diff --git a/src/uas/UASManager.cc b/src/uas/UASManager.cc
index a714bcca027efe3958bdcf60f7a55f061d8042af..0312dc9688cac40b77c7c764446ccea2f4d2b8a8 100644
--- a/src/uas/UASManager.cc
+++ b/src/uas/UASManager.cc
@@ -310,38 +310,23 @@ void UASManager::removeUAS(UASInterface* uas)
     {
         int listindex = systems.indexOf(uas);
 
-        // If this is the active UAS, select a new one.
+        // Remove this system from local data store.
+        systems.removeAt(listindex);
+
+        // If this is the active UAS, select a new one if one exists otherwise
+        // indicate that there are no active UASes.
         if (uas == activeUAS)
         {
-            if (systems.count() > 1)
+            if (systems.count())
             {
-                // We only set a new UAS if more than one is present
-                if (listindex != 0)
-                {
-                    // The system to be removed is not at position 1
-                    // set position one as new active system
-                    setActiveUAS(systems.first());
-                }
-                else
-                {
-                    // The system to be removed is at position 1,
-                    // select the next system
-                    setActiveUAS(systems.at(1));
-                }
+                setActiveUAS(systems.first());
             }
             else
             {
-                // TODO send a null pointer if no UAS is present any more
-                // This has to be properly tested however, since it might
-                // crash code parts not handling null pointers correctly.
-                activeUAS = NULL;
-                // XXX Not emitting the null pointer yet
+                setActiveUAS(NULL);
             }
         }
 
-        // Finally delete a local reference to this UAS
-        systems.removeAt(listindex);
-
         // Notify other UI elements that a UAS is being deleted before finally deleting it.
         qDebug() << "Deleting UAS object: " << uas->getUASName();
         emit UASDeleted(uas);
@@ -449,21 +434,24 @@ UASInterface* UASManager::getUASForId(int id)
 
 void UASManager::setActiveUAS(UASInterface* uas)
 {
-    if (uas != NULL) {
-        activeUASMutex.lock();
-        if (activeUAS != NULL) {
-            emit activeUASStatusChanged(activeUAS, false);
-            emit activeUASStatusChanged(activeUAS->getUASID(), false);
-        }
-        activeUAS = uas;
-        activeUASMutex.unlock();
+    // Signal components that the last UAS is no longer active.
+    activeUASMutex.lock();
+    if (activeUAS != NULL) {
+        emit activeUASStatusChanged(activeUAS, false);
+        emit activeUASStatusChanged(activeUAS->getUASID(), false);
+    }
+    activeUAS = uas;
+    activeUASMutex.unlock();
 
+    // And signal that a new UAS is.
+    emit activeUASSet(activeUAS);
+    if (activeUAS)
+    {
         activeUAS->setSelected();
-        emit activeUASSet(uas);
-        emit activeUASSet(uas->getUASID());
-        emit activeUASSetListIndex(systems.indexOf(uas));
-        emit activeUASStatusChanged(uas, true);
-        emit activeUASStatusChanged(uas->getUASID(), true);
+        emit activeUASSet(activeUAS->getUASID());
+        emit activeUASSetListIndex(systems.indexOf(activeUAS));
+        emit activeUASStatusChanged(activeUAS, true);
+        emit activeUASStatusChanged(activeUAS->getUASID(), true);
     }
 }
 
diff --git a/src/uas/UASManager.h b/src/uas/UASManager.h
index c1243520e4f3770c924269da367454355f3cb763..86a13d6dea0d36d24582d323280baa07b341f22f 100644
--- a/src/uas/UASManager.h
+++ b/src/uas/UASManager.h
@@ -151,12 +151,12 @@ public slots:
      **/
     void addUAS(UASInterface* UAS);
 
-    /** @brief Remove a system from the list. Also triggers the UAS to kill itself. */
+    /** @brief Remove a system from the list. If this is the active UAS, it switches to another one calling setActiveUAS. Also triggers the UAS to kill itself. */
     void removeUAS(UASInterface* uas);
 
 
     /**
-      * @brief Set a UAS as currently selected
+      * @brief Set a UAS as currently selected. NULL is a valid value for when no other valid UAS's are available.
       *
       * @param UAS Unmanned Air System to set
       **/
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index f4e5ee81ad475e14b1989b2217b061c2e57730d1..a2f5c7fa9ec42a424f26986c49e2e0e6a395b613 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -177,12 +177,11 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     setStatusTip(tr("View from top in body frame. Scroll with mouse wheel to change the horizontal field of view of the widget."));
 
     connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
-    statusClearTimer.start(3000);
 
     setActiveUAS(UASManager::instance()->getActiveUAS());
 
-    // Listen for the removal of the active UAS.
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
 
     setFocusPolicy(Qt::StrongFocus);
 }
@@ -236,7 +235,7 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
 
 void HSIDisplay::renderOverlay()
 {
-    if (!isVisible()) return;
+    if (!isVisible() || !uas) return;
 #if (QGC_EVENTLOOP_DEBUG)
     qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
 #endif
@@ -911,9 +910,6 @@ void HSIDisplay::setMetricWidth(double width)
  */
 void HSIDisplay::setActiveUAS(UASInterface* uas)
 {
-    if (!uas)
-        return;
-
     if (this->uas != NULL) {
         disconnect(this->uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
@@ -946,47 +942,49 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
     }
 
-    connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
-    connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-    connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-    connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
-    connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
-    connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
-    connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
-    connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
-
-    connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
-    connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
-    connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
-    connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
-
-    connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
-    connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
-    connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
-    connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
-    connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
-
-    connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
-    connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+    if (uas)
+    {
+        connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
+        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
+        connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
+        connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
+        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+
+        connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(bool)));
+        connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(bool)));
+
+        connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
+        connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
+
+        connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+        connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+        statusClearTimer.start(3000);
+    }
+    else
+    {
+        statusClearTimer.stop();
+    }
 
     this->uas = uas;
 
     resetMAVState();
 }
 
-void HSIDisplay::removeUAS(UASInterface* uas)
-{
-    this->uas = NULL;
-    resetMAVState();
-}
-
 void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time)
 {
     Q_UNUSED(uas);
@@ -1091,7 +1089,7 @@ void HSIDisplay::updateAttitude(UASInterface* uas, double roll, double pitch, do
 
 void HSIDisplay::updateUserPositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired)
 {
-	Q_UNUSED(uasid);
+    Q_UNUSED(uasid);
     uiXSetCoordinate = xDesired;
     uiYSetCoordinate = yDesired;
     uiZSetCoordinate = zDesired;
diff --git a/src/ui/HSIDisplay.h b/src/ui/HSIDisplay.h
index 2ddcc6dd1d4b6b1e3d1c12304817805c5e05d38a..6ebfeb73880c4532fca3e752d087fd4b4a4faf54 100644
--- a/src/ui/HSIDisplay.h
+++ b/src/ui/HSIDisplay.h
@@ -52,7 +52,6 @@ public:
 
 public slots:
     void setActiveUAS(UASInterface* uas);
-    void removeUAS(UASInterface* uas);
     /** @brief Set the width in meters this widget shows from top */
     void setMetricWidth(double width);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc
index fcd3b28ebfaa6f81ac84f4b3a9b065d43cf99843..0e9c6b5ad24a6d4e4811a42d9691510e164c11bc 100644
--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
@@ -319,10 +319,10 @@ void HUD::setActiveUAS(UASInterface* uas)
             connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
             connect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(copyImage()));
         }
-
-        // Set new UAS
-        this->uas = uas;
     }
+
+    // Set new UAS
+    this->uas = uas;
 }
 
 //void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
diff --git a/src/ui/QGCToolBar.cc b/src/ui/QGCToolBar.cc
index 73d6d15b735821701b37b2b2e74798e61980765a..ff4ee2686995eca30fe06998f586ae10c3529607 100644
--- a/src/ui/QGCToolBar.cc
+++ b/src/ui/QGCToolBar.cc
@@ -166,7 +166,6 @@ void QGCToolBar::createUI()
     // Configure the toolbar for the current default UAS
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(removeUAS(UASInterface*)));
 
     if (LinkManager::instance()->getLinks().count() > 2)
         addLink(LinkManager::instance()->getLinks().last());
@@ -288,8 +287,8 @@ void QGCToolBar::advancedActivityTriggered(QAction* action)
 
 void QGCToolBar::setActiveUAS(UASInterface* active)
 {
-    // Do nothing if system is the same or NULL
-    if ((active == NULL) || mav == active) return;
+    // Do nothing if system is the same
+    if (mav == active) return;
 
     // If switching UASes, disconnect the only one.
     if (mav)
@@ -317,54 +316,43 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
 
     // Connect new system
     mav = active;
-    connect(active, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
-    connect(active, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
-    connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
-    connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
-    connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
-    connect(active, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
-    connect(active, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
-    connect(active, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
-    connect(active, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
-    if (active->getWaypointManager())
+    if (mav)
     {
-        connect(active->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
-        connect(active->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
-    }
-
-    // Update all values once
-    systemName = mav->getUASName();
-    systemArmed = mav->isArmed();
-    toolBarNameLabel->setText(mav->getUASName());
-    toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name()));
-    symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name()));
-    toolBarModeLabel->setText(mav->getShortMode());
-    toolBarStateLabel->setText(mav->getShortState());
-    toolBarTimeoutLabel->setText("");
-    toolBarDistLabel->setText("");
-    toolBarBatteryBar->setEnabled(true);
-    setSystemType(mav, mav->getSystemType());
-}
+        connect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*, QString,QString)));
+        connect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+        connect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
+        connect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
+        connect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
+        connect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
+        connect(mav, SIGNAL(armingChanged(bool)), this, SLOT(updateArmingState(bool)));
+        connect(mav, SIGNAL(heartbeatTimeout(bool, unsigned int)), this, SLOT(heartbeatTimeout(bool,unsigned int)));
+        connect(mav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(globalPositionChanged(UASInterface*,double,double,double,quint64)));
+        if (mav->getWaypointManager())
+        {
+            connect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
+            connect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
+        }
 
-/**
- * @brief Handle removal of the UAS that is currently being displayed.
- * Stop updating the UI periodically, reset the UI, and reset our stored UAS.
- * @param uas The UAS to remove.
- */
-void QGCToolBar::removeUAS(UASInterface* uas)
-{
-    if (mav == uas) {
+        // Update all values once
+        systemName = mav->getUASName();
+        systemArmed = mav->isArmed();
+        toolBarNameLabel->setText(mav->getUASName());
+        toolBarNameLabel->setStyleSheet(QString("QLabel {color: %1;}").arg(mav->getColor().name()));
+        symbolLabel->setStyleSheet(QString("QWidget {background-color: %1;}").arg(mav->getColor().name()));
+        toolBarModeLabel->setText(mav->getShortMode());
+        toolBarStateLabel->setText(mav->getShortState());
+        toolBarTimeoutLabel->setText("");
+        toolBarDistLabel->setText("");
+        toolBarBatteryBar->setEnabled(true);
+        setSystemType(mav, mav->getSystemType());
+    }
+    else
+    {
         updateViewTimer.stop();
         resetToolbarUI();
-        mav = NULL;
     }
 }
 
-void QGCToolBar::createCustomWidgets()
-{
-
-}
-
 void QGCToolBar::updateArmingState(bool armed)
 {
     systemArmed = armed;
diff --git a/src/ui/QGCToolBar.h b/src/ui/QGCToolBar.h
index 924fa6dbb8161496ba40be51ee7148c5b8534577..1d8c4d0da11b2dfb2c4fc019b6578ea4bd21ee04 100644
--- a/src/ui/QGCToolBar.h
+++ b/src/ui/QGCToolBar.h
@@ -46,8 +46,6 @@ public:
 public slots:
     /** @brief Set the system that is currently displayed by this widget */
     void setActiveUAS(UASInterface* active);
-    /** @brief Remove the provided UAS if it's currently active from the toolbar */
-    void removeUAS(UASInterface* uas);
     /** @brief Set the link which is currently handled with connecting / disconnecting */
     void addLink(LinkInterface* link);
     /** @brief Remove link which is currently handled */
@@ -86,7 +84,6 @@ public slots:
     void advancedActivityTriggered(QAction* action);
 
 protected:
-    void createCustomWidgets();
     void storeSettings();
     void loadSettings();
     void createUI();
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index 181daba3eaf0341cc327a48555867624dedd183c..570ed95558b085102692e111d8e5fc3d73550a98 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -36,11 +36,6 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     ui(new Ui::QGCVehicleConfig)
 {
     doneLoadingConfig = false;
-    systemTypeToParamMap["FIXED_WING"] = new QMap<QString,QGCToolWidget*>();
-    systemTypeToParamMap["QUADROTOR"] = new QMap<QString,QGCToolWidget*>();
-    systemTypeToParamMap["GROUND_ROVER"] = new QMap<QString,QGCToolWidget*>();
-    systemTypeToParamMap["BOAT"] = new QMap<QString,QGCToolWidget*>();
-    libParamToWidgetMap = new QMap<QString,QGCToolWidget*>();
 
     setObjectName("QGC_VEHICLECONFIG");
     ui->setupUi(this);
@@ -188,19 +183,21 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         //TODO: Throw an error here too, no autopilot specific configuration
         qWarning() << "Invalid vehicle dir, no vehicle specific configuration will be loaded.";
     }
+
+    // Generate widgets for the General tab.
     QGCToolWidget *tool;
     bool left = true;
     foreach (QString file,generaldir.entryList(QDir::Files | QDir::NoDotAndDotDot))
     {
         if (file.toLower().endsWith(".qgw")) {
-            tool = new QGCToolWidget("", this);
+            QWidget* parent = left?ui->generalLeftContents:ui->generalRightContents;
+            tool = new QGCToolWidget("", parent);
             if (tool->loadSettings(generaldir.absoluteFilePath(file), false))
             {
                 toolWidgets.append(tool);
-                //ui->sensorLayout->addWidget(tool);
-                QGroupBox *box = new QGroupBox(this);
+                QGroupBox *box = new QGroupBox(parent);
                 box->setTitle(tool->objectName());
-                box->setLayout(new QVBoxLayout());
+                box->setLayout(new QVBoxLayout(box));
                 box->layout()->addWidget(tool);
                 if (left)
                 {
@@ -217,18 +214,20 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
             }
         }
     }
+
+    // Generate widgets for the Advanced tab.
     left = true;
     foreach (QString file,vehicledir.entryList(QDir::Files | QDir::NoDotAndDotDot))
     {
         if (file.toLower().endsWith(".qgw")) {
-            tool = new QGCToolWidget("", this);
+            QWidget* parent = left?ui->advancedLeftContents:ui->advancedRightContents;
+            tool = new QGCToolWidget("", parent);
             if (tool->loadSettings(vehicledir.absoluteFilePath(file), false))
             {
                 toolWidgets.append(tool);
-                //ui->sensorLayout->addWidget(tool);
-                QGroupBox *box = new QGroupBox(this);
+                QGroupBox *box = new QGroupBox(parent);
                 box->setTitle(tool->objectName());
-                box->setLayout(new QVBoxLayout());
+                box->setLayout(new QVBoxLayout(box));
                 box->layout()->addWidget(tool);
                 if (left)
                 {
@@ -246,17 +245,18 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         }
     }
 
-    //Load tabs for general configuration
+    // Load tabs for general configuration
     foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
         QWidget *tab = new QWidget(ui->tabWidget);
+        additionalTabs.append(tab);
         ui->tabWidget->insertTab(2,tab,dir);
-        tab->setLayout(new QVBoxLayout());
+        tab->setLayout(new QVBoxLayout(tab));
         tab->show();
-        QScrollArea *area = new QScrollArea();
+        QScrollArea *area = new QScrollArea(tab);
         tab->layout()->addWidget(area);
-        QWidget *scrollArea = new QWidget();
-        scrollArea->setLayout(new QVBoxLayout());
+        QWidget *scrollArea = new QWidget(tab);
+        scrollArea->setLayout(new QVBoxLayout(tab));
         area->setWidget(scrollArea);
         area->setWidgetResizable(true);
         area->show();
@@ -265,14 +265,14 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", this);
+                tool = new QGCToolWidget("", tab);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
                     toolWidgets.append(tool);
                     //ui->sensorLayout->addWidget(tool);
-                    QGroupBox *box = new QGroupBox(this);
+                    QGroupBox *box = new QGroupBox(tab);
                     box->setTitle(tool->objectName());
-                    box->setLayout(new QVBoxLayout());
+                    box->setLayout(new QVBoxLayout(tab));
                     box->layout()->addWidget(tool);
                     scrollArea->layout()->addWidget(box);
                 } else {
@@ -282,17 +282,18 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         }
     }
 
-    //Load tabs for vehicle specific configuration
+    // Load additional tabs for vehicle specific configuration
     foreach (QString dir,vehicledir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
         QWidget *tab = new QWidget(ui->tabWidget);
+        additionalTabs.append(tab);
         ui->tabWidget->insertTab(2,tab,dir);
-        tab->setLayout(new QVBoxLayout());
+        tab->setLayout(new QVBoxLayout(tab));
         tab->show();
-        QScrollArea *area = new QScrollArea();
+        QScrollArea *area = new QScrollArea(tab);
         tab->layout()->addWidget(area);
-        QWidget *scrollArea = new QWidget();
-        scrollArea->setLayout(new QVBoxLayout());
+        QWidget *scrollArea = new QWidget(tab);
+        scrollArea->setLayout(new QVBoxLayout(tab));
         area->setWidget(scrollArea);
         area->setWidgetResizable(true);
         area->show();
@@ -302,15 +303,15 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         foreach (QString file,newdir.entryList(QDir::Files| QDir::NoDotAndDotDot))
         {
             if (file.toLower().endsWith(".qgw")) {
-                tool = new QGCToolWidget("", this);
+                tool = new QGCToolWidget("", tab);
                 tool->addUAS(mav);
                 if (tool->loadSettings(newdir.absoluteFilePath(file), false))
                 {
                     toolWidgets.append(tool);
                     //ui->sensorLayout->addWidget(tool);
-                    QGroupBox *box = new QGroupBox();
+                    QGroupBox *box = new QGroupBox(tab);
                     box->setTitle(tool->objectName());
-                    box->setLayout(new QVBoxLayout());
+                    box->setLayout(new QVBoxLayout(box));
                     box->layout()->addWidget(tool);
                     scrollArea->layout()->addWidget(box);
                     box->show();
@@ -322,30 +323,31 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         }
     }
 
-    // Load calibration
+    // Load general calibration for autopilot
     //TODO: Handle this more gracefully, maybe have it scan the directory for multiple calibration entries?
-    tool = new QGCToolWidget("", this);
+    tool = new QGCToolWidget("", ui->sensorContents);
     tool->addUAS(mav);
     if (tool->loadSettings(autopilotdir.absolutePath() + "/general/calibration/calibration.qgw", false))
     {
         toolWidgets.append(tool);
-        QGroupBox *box = new QGroupBox(this);
+        QGroupBox *box = new QGroupBox(ui->sensorContents);
         box->setTitle(tool->objectName());
-        box->setLayout(new QVBoxLayout());
+        box->setLayout(new QVBoxLayout(box));
         box->layout()->addWidget(tool);
         ui->sensorLayout->addWidget(box);
     } else {
         delete tool;
     }
 
-    tool = new QGCToolWidget("", this);
+    // Load vehicle-specific autopilot configuration
+    tool = new QGCToolWidget("", ui->sensorContents);
     tool->addUAS(mav);
     if (tool->loadSettings(autopilotdir.absolutePath() + "/" +  mav->getSystemTypeName().toLower() + "/calibration/calibration.qgw", false))
     {
         toolWidgets.append(tool);
-        QGroupBox *box = new QGroupBox(this);
+        QGroupBox *box = new QGroupBox(ui->sensorContents);
         box->setTitle(tool->objectName());
-        box->setLayout(new QVBoxLayout());
+        box->setLayout(new QVBoxLayout(box));
         box->layout()->addWidget(tool);
         ui->sensorLayout->addWidget(box);
     } else {
@@ -391,7 +393,7 @@ void QGCVehicleConfig::loadConfig()
     QXmlStreamReader xml(xmlfile.readAll());
     xmlfile.close();
 
-    //TODO: Testing to ensure that incorrectly formated XML won't break this.
+    //TODO: Testing to ensure that incorrectly formatted XML won't break this.
     while (!xml.atEnd())
     {
         if (xml.isStartElement() && xml.name() == "paramfile")
@@ -571,7 +573,16 @@ void QGCVehicleConfig::loadConfig()
                             }
                             if (genarraycount > 0)
                             {
-                                tool = new QGCToolWidget("", this);
+                                QWidget* parent = this;
+                                if (valuetype == "vehicles")
+                                {
+                                    parent = ui->generalLeftContents;
+                                }
+                                else if (valuetype == "libraries")
+                                {
+                                    parent = ui->generalRightContents;
+                                }
+                                tool = new QGCToolWidget("", parent);
                                 tool->addUAS(mav);
                                 tool->setTitle(parametersname);
                                 tool->setObjectName(parametersname);
@@ -582,26 +593,26 @@ void QGCVehicleConfig::loadConfig()
                                     //Based on the airframe, we add the parameter to different categories.
                                     if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                     {
-                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
                                     }
                                     else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                     {
-                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
                                     }
                                     else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                     {
-                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
                                     }
                                     else
                                     {
-                                        libParamToWidgetMap->insert(paramlist[i],tool);
+                                        libParamToWidgetMap.insert(paramlist[i],tool);
                                     }
                                 }
 
                                 toolWidgets.append(tool);
-                                QGroupBox *box = new QGroupBox(this);
+                                QGroupBox *box = new QGroupBox(parent);
                                 box->setTitle(tool->objectName());
-                                box->setLayout(new QVBoxLayout());
+                                box->setLayout(new QVBoxLayout(box));
                                 box->layout()->addWidget(tool);
                                 if (valuetype == "vehicles")
                                 {
@@ -616,7 +627,16 @@ void QGCVehicleConfig::loadConfig()
                             }
                             if (advarraycount > 0)
                             {
-                                tool = new QGCToolWidget("", this);
+                                QWidget* parent = this;
+                                if (valuetype == "vehicles")
+                                {
+                                    parent = ui->generalLeftContents;
+                                }
+                                else if (valuetype == "libraries")
+                                {
+                                    parent = ui->generalRightContents;
+                                }
+                                tool = new QGCToolWidget("", parent);
                                 tool->addUAS(mav);
                                 tool->setTitle(parametersname);
                                 tool->setObjectName(parametersname);
@@ -627,48 +647,42 @@ void QGCVehicleConfig::loadConfig()
                                     //Based on the airframe, we add the parameter to different categories.
                                     if (parametersname == "ArduPlane") //MAV_TYPE_FIXED_WING FIXED_WING
                                     {
-                                        systemTypeToParamMap["FIXED_WING"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["FIXED_WING"].insert(paramlist[i],tool);
                                     }
                                     else if (parametersname == "ArduCopter") //MAV_TYPE_QUADROTOR "QUADROTOR
                                     {
-                                        systemTypeToParamMap["QUADROTOR"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["QUADROTOR"].insert(paramlist[i],tool);
                                     }
                                     else if (parametersname == "APMrover2") //MAV_TYPE_GROUND_ROVER GROUND_ROVER
                                     {
-                                        systemTypeToParamMap["GROUND_ROVER"]->insert(paramlist[i],tool);
+                                        systemTypeToParamMap["GROUND_ROVER"].insert(paramlist[i],tool);
                                     }
                                     else
                                     {
-                                        libParamToWidgetMap->insert(paramlist[i],tool);
+                                        libParamToWidgetMap.insert(paramlist[i],tool);
                                     }
                                 }
 
                                 toolWidgets.append(tool);
-                                QGroupBox *box = new QGroupBox(this);
+                                QGroupBox *box = new QGroupBox(parent);
                                 box->setTitle(tool->objectName());
-                                box->setLayout(new QVBoxLayout());
+                                box->setLayout(new QVBoxLayout(box));
                                 box->layout()->addWidget(tool);
                                 if (valuetype == "vehicles")
                                 {
-                                    ui->leftAdvancedLayout->addWidget(box);
+                                    ui->leftGeneralLayout->addWidget(box);
                                 }
                                 else if (valuetype == "libraries")
                                 {
-                                    ui->rightAdvancedLayout->addWidget(box);
+                                    ui->rightGeneralLayout->addWidget(box);
                                 }
                                 box->hide();
                                 toolToBoxMap[tool] = box;
                             }
-
-
-
-
                         }
                         xml.readNext();
                     }
-
                 }
-
                 xml.readNext();
             }
         }
@@ -682,8 +696,8 @@ void QGCVehicleConfig::loadConfig()
 
 void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 {
-    // Do nothing if system is the same or NULL
-    if ((active == NULL) || mav == active) return;
+    // Do nothing if system is the same
+    if (mav == active) return;
 
     if (mav)
     {
@@ -693,11 +707,41 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
         disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                    SLOT(parameterChanged(int,int,QString,QVariant)));
 
-        foreach (QGCToolWidget* tool, toolWidgets)
+        // Delete all children from all fixed tabs.
+        foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>())
+        {
+            child->deleteLater();
+        }
+        foreach(QWidget* child, ui->generalRightContents->findChildren<QWidget*>())
+        {
+            child->deleteLater();
+        }
+        foreach(QWidget* child, ui->advancedLeftContents->findChildren<QWidget*>())
+        {
+            child->deleteLater();
+        }
+        foreach(QWidget* child, ui->advancedRightContents->findChildren<QWidget*>())
+        {
+            child->deleteLater();
+        }
+        foreach(QWidget* child, ui->sensorContents->findChildren<QWidget*>())
+        {
+            child->deleteLater();
+        }
+
+        // And then delete any custom tabs
+        foreach(QWidget* child, additionalTabs)
         {
-            delete tool;
+            child->deleteLater();
         }
+        additionalTabs.clear();
+
         toolWidgets.clear();
+        paramToWidgetMap = NULL;
+        libParamToWidgetMap.clear();
+        systemTypeToParamMap.clear();
+        toolToBoxMap.clear();
+        paramTooltips.clear();
     }
 
     // Reset current state
@@ -707,44 +751,57 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 
     // Connect new system
     mav = active;
-    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
-               SLOT(remoteControlChannelRawChanged(int,float)));
-    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
-               SLOT(parameterChanged(int,int,QString,QVariant)));
-
-    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
-    {
-        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
-    }
-    else
+    if (mav)
     {
-        //Indication that we have no meta data for this system type.
-        qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
-        systemTypeToParamMap[mav->getSystemTypeName()] = new QMap<QString,QGCToolWidget*>();
-        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
-    }
+        connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
+                   SLOT(remoteControlChannelRawChanged(int,float)));
+        connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
+                   SLOT(parameterChanged(int,int,QString,QVariant)));
 
-    if (!paramTooltips.isEmpty())
-    {
-           mav->getParamManager()->setParamInfo(paramTooltips);
-    }
+        if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
+        {
+            paramToWidgetMap = &systemTypeToParamMap[mav->getSystemTypeName()];
+        }
+        else
+        {
+            //Indication that we have no meta data for this system type.
+            qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
+            paramToWidgetMap = &systemTypeToParamMap[mav->getSystemTypeName()];
+        }
 
-    qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
+        if (!paramTooltips.isEmpty())
+        {
+               mav->getParamManager()->setParamInfo(paramTooltips);
+        }
+
+        qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
 
-    //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
-    //amount of time it actually takes to load the configuration windows.
-    QTimer::singleShot(1,this,SLOT(loadConfig()));
+        //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
+        //amount of time it actually takes to load the configuration windows.
+        QTimer::singleShot(1,this,SLOT(loadConfig()));
 
-    updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
+        updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
 
-    // Since a system is now connected, enable the VehicleConfig UI.
-    ui->tabWidget->setEnabled(true);
-    ui->setButton->setEnabled(true);
-    ui->refreshButton->setEnabled(true);
-    ui->readButton->setEnabled(true);
-    ui->writeButton->setEnabled(true);
-    ui->loadFileButton->setEnabled(true);
-    ui->saveFileButton->setEnabled(true);
+        // Since a system is now connected, enable the VehicleConfig UI.
+        ui->tabWidget->setEnabled(true);
+        ui->setButton->setEnabled(true);
+        ui->refreshButton->setEnabled(true);
+        ui->readButton->setEnabled(true);
+        ui->writeButton->setEnabled(true);
+        ui->loadFileButton->setEnabled(true);
+        ui->saveFileButton->setEnabled(true);
+    }
+    else
+    {
+        // Disable the vehicle config widget if no new UAS has been enabled.
+        ui->tabWidget->setEnabled(false);
+        ui->setButton->setEnabled(false);
+        ui->refreshButton->setEnabled(false);
+        ui->readButton->setEnabled(false);
+        ui->writeButton->setEnabled(false);
+        ui->loadFileButton->setEnabled(false);
+        ui->saveFileButton->setEnabled(false);
+    }
 }
 
 void QGCVehicleConfig::resetCalibrationRC()
@@ -986,13 +1043,13 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
             qCritical() << "Widget with no box, possible memory corruption for param:" << parameterName;
         }
     }
-    else if (libParamToWidgetMap->contains(parameterName))
+    else if (libParamToWidgetMap.contains(parameterName))
     {
         //All the library parameters
-        libParamToWidgetMap->value(parameterName)->setParameterValue(uas,component,parameterName,value);
-        if (toolToBoxMap.contains(libParamToWidgetMap->value(parameterName)))
+        libParamToWidgetMap.value(parameterName)->setParameterValue(uas,component,parameterName,value);
+        if (toolToBoxMap.contains(libParamToWidgetMap.value(parameterName)))
         {
-            toolToBoxMap[libParamToWidgetMap->value(parameterName)]->show();
+            toolToBoxMap[libParamToWidgetMap.value(parameterName)]->show();
         }
         else
         {
@@ -1010,7 +1067,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
             {
                 //It should be grouped with this one, add it.
                 toolWidgets[i]->addParam(uas,component,parameterName,value);
-                libParamToWidgetMap->insert(parameterName,toolWidgets[i]);
+                libParamToWidgetMap.insert(parameterName,toolWidgets[i]);
                 found  = true;
                 break;
             }
@@ -1018,7 +1075,18 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
         if (!found)
         {
             //New param type, create a QGroupBox for it.
-            QGCToolWidget *tool = new QGCToolWidget("", this);
+            QWidget* parent;
+            if (ui->leftAdvancedLayout->count() > ui->rightAdvancedLayout->count())
+            {
+                parent = ui->advancedRightContents;
+            }
+            else
+            {
+                parent = ui->advancedLeftContents;
+            }
+
+            // Create the tool, attaching it to the QGroupBox
+            QGCToolWidget *tool = new QGCToolWidget("", parent);
             QString tooltitle = parameterName;
             if (parameterName.split("_").size() > 1)
             {
@@ -1026,15 +1094,15 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
             }
             tool->setTitle(tooltitle);
             tool->setObjectName(tooltitle);
-            //tool->setSettings(set);
-            tool->addParam(uas,component,parameterName,value);
-            libParamToWidgetMap->insert(parameterName,tool);
-            toolWidgets.append(tool);
-            QGroupBox *box = new QGroupBox(this);
+            tool->addParam(uas, component, parameterName, value);
+            QGroupBox *box = new QGroupBox(parent);
             box->setTitle(tool->objectName());
-            box->setLayout(new QVBoxLayout());
+            box->setLayout(new QVBoxLayout(box));
             box->layout()->addWidget(tool);
 
+            libParamToWidgetMap.insert(parameterName,tool);
+            toolWidgets.append(tool);
+
 
             //Make sure we have similar number of widgets on each side.
             if (ui->leftAdvancedLayout->count() > ui->rightAdvancedLayout->count())
diff --git a/src/ui/QGCVehicleConfig.h b/src/ui/QGCVehicleConfig.h
index 242c11b20233cda7c2d3523db943b266ace17feb..9b6a6e83e789e24ce9acc73b5512bfb9e108361c 100644
--- a/src/ui/QGCVehicleConfig.h
+++ b/src/ui/QGCVehicleConfig.h
@@ -16,7 +16,7 @@ class QGCVehicleConfig;
 class QGCVehicleConfig : public QWidget
 {
     Q_OBJECT
-    
+
 public:
     explicit QGCVehicleConfig(QWidget *parent = 0);
     ~QGCVehicleConfig();
@@ -175,12 +175,13 @@ protected:
     QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
     bool calibrationEnabled;            ///< calibration mode on / off
 
-    QMap<QString,QGCToolWidget*> *paramToWidgetMap;                     ///< Holds the current active MAV's parameter widgets.
-    QMap<QString,QGCToolWidget*> *libParamToWidgetMap;                  ///< Holds the library parameter widgets
-    QMap<QString,QMap<QString,QGCToolWidget*>*> systemTypeToParamMap;   ///< Holds all loaded MAV specific parameter widgets, for every MAV.
+    QMap<QString,QGCToolWidget*>* paramToWidgetMap;                     ///< Holds the current active MAV's parameter widgets.
+    QList<QWidget*> additionalTabs;                                   ///< Stores additional tabs loaded for this vehicle/autopilot configuration. Used for cleaning up.
+    QMap<QString,QGCToolWidget*> libParamToWidgetMap;                  ///< Holds the library parameter widgets
+    QMap<QString,QMap<QString,QGCToolWidget*> > systemTypeToParamMap;   ///< Holds all loaded MAV specific parameter widgets, for every MAV.
     QMap<QGCToolWidget*,QGroupBox*> toolToBoxMap;                       ///< Easy method of figuring out which QGroupBox is tied to which ToolWidget.
     QMap<QString,QString> paramTooltips;                                ///< Tooltips for the ? button next to a parameter.
-    
+
 private:
     Ui::QGCVehicleConfig *ui;
 
diff --git a/src/ui/QGCVehicleConfig.ui b/src/ui/QGCVehicleConfig.ui
index 9e3fccb66804c109c32a8262e2d7554c668dce25..72ed1c3d640b7795b8788eafb64d821c285c96e9 100644
--- a/src/ui/QGCVehicleConfig.ui
+++ b/src/ui/QGCVehicleConfig.ui
@@ -35,7 +35,7 @@
       </sizepolicy>
      </property>
      <property name="currentIndex">
-      <number>3</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="rcTab">
       <property name="sizePolicy">
@@ -765,7 +765,7 @@ p, li { white-space: pre-wrap; }
              <property name="widgetResizable">
               <bool>true</bool>
              </property>
-             <widget class="QWidget" name="scrollAreaWidgetContents_7">
+             <widget class="QWidget" name="sensorContents">
               <property name="geometry">
                <rect>
                 <x>0</x>
@@ -849,7 +849,7 @@ p, li { white-space: pre-wrap; }
               <property name="widgetResizable">
                <bool>true</bool>
               </property>
-              <widget class="QWidget" name="scrollAreaWidgetContents">
+              <widget class="QWidget" name="generalLeftContents">
                <property name="geometry">
                 <rect>
                  <x>0</x>
@@ -886,7 +886,7 @@ p, li { white-space: pre-wrap; }
               <property name="widgetResizable">
                <bool>true</bool>
               </property>
-              <widget class="QWidget" name="scrollAreaWidgetContents_2">
+              <widget class="QWidget" name="generalRightContents">
                <property name="geometry">
                 <rect>
                  <x>0</x>
@@ -983,7 +983,7 @@ p, li { white-space: pre-wrap; }
               <property name="widgetResizable">
                <bool>true</bool>
               </property>
-              <widget class="QWidget" name="scrollAreaWidgetContents_4">
+              <widget class="QWidget" name="advancedLeftContents">
                <property name="geometry">
                 <rect>
                  <x>0</x>
@@ -1036,7 +1036,7 @@ p, li { white-space: pre-wrap; }
               <property name="widgetResizable">
                <bool>true</bool>
               </property>
-              <widget class="QWidget" name="scrollAreaWidgetContents_5">
+              <widget class="QWidget" name="advancedRightContents">
                <property name="geometry">
                 <rect>
                  <x>0</x>
diff --git a/src/ui/map/QGCMapWidget.cc b/src/ui/map/QGCMapWidget.cc
index d52994aae944f9219e4b70701e5ff9efa0dbc17c..2088de9c152d549ac70f3e456d97b64f5bd6979d 100644
--- a/src/ui/map/QGCMapWidget.cc
+++ b/src/ui/map/QGCMapWidget.cc
@@ -302,7 +302,6 @@ void QGCMapWidget::addUAS(UASInterface* uas)
 void QGCMapWidget::activeUASSet(UASInterface* uas)
 {
     // Only execute if proper UAS is set
-    if (!uas) return;
     this->uas = uas;
 
     // Disconnect old MAV manager
@@ -315,17 +314,26 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
         disconnect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
     }
 
-    currWPManager = uas->getWaypointManager();
+    // Attach the new waypoint manager if a new UAS was selected. Otherwise, indicate
+    // that no such manager exists.
+    if (uas)
+    {
+        currWPManager = uas->getWaypointManager();
 
-    updateSelectedSystem(uas->getUASID());
-    followUAVID = uas->getUASID();
-    updateWaypointList(uas->getUASID());
+        updateSelectedSystem(uas->getUASID());
+        followUAVID = uas->getUASID();
+        updateWaypointList(uas->getUASID());
 
-    // Connect the waypoint manager / data storage to the UI
-    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
-    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
-    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
-    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+        // Connect the waypoint manager / data storage to the UI
+        connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
+        connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+        connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
+        connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    }
+    else
+    {
+        currWPManager = NULL;
+    }
 }
 
 /**
diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index ee535434fb52c794d9c00521a370cc67bb79d8ba..43931008e0ce3e76d8dd7e0b69d89037efd0193c 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -113,7 +113,10 @@ Pixhawk3DWidget::~Pixhawk3DWidget()
 void
 Pixhawk3DWidget::activeSystemChanged(UASInterface* uas)
 {
-    mActiveSystemId = uas->getUASID();
+    if (uas)
+    {
+        mActiveSystemId = uas->getUASID();
+    }
 
     mActiveUAS = uas;
 
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 6632aa3276b936518a54e0344e6e6bd8865d9d60..904e73c2ca30ac3435a218d31a31e535a0b6834c 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -70,7 +70,7 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
 void UASControlWidget::setUAS(UASInterface* uas)
 {
-    if (this->uas != 0)
+    if (this->uas)
     {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
         disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
@@ -83,18 +83,25 @@ void UASControlWidget::setUAS(UASInterface* uas)
     }
 
     // Connect user interface controls
-    connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
-    connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
-    connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
-    connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
-    //connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
-    connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
-    connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
-
-    ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
-
-    this->uas = uas->getUASID();
-    setBackgroundColor(uas->getColor());
+    if (uas)
+    {
+        connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
+        connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
+        connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
+        connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+        //connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
+        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+        connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+
+        ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
+
+        this->uas = uas->getUASID();
+        setBackgroundColor(uas->getColor());
+    }
+    else
+    {
+        this->uas = -1;
+    }
 }
 
 UASControlWidget::~UASControlWidget()
diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc
index 0c3343344fb71197ecc3b090e5d2e4683a9fc278..4014bc525a8c864bae4ac1c1375890c55787fd22 100644
--- a/src/ui/uas/UASListWidget.cc
+++ b/src/ui/uas/UASListWidget.cc
@@ -56,15 +56,21 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent),
     m_ui->verticalLayout->addWidget(uWidget);
 
     linkToBoxMapping = QMap<LinkInterface*, QGroupBox*>();
+    uasToBoxMapping = QMap<UASInterface*, QGroupBox*>();
     uasViews = QMap<UASInterface*, UASView*>();
 
     this->setVisible(false);
 
+    // Listen for when UASes are added or removed. This does not manage the UASView
+    // widgets that are displayed within this widget.
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
             this, SLOT(addUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)),
+            this, SLOT(removeUAS(UASInterface*)));
 
     // Get a list of all existing UAS
-    foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+    foreach (UASInterface* uas, UASManager::instance()->getUASList())
+    {
         addUAS(uas);
     }
 }
@@ -94,7 +100,7 @@ void UASListWidget::addUAS(UASInterface* uas)
     if (uasViews.isEmpty())
     {
         m_ui->verticalLayout->removeWidget(uWidget);
-        delete uWidget;
+        uWidget->deleteLater();
         uWidget = NULL;
     }
 
@@ -125,6 +131,7 @@ void UASListWidget::addUAS(UASInterface* uas)
             // And add the new UAS to the UASList
             UASView* newView = new UASView(uas, newBox);
             uasViews.insert(uas, newView);
+            uasToBoxMapping[uas] = newBox;
             newBox->layout()->addWidget(newView);
 
             // Watch for when this widget is destroyed so that we can clean up the
@@ -149,30 +156,49 @@ void UASListWidget::activeUAS(UASInterface* uas)
  */
 void UASListWidget::removeUAS(UASInterface* uas)
 {
-    // Remove the UAS from our data structures and
-    // the global listing.
+    // Remove the UASView and check if its parent GroupBox has any other children,
+    // delete it if it doesn't.
+    QGroupBox* box = uasToBoxMapping[uas];
+    uasToBoxMapping.remove(uas);
     uasViews.remove(uas);
-
-    // Check all groupboxes for all links this uas had and check if they're empty.
-    // Delete them if they are.
-    QListIterator<LinkInterface*> i = *uas->getLinks();
-    while (i.hasNext())
+    int otherViews = 0;
+    foreach (UASView* view, box->findChildren<UASView*>())
     {
-        LinkInterface* link = i.next();
+        if (view->uas == uas)
+        {
+            view->deleteLater();
+        }
+        else
+        {
+            ++otherViews;
+        }
+    }
+    if (otherViews == 0)
+    {
+        // Delete the groupbox.
+        QMap<LinkInterface*, QGroupBox*>::const_iterator i = linkToBoxMapping.constBegin();
+        while (i != linkToBoxMapping.constEnd()) {
+            if (i.value() == box)
+            {
+                linkToBoxMapping.remove(i.key());
+            }
+            ++i;
+        }
+        box->deleteLater();
 
-        QGroupBox* box = linkToBoxMapping[link];
-        if (box)
+        // And if no other QGroupBoxes are left, put the initial widget back.
+        int otherBoxes = 0;
+        foreach (const QGroupBox* otherBox, findChildren<QGroupBox*>())
         {
-            // If this was the last UAS in the GroupBox, remove it and its corresponding link.
-            int views = box->findChildren<UASView*>().size();
-            if (views == 0) {
-                box->deleteLater();
-                linkToBoxMapping.remove(link);
+            if (otherBox != box)
+            {
+                ++otherBoxes;
             }
         }
+        if (otherBoxes == 0)
+        {
+            uWidget = new QGCUnconnectedInfoWidget(this);
+            m_ui->verticalLayout->addWidget(uWidget);
+        }
     }
-
-    // And if no QGroupBoxes are left, put the initial widget back.
-    uWidget = new QGCUnconnectedInfoWidget(this);
-    m_ui->verticalLayout->addWidget(uWidget);
 }
diff --git a/src/ui/uas/UASListWidget.h b/src/ui/uas/UASListWidget.h
index 58c5fafc6245600de4cbac0db494476fcd9058fc..fc1439e216896fe31a92fa1b4c1d2a89851d8f5a 100644
--- a/src/ui/uas/UASListWidget.h
+++ b/src/ui/uas/UASListWidget.h
@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QWidget>
 #include <QMap>
+#include <QList>
 #include <QVBoxLayout>
 #include <QGroupBox>
 #include "UASInterface.h"
@@ -54,9 +55,11 @@ public slots:
     void removeUAS(UASInterface* uas);
 
 protected:
+    // Keep a mapping from UASes to their GroupBox. Useful for determining when groupboxes are empty.
+    QMap<UASInterface*, QGroupBox*> uasToBoxMapping;
     // Keep a mapping from Links to GroupBoxes for adding new links.
     QMap<LinkInterface*, QGroupBox*> linkToBoxMapping;
-    // Tie each view to their UAS object.
+    // Tie each view to their UAS object so they can be removed easily.
     QMap<UASInterface*, UASView*> uasViews;
     QGCUnconnectedInfoWidget* uWidget;
     void changeEvent(QEvent *e);
diff --git a/src/ui/uas/UASQuickView.cc b/src/ui/uas/UASQuickView.cc
index 42dd9bc0899f10671019cec342e37aa1965cb849..226e156bdb620c131831afc7d2802e905b09b06a 100644
--- a/src/ui/uas/UASQuickView.cc
+++ b/src/ui/uas/UASQuickView.cc
@@ -17,61 +17,61 @@ UASQuickView::UASQuickView(QWidget *parent) :
 
 
     {
-        QAction *action = new QAction("latitude",this);
+        QAction *action = new QAction(tr("latitude"),this);
         action->setCheckable(true);
         action->setChecked(true);
         connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
         this->addAction(action);
         UASQuickViewItem *item = new UASQuickViewItem(this);
-        item->setTitle("latitude");
+        item->setTitle(tr("latitude"));
         this->layout()->addWidget(item);
         uasPropertyToLabelMap["latitude"] = item;
     }
 
     {
-        QAction *action = new QAction("longitude",this);
+        QAction *action = new QAction(tr("longitude"),this);
         action->setCheckable(true);
         action->setChecked(true);
         connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
         this->addAction(action);
         UASQuickViewItem *item = new UASQuickViewItem(this);
-        item->setTitle("longitude");
+        item->setTitle(tr("longitude"));
         this->layout()->addWidget(item);
         uasPropertyToLabelMap["longitude"] = item;
     }
 
     {
-        QAction *action = new QAction("altitude",this);
+        QAction *action = new QAction(tr("altitude"),this);
         action->setCheckable(true);
         action->setChecked(true);
         connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
         this->addAction(action);
         UASQuickViewItem *item = new UASQuickViewItem(this);
-        item->setTitle("altitude");
+        item->setTitle(tr("altitude"));
         this->layout()->addWidget(item);
         uasPropertyToLabelMap["altitude"] = item;
     }
 
     {
-        QAction *action = new QAction("satelliteCount",this);
+        QAction *action = new QAction(tr("satelliteCount"),this);
         action->setCheckable(true);
         action->setChecked(true);
         connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
         this->addAction(action);
         UASQuickViewItem *item = new UASQuickViewItem(this);
-        item->setTitle("satelliteCount");
+        item->setTitle(tr("satelliteCount"));
         this->layout()->addWidget(item);
         uasPropertyToLabelMap["satelliteCount"] = item;
     }
 
     {
-        QAction *action = new QAction("distToWaypoint",this);
+        QAction *action = new QAction(tr("distToWaypoint"),this);
         action->setCheckable(true);
         action->setChecked(true);
         connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
         this->addAction(action);
         UASQuickViewItem *item = new UASQuickViewItem(this);
-        item->setTitle("distToWaypoint");
+        item->setTitle(tr("distToWaypoint"));
         this->layout()->addWidget(item);
         uasPropertyToLabelMap["distToWaypoint"] = item;
     }
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index df50d922a9a4f93b29d8ca9d8a43295aefe9d58e..7d238c55391462670a36be52e3484f1a0cc76684 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -43,48 +43,48 @@ This file is part of the PIXHAWK project
 #include <QGCHilFlightGearConfiguration.h>
 
 UASView::UASView(UASInterface* uas, QWidget *parent) :
-        QWidget(parent),
-        startTime(0),
-        timeout(false),
-        iconIsRed(true),
-        disconnected(false),
-        timeRemaining(0),
-        chargeLevel(0),
-        uas(uas),
-        load(0),
-        state("UNKNOWN"),
-        stateDesc(tr("Unknown state")),
-        mode("MAV_MODE_UNKNOWN"),
-        thrust(0),
-        isActive(false),
-        x(0),
-        y(0),
-        z(0),
-        totalSpeed(0),
-        lat(0),
-        lon(0),
-        alt(0),
-        groundDistance(0),
-        localFrame(false),
-        globalFrameKnown(false),
-        removeAction(new QAction("Delete this system", this)),
-        renameAction(new QAction("Rename..", this)),
-        selectAction(new QAction("Control this system", this )),
-        hilAction(new QAction("HIL - Hardware in the Loop", this )),
-        selectAirframeAction(new QAction("Choose Airframe", this)),
-        setBatterySpecsAction(new QAction("Set Battery Options", this)),
-        lowPowerModeEnabled(true),
-        generalUpdateCount(0),
-        filterTime(0),
-        m_ui(new Ui::UASView)
+    QWidget(parent),
+    uas(uas),
+    startTime(0),
+    timeout(false),
+    iconIsRed(true),
+    disconnected(false),
+    timeRemaining(0),
+    chargeLevel(0),
+    load(0),
+    state("UNKNOWN"),
+    stateDesc(tr("Unknown state")),
+    mode("MAV_MODE_UNKNOWN"),
+    thrust(0),
+    isActive(false),
+    x(0),
+    y(0),
+    z(0),
+    totalSpeed(0),
+    lat(0),
+    lon(0),
+    alt(0),
+    groundDistance(0),
+    localFrame(false),
+    globalFrameKnown(false),
+    removeAction(new QAction(tr("Delete this system"), this)),
+    renameAction(new QAction(tr("Rename.."), this)),
+    selectAction(new QAction(tr("Control this system"), this)),
+    hilAction(new QAction(tr("HIL - Hardware in the Loop"), this)),
+    selectAirframeAction(new QAction(tr("Choose Airframe"), this)),
+    setBatterySpecsAction(new QAction(tr("Set Battery Options"), this)),
+    lowPowerModeEnabled(true),
+    generalUpdateCount(0),
+    filterTime(0),
+    m_ui(new Ui::UASView)
 {
+    m_ui->setupUi(this);
+
     // FIXME XXX
     lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
 
     hilAction->setCheckable(true);
 
-    m_ui->setupUi(this);
-
     // Setup communication
     //connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(receiveValue(int,QString,double,quint64)));
     connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
@@ -116,8 +116,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
     connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
 
-    // Allow to delete this widget
-    connect(removeAction, SIGNAL(triggered()), this, SLOT(prepareForDeletion()));
+    // Allow deleting this widget
+    connect(removeAction, SIGNAL(triggered()), this, SLOT(triggerUASDeletion()));
     connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
     connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
@@ -170,9 +170,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
 UASView::~UASView()
 {
     delete m_ui;
-    delete removeAction;
-    delete renameAction;
-    delete selectAction;
 }
 
 void UASView::heartbeatTimeout(bool timeout, unsigned int ms)
@@ -561,23 +558,14 @@ void UASView::showHILUi()
      MainWindow::instance()->showHILConfigurationWidget(uas);
 }
 
-/**
- * @brief Stop updating this UASView, queue it for deletion, and also tell the UASManager to delete the UAS.
- */
-void UASView::prepareForDeletion()
+void UASView::triggerUASDeletion()
 {
     refreshTimer->stop();
     UASManager::instance()->removeUAS(uas);
-    deleteLater();
 }
 
 void UASView::refresh()
 {
-    //setUpdatesEnabled(false);
-    //setUpdatesEnabled(true);
-    //repaint();
-    //qDebug() << "UPDATING UAS WIDGET!" << uas->getUASName();
-
     if (generalUpdateCount == 4)
     {
 #if (QGC_EVENTLOOP_DEBUG)
diff --git a/src/ui/uas/UASView.h b/src/ui/uas/UASView.h
index 1bcdd4dbd6d441fedd2de3fb8b92f618aff9d543..15c427ece26b84462152650034302c8c7e243b6e 100644
--- a/src/ui/uas/UASView.h
+++ b/src/ui/uas/UASView.h
@@ -49,6 +49,7 @@ class UASView : public QWidget
 public:
     UASView(UASInterface* uas, QWidget *parent = 0);
     ~UASView();
+    UASInterface* uas;
 
 public slots:
     /** @brief Update the name of the system */
@@ -65,8 +66,11 @@ public slots:
     void updateLoad(UASInterface* uas, double load);
     //void receiveValue(int uasid, QString id, double value, quint64 time);
     void showHILUi();
-    /** @brief Disables the widget from accessing the UAS object in preparation for being deleted */
-    void prepareForDeletion();
+    /**
+     * Request that the UASManager deletes this UAS. This doesn't delete this widget
+     * yet, it waits for the approprait uasDeleted signal.
+     */
+    void triggerUASDeletion();
     void refresh();
     /** @brief Receive new waypoint information */
     void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
@@ -103,7 +107,6 @@ protected:
     bool disconnected;
     int timeRemaining;
     float chargeLevel;
-    UASInterface* uas;
     float load;
     QString state;
     QString stateDesc;