@@ -159,6 +159,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
     actions.append(newAction);
 
+    newAction = new QAction(tr("Toggle armed"), this);
+    newAction->setToolTip(tr("Toggle between armed and disarmed"));
+    connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
+    actions.append(newAction);
+
     newAction = new QAction(tr("Go home"), this);
     newAction->setToolTip(tr("Command the UAS to return to its home position"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(home()));
@@ -204,10 +209,10 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
     connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
     statusTimeout->start(500);
-    readSettings(); 
+    readSettings();
     // Initial signals
     emit disarmed();
-    emit armingChanged(false);  
+    emit armingChanged(false);
 }
 
 /**
@@ -258,7 +263,7 @@ void UAS::readSettings()
 
 /**
 *  Deletes the settings origianally read into the UAS by readSettings.
-*  This is in case one does not want the old values but would rather 
+*  This is in case one does not want the old values but would rather
 *  start with the values assigned by the constructor.
 */
 void UAS::deleteSettings()
@@ -277,6 +282,15 @@ int UAS::getUASID() const
     return uasId;
 }
 
+void UAS::triggerAction(int action)
+{
+    if (action > 0 && action < actions.size())
+    {
+        qDebug() << "Triggering action: '" << actions[action]->text() << "'";
+        actions[action]->trigger();
+    }
+}
+
 /**
 * Update the heartbeat.
 */
@@ -468,15 +482,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit heartbeat(this);
             mavlink_heartbeat_t state;
             mavlink_msg_heartbeat_decode(&message, &state);
-			
-			// Send the base_mode and system_status values to the plotter. This uses the ground time
-			// so the Ground Time checkbox must be ticked for these values to display
+
+            // Send the base_mode and system_status values to the plotter. This uses the ground time
+            // so the Ground Time checkbox must be ticked for these values to display
             quint64 time = getUnixTime();
-			QString name = QString("M%1:HEARTBEAT.%2").arg(message.sysid);
-			emit valueChanged(uasId, name.arg("base_mode"), "bits", state.base_mode, time);
-			emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
-			emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
-			
+            QString name = QString("M%1:HEARTBEAT.%2").arg(message.sysid);
+            emit valueChanged(uasId, name.arg("base_mode"), "bits", state.base_mode, time);
+            emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
+            emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
+
             // Set new type if it has changed
             if (this->type != state.type)
             {
@@ -599,22 +613,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_sys_status_t state;
             mavlink_msg_sys_status_decode(&message, &state);
 
-			// Prepare for sending data to the realtime plotter, which is every field excluding onboard_control_sensors_present.
+            // Prepare for sending data to the realtime plotter, which is every field excluding onboard_control_sensors_present.
             quint64 time = getUnixTime();
-			QString name = QString("M%1:SYS_STATUS.%2").arg(message.sysid);
-			emit valueChanged(uasId, name.arg("sensors_enabled"), "bits", state.onboard_control_sensors_enabled, time);
-			emit valueChanged(uasId, name.arg("sensors_health"), "bits", state.onboard_control_sensors_health, time);
-			emit valueChanged(uasId, name.arg("errors_comm"), "-", state.errors_comm, time);
-			emit valueChanged(uasId, name.arg("errors_count1"), "-", state.errors_count1, time);
-			emit valueChanged(uasId, name.arg("errors_count2"), "-", state.errors_count2, time);
-			emit valueChanged(uasId, name.arg("errors_count3"), "-", state.errors_count3, time);
+            QString name = QString("M%1:SYS_STATUS.%2").arg(message.sysid);
+            emit valueChanged(uasId, name.arg("sensors_enabled"), "bits", state.onboard_control_sensors_enabled, time);
+            emit valueChanged(uasId, name.arg("sensors_health"), "bits", state.onboard_control_sensors_health, time);
+            emit valueChanged(uasId, name.arg("errors_comm"), "-", state.errors_comm, time);
+            emit valueChanged(uasId, name.arg("errors_count1"), "-", state.errors_count1, time);
+            emit valueChanged(uasId, name.arg("errors_count2"), "-", state.errors_count2, time);
+            emit valueChanged(uasId, name.arg("errors_count3"), "-", state.errors_count3, time);
             emit valueChanged(uasId, name.arg("errors_count4"), "-", state.errors_count4, time);
 
-			// Process CPU load.
+            // Process CPU load.
             emit loadChanged(this,state.load/10.0f);
-			emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
+            emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
 
-			// Battery charge/time remaining/voltage calculations
+            // Battery charge/time remaining/voltage calculations
             currentVoltage = state.voltage_battery/1000.0f;
             lpVoltage = filterVoltage(currentVoltage);
             tickLowpassVoltage = tickLowpassVoltage*0.8f + 0.2f*currentVoltage;
@@ -648,16 +662,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
 
             emit batteryChanged(this, lpVoltage, currentCurrent, getChargeLevel(), timeRemaining);
-			emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
+            emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
             // emit voltageChanged(message.sysid, currentVoltage);
-			emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);
+            emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);
 
-			// And if the battery current draw is measured, log that also.
-			if (state.current_battery != -1)
-			{
+            // And if the battery current draw is measured, log that also.
+            if (state.current_battery != -1)
+            {
                 currentCurrent = ((double)state.current_battery)/100.0f;
                 emit valueChanged(uasId, name.arg("battery_current"), "A", currentCurrent, time);
-			}
+            }
 
             // LOW BATTERY ALARM
             if (lpVoltage < warnVoltage && (currentVoltage - 0.2f) < warnVoltage && (currentVoltage > 3.3))
@@ -677,17 +691,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
             emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));
 
-			// Trigger drop rate updates as needed. Here we convert the incoming
-			// drop_rate_comm value from 1/100 of a percent in a uint16 to a true
-			// percentage as a float. We also cap the incoming value at 100% as defined
-			// by the MAVLink specifications.
-			if (state.drop_rate_comm > 10000)
-			{
-				state.drop_rate_comm = 10000;
-			}
-			emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
-			emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm/100.0f, time);
-		}
+            // Trigger drop rate updates as needed. Here we convert the incoming
+            // drop_rate_comm value from 1/100 of a percent in a uint16 to a true
+            // percentage as a float. We also cap the incoming value at 100% as defined
+            // by the MAVLink specifications.
+            if (state.drop_rate_comm > 10000)
+            {
+                state.drop_rate_comm = 10000;
+            }
+            emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
+            emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm/100.0f, time);
+        }
             break;
         case MAVLINK_MSG_ID_ATTITUDE:
         {
@@ -865,13 +879,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             // only accept values in a realistic range
             // quint64 time = getUnixTime(pos.time_usec);
             quint64 time = getUnixTime(pos.time_usec);
-            
+
             emit gpsLocalizationChanged(this, pos.fix_type);
             // TODO: track localization state not only for gps but also for other loc. sources
             int loc_type = pos.fix_type;
             if (loc_type == 1)
             {
-                loc_type = 0; 
+                loc_type = 0;
             }
             emit localizationChanged(this, loc_type);
             setSatelliteCount(pos.satellites_visible);
@@ -1652,7 +1666,7 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
 * @param x postion
 * @param y position
 * @param z position
-*/ 
+*/
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
 #ifdef MAVLINK_ENABLED_PIXHAWK
@@ -1672,7 +1686,7 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 * @param x position
 * @param y position
 * @param z position
-* @param yaw 
+* @param yaw
 */
 void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
 {
@@ -1734,8 +1748,8 @@ void UAS::startPressureCalibration()
     sendMessage(msg);
 }
 
-/** 
-* Check if time is smaller than 40 years, assuming no system without Unix 
+/**
+* Check if time is smaller than 40 years, assuming no system without Unix
 * timestamp runs longer than 40 years continuously without reboot. In worst case
 * this will add/subtract the communication delay between GCS and MAV, it will
 * never alter the timestamp in a safety critical way.
@@ -1787,11 +1801,11 @@ quint64 UAS::getUnixReferenceTime(quint64 time)
 
 /**
 * @warning If attitudeStamped is enabled, this function will not actually return
-* the precise time stamp of this measurement augmented to UNIX time, but will 
+* the precise time stamp of this measurement augmented to UNIX time, but will
 * MOVE the timestamp IN TIME to match the last measured attitude. There is no
-* reason why one would want this, except for system setups where the onboard 
+* reason why one would want this, except for system setups where the onboard
 * clock is not present or broken and datasets should be collected that are still
-* roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED RUINS THE 
+* roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED RUINS THE
 * SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
 */
 quint64 UAS::getUnixTimeFromMs(quint64 time)
@@ -1801,10 +1815,10 @@ quint64 UAS::getUnixTimeFromMs(quint64 time)
 
 /**
 * @warning If attitudeStamped is enabled, this function will not actually return
-* the precise time stam of this measurement augmented to UNIX time, but will 
-* MOVE the timestamp IN TIME to match the last measured attitude. There is no 
-* reason why one would want this, except for system setups where the onboard 
-* clock is not present or broken and datasets should be collected that are 
+* the precise time stam of this measurement augmented to UNIX time, but will
+* MOVE the timestamp IN TIME to match the last measured attitude. There is no
+* reason why one would want this, except for system setups where the onboard
+* clock is not present or broken and datasets should be collected that are
 * still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED
 * RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
 */
@@ -2016,7 +2030,7 @@ QString UAS::getNavModeText(int mode)
     return QString("UNKNOWN");
 }
 
-/** 
+/**
 * Get the status of the code and a description of the status.
 * Status can be unitialized, booting up, calibrating sensors, active
 * standby, cirtical, emergency, shutdown or unknown.
@@ -2187,7 +2201,7 @@ void UAS::readParametersFromStorage()
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableAllDataTransmission(int rate)
@@ -2215,7 +2229,7 @@ void UAS::enableAllDataTransmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableRawSensorDataTransmission(int rate)
@@ -2239,7 +2253,7 @@ void UAS::enableRawSensorDataTransmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableExtendedSystemStatusTransmission(int rate)
@@ -2263,7 +2277,7 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableRCChannelDataTransmission(int rate)
@@ -2292,7 +2306,7 @@ void UAS::enableRCChannelDataTransmission(int rate)
 #endif
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableRawControllerDataTransmission(int rate)
@@ -2338,7 +2352,7 @@ void UAS::enableRawControllerDataTransmission(int rate)
 //    sendMessage(msg);
 //}
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enablePositionTransmission(int rate)
@@ -2362,7 +2376,7 @@ void UAS::enablePositionTransmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableExtra1Transmission(int rate)
@@ -2387,7 +2401,7 @@ void UAS::enableExtra1Transmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableExtra2Transmission(int rate)
@@ -2412,7 +2426,7 @@ void UAS::enableExtra2Transmission(int rate)
     sendMessage(msg);
 }
 
-/** 
+/**
 * @param rate The update rate in Hz the message should be sent
 */
 void UAS::enableExtra3Transmission(int rate)
@@ -2441,7 +2455,7 @@ void UAS::enableExtra3Transmission(int rate)
  * Set a parameter value onboard
  *
  * @param component The component to set the parameter
- * @param id Name of the parameter 
+ * @param id Name of the parameter
  */
 void UAS::setParameter(const int component, const QString& id, const QVariant& value)
 {
@@ -2529,7 +2543,7 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
     }
 }
 
-/**    
+/**
 * Request parameter, use parameter name to request it.
 */
 void UAS::requestParameter(int component, int id)
@@ -2577,7 +2591,7 @@ void UAS::setSystemType(int systemType)
     if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
     {
       type = systemType;
-    
+
       // If the airframe is still generic, change it to a close default type
       if (airframe == 0)
       {
@@ -2686,6 +2700,13 @@ void UAS::disarmSystem()
     sendMessage(msg);
 }
 
+void UAS::toggleArmedState()
+{
+    mavlink_message_t msg;
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode ^ MAV_MODE_FLAG_SAFETY_ARMED, navMode);
+    sendMessage(msg);
+}
+
 void UAS::goAutonomous()
 {
     mavlink_message_t msg;
@@ -2707,8 +2728,8 @@ void UAS::toggleAutonomy()
     sendMessage(msg);
 }
 
-/** 
-* Set the manual control commands. 
+/**
+* Set the manual control commands.
 * This can only be done if the system has manual inputs enabled and is armed.
 */
 void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons)
@@ -2809,8 +2830,8 @@ void UAS::go()
     sendMessage(msg);
 }
 
-/** 
-* Order the robot to return home 
+/**
+* Order the robot to return home
 */
 void UAS::home()
 {
@@ -2826,7 +2847,7 @@ void UAS::home()
 }
 
 /**
-* Order the robot to land on the runway 
+* Order the robot to land on the runway
 */
 void UAS::land()
 {
@@ -3164,8 +3185,8 @@ const QString& UAS::getShortState() const
     return shortStateText;
 }
 
-/** 
-* The mode can be autonomous, guided, manual or armed. It will also return if 
+/**
+* The mode can be autonomous, guided, manual or armed. It will also return if
 * hardware in the loop is being used.
 * @return the audio mode text for the id given.
 */
@@ -3218,7 +3239,7 @@ QString UAS::getAudioModeTextFor(int id)
 }
 
 /**
-* The mode returned can be auto, stabilized, test, manual, preflight or unknown. 
+* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(int id)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index b5dec339c73729924ba4cfc11cdf3448a3d05475..85b8b250dfdf747b30c9147e6f2a4edea1169a2d 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -699,7 +699,7 @@ public slots:
           this->airframe = airframe;
           emit systemSpecsChanged(uasId);
         }
-        
+
     }
     /** @brief Set a new name **/
     void setUASName(const QString& name);
@@ -782,6 +782,8 @@ public slots:
     void armSystem();
     /** @brief Disable the motors */
     void disarmSystem();
+    /** @brief Toggle the armed state of the system. */
+    void toggleArmedState();
     /**
      * @brief Tell the UAS to switch into a completely-autonomous mode, so disable manual input.
      */
@@ -883,6 +885,9 @@ public slots:
     void startDataRecording();
     void stopDataRecording();
     void deleteSettings();
+
+    /** @brief Triggers the action associated with the given ID. */
+    void triggerAction(int action);
 signals:
     /** @brief The main/battery voltage has changed/was updated */
     //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
diff --git a/src/ui/JoystickButton.cc b/src/ui/JoystickButton.cc
index a3df7a75969e051e5ced9e757d37969f826ecd32..053d11b10e2b731da3c0e392a33163b53cb836e4 100644
--- a/src/ui/JoystickButton.cc
+++ b/src/ui/JoystickButton.cc
@@ -1,5 +1,6 @@
 #include "JoystickButton.h"
 #include "ui_JoystickButton.h"
+#include "UASManager.h"
 
 JoystickButton::JoystickButton(int id, QWidget *parent) :
     QWidget(parent),
@@ -8,6 +9,7 @@ JoystickButton::JoystickButton(int id, QWidget *parent) :
 {
     m_ui->setupUi(this);
     m_ui->joystickButtonLabel->setText(QString::number(id));
+    this->setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(m_ui->joystickAction, SIGNAL(currentIndexChanged(int)), this, SLOT(actionComboBoxChanged(int)));
 }
 
@@ -18,6 +20,8 @@ JoystickButton::~JoystickButton()
 
 void JoystickButton::setActiveUAS(UASInterface* uas)
 {
+    // Disable signals so that changes to joystickAction don't trigger JoystickInput updates.
+    blockSignals(true);
     if (uas)
     {
         m_ui->joystickAction->setEnabled(true);
@@ -33,9 +37,20 @@ void JoystickButton::setActiveUAS(UASInterface* uas)
         m_ui->joystickAction->clear();
         m_ui->joystickAction->addItem("--");
     }
+    blockSignals(false);
+}
+
+void JoystickButton::setAction(int index)
+{
+    // Disable signals so that changes to joystickAction don't trigger JoystickInput updates.
+    //blockSignals(true);
+    // Add one because the default no-action takes the 0-spot.
+    m_ui->joystickAction->setCurrentIndex(index + 1);
+    //blockSignals(false);
 }
 
 void JoystickButton::actionComboBoxChanged(int index)
 {
-    emit actionChanged(id, index);
+    // Subtract one because the default no-action takes the 0-spot.
+    emit actionChanged(id, index - 1);
 }
diff --git a/src/ui/JoystickButton.h b/src/ui/JoystickButton.h
index cf49e70ea76ee42dcd41c73808aff3423237971b..92fed4e285c1c107de8ebc38f69c467a875d9e49 100644
--- a/src/ui/JoystickButton.h
+++ b/src/ui/JoystickButton.h
@@ -21,6 +21,8 @@ public:
 public slots:
     /** @brief Specify the UAS that this axis should track for displaying throttle properly. */
     void setActiveUAS(UASInterface* uas);
+    /** @brieft Specify which action this button should correspond to. */
+    void setAction(int index);
 
 signals:
     /** @brief Signal a change in this buttons' action mapping */
diff --git a/src/ui/JoystickWidget.cc b/src/ui/JoystickWidget.cc
index 3dae94b5f183ec0ecd885a5ca5821d4b6fdc926a..2ae22c08c56d575d057b7175bb2b91eb313c0194 100644
--- a/src/ui/JoystickWidget.cc
+++ b/src/ui/JoystickWidget.cc
@@ -27,11 +27,18 @@ JoystickWidget::JoystickWidget(JoystickInput* joystick, QWidget *parent) :
     connect(this->joystick, SIGNAL(axisValueChanged(int,float)), this, SLOT(updateAxisValue(int,float)));
     connect(this->joystick, SIGNAL(hatDirectionChanged(int,int)), this, SLOT(setHat(int,int)));
 
-    // Update the UI if the joystick changes.
-    connect(m_ui->joystickNameComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(updateUIForJoystick(int)));
+    // Also watch for when new settings were loaded for the current joystick to do a mass UI refresh.
+    connect(this->joystick, SIGNAL(joystickSettingsChanged()), this, SLOT(updateUI()));
 
-    // Enable/disable the UI based on the enable checkbox
+    // If the selected joystick is changed, update the joystick and the UI.
+    connect(m_ui->joystickNameComboBox, SIGNAL(currentIndexChanged(int)), this->joystick, SLOT(setActiveJoystick(int)));
+    connect(m_ui->joystickNameComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(createUIForJoystick()));
+
+    // Initialize the UI to the current JoystickInput state. Also make sure to listen for future changes
+    // so that the UI can be updated.
     connect(m_ui->enableCheckBox, SIGNAL(toggled(bool)), m_ui->joystickFrame, SLOT(setEnabled(bool)));
+    m_ui->enableCheckBox->setChecked(this->joystick->enabled()); // Needs to be after connecting to the joystick frame and before watching for enabled events from JoystickInput.
+    connect(m_ui->enableCheckBox, SIGNAL(toggled(bool)), this->joystick, SLOT(setEnabled(bool)));
 
     // Update the button label colors based on the current theme and watch for future theme changes.
     styleChanged(MainWindow::instance()->getStyle());
@@ -69,7 +76,7 @@ void JoystickWidget::initUI()
     }
 
     // Add any missing buttons
-    updateUIForJoystick(joystick->getJoystickID());
+    createUIForJoystick();
 }
 
 void JoystickWidget::styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newStyle)
@@ -100,7 +107,51 @@ void JoystickWidget::changeEvent(QEvent *e)
     }
 }
 
-void JoystickWidget::updateUIForJoystick(int id)
+void JoystickWidget::updateUI()
+{
+    for (int i = 0; i < buttons.size(); i++)
+    {
+        JoystickButton* button = buttons[i];
+        int action = joystick->getActionForButton(i);
+        button->setAction(action + 1);
+        qDebug() << "JoystickWidget: Updating button " << i << " to action " << action + 1;
+    }
+    int rollAxis = joystick->getMappingRollAxis();
+    int pitchAxis = joystick->getMappingPitchAxis();
+    int yawAxis = joystick->getMappingYawAxis();
+    int throttleAxis = joystick->getMappingThrottleAxis();
+    for (int i = 0; i < axes.size(); i++)
+    {
+        JoystickAxis* axis = axes[i];
+        float value = joystick->getCurrentValueForAxis(i);
+        axis->setValue(value);
+        JoystickInput::JOYSTICK_INPUT_MAPPING mapping = JoystickInput::JOYSTICK_INPUT_MAPPING_NONE;
+        if (i == rollAxis)
+        {
+            mapping = JoystickInput::JOYSTICK_INPUT_MAPPING_ROLL;
+        }
+        else if (i == pitchAxis)
+        {
+            mapping = JoystickInput::JOYSTICK_INPUT_MAPPING_PITCH;
+        }
+        else if (i == yawAxis)
+        {
+            mapping = JoystickInput::JOYSTICK_INPUT_MAPPING_YAW;
+        }
+        else if (i == throttleAxis)
+        {
+            mapping = JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE;
+        }
+        axis->setMapping(mapping);
+        bool inverted = joystick->getInvertedForAxis(i);
+        axis->setInverted(inverted);
+        bool limited = joystick->getRangeLimitForAxis(i);
+        axis->setRangeLimit(limited);
+        qDebug() << "JoystickWidget: Updating axis " << i << " to value:" << value << ", mapping:" << mapping << ", inverted:" << inverted << ", limited:" << limited;
+    }
+}
+
+void JoystickWidget::createUIForJoystick()
 {
     // Delete all the old UI elements
     foreach (JoystickButton* b, buttons)
@@ -114,9 +165,6 @@ void JoystickWidget::updateUIForJoystick(int id)
     }
     axes.clear();
 
-    // Set the JoystickInput to listen to the new joystick instead.
-    joystick->setActiveJoystick(id);
-
     // And add the necessary button displays for this joystick.
     int newButtons = joystick->getJoystickNumButtons();
     if (newButtons)
@@ -125,6 +173,8 @@ void JoystickWidget::updateUIForJoystick(int id)
         for (int i = 0; i < newButtons; i++)
         {
             JoystickButton* button = new JoystickButton(i, m_ui->buttonBox);
+            button->setAction(joystick->getActionForButton(i));
+            connect(button, SIGNAL(actionChanged(int,int)), this->joystick, SLOT(setButtonAction(int,int)));
             connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), button, SLOT(setActiveUAS(UASInterface*)));
             m_ui->buttonLayout->addWidget(button);
             buttons.append(button);
diff --git a/src/ui/JoystickWidget.h b/src/ui/JoystickWidget.h
index 624ec87f2434fc9218ffbe2e1e30c45c9d700cd2..578701fc917eeda10ad33fc926dfecfe4b2c8917 100644
--- a/src/ui/JoystickWidget.h
+++ b/src/ui/JoystickWidget.h
@@ -54,7 +54,7 @@ public:
 
 public slots:
     /** @brief Update the UI for a new joystick based on SDL ID. */
-    void updateUIForJoystick(int id);
+    void createUIForJoystick();
     /**
      * @brief Update a given axis with a new value
      * @param axis The index of the axis to update.
@@ -72,6 +72,8 @@ public slots:
     void joystickButtonReleased(int key);
     /** @brief Update the UI color scheme when the MainWindow theme changes. */
     void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE);
+    /** Update the UI assuming the joystick has stayed the same. */
+    void updateUI();
 
 protected:
     /** @brief Update the proper number of buttons for the current joystick. */
diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc
index f0ce7951216cfdac89b924ed655711f64c85183f..d109847dc4140641f1d36b3e39e16d0f67dc4cd7 100644
--- a/src/ui/uas/UASListWidget.cc
+++ b/src/ui/uas/UASListWidget.cc
@@ -123,7 +123,7 @@ void UASListWidget::updateStatus()
         {
             displayString = QString("<b>%1</b>").arg(i.key()->getName()) + displayString;
         }
-        qDebug() << p << ": " + displayString;
+//        qDebug() << p << ": " + displayString;
         i.value()->setToolTip(displayString);
     }
 }