diff --git a/src/configuration.h b/src/configuration.h
index c91fae7efbcffd00cab6f9ef7ecefedc5c0fa230..e06ad87f0adc6ca998d39875662470d3fa29bdc3 100644
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -17,14 +17,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.8.1 (Alpha)"
+#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha)"
 
 namespace QGC
 
 {
     const QString APPNAME = "QGROUNDCONTROL";
     const QString COMPANYNAME = "OPENMAV";
-    const int APPLICATIONVERSION = 80; // 0.8.0
+    const int APPLICATIONVERSION = 83; // 0.8.0
 }
 
 #endif // CONFIGURATION_H
diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc
index fc365fd162492dd77f27be60241478f02cfe8057..d598f458fdafa244affd911148dabac7130a8d34 100644
--- a/src/ui/HDDisplay.cc
+++ b/src/ui/HDDisplay.cc
@@ -152,7 +152,7 @@ HDDisplay::~HDDisplay()
 
 QSize HDDisplay::sizeHint() const
 {
-    return QSize(400, 400.0f*(vwidth/vheight)*1.1f);
+    return QSize(400, 400.0f*(vwidth/vheight)*1.2f);
 }
 
 void HDDisplay::enableGLRendering(bool enable)
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index eed18282961a5ea4d8a15ef9c26749e07f5d8852..566b57fe769b088b2d77e806101b3854c7c1b381 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -64,7 +64,7 @@ MainWindow* MainWindow::instance()
 MainWindow::MainWindow(QWidget *parent):
         QMainWindow(parent),
         toolsMenuActions(),
-        currentView(VIEW_ENGINEER),
+        currentView(VIEW_UNCONNECTED),
         aboutToCloseFlag(false),
         changingViewsFlag(false)
 {
@@ -82,47 +82,17 @@ MainWindow::MainWindow(QWidget *parent):
     }
     else
     {
-        if (settings.value("CURRENT_VIEW", VIEW_PILOT) != VIEW_PILOT)
+        // LOAD THE LAST VIEW
+        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
+        if (currentViewCandidate != VIEW_ENGINEER &&
+            currentViewCandidate != VIEW_OPERATOR &&
+            currentViewCandidate != VIEW_PILOT)
         {
-            currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
+            currentView = currentViewCandidate;
         }
     }
 
-    // Check if the settings exist, instantiate defaults if necessary
-
-    // OPERATOR VIEW DEFAULT
-    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
-    if (!settings.contains(centralKey))
-    {
-        settings.setValue(centralKey,true);
-    }
-
-    // ENGINEER VIEW DEFAULT
-    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
-    if (!settings.contains(centralKey))
-    {
-        settings.setValue(centralKey,true);
-    }
-
-    // MAVLINK VIEW DEFAULT
-    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
-    if (!settings.contains(centralKey))
-    {
-        settings.setValue(centralKey,true);
-    }
-
-    // PILOT VIEW DEFAULT
-    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
-    if (!settings.contains(centralKey))
-    {
-        settings.setValue(centralKey,true);
-    }
-
-    QString listKey = buildMenuKey(SUB_SECTION_CHECKED, MENU_UAS_LIST, currentView);
-    if (!settings.contains(listKey))
-    {
-        settings.setValue(listKey, true);
-    }
+    setDefaultSettingsForAp();
 
     settings.sync();
 
@@ -138,6 +108,7 @@ MainWindow::MainWindow(QWidget *parent):
     perspectives->addAction(ui.actionMavlinkView);
     perspectives->addAction(ui.actionPilotsView);
     perspectives->addAction(ui.actionOperatorsView);
+    perspectives->addAction(ui.actionUnconnectedView);
     perspectives->setExclusive(true);
 
     // Mark the right one as selected
@@ -145,9 +116,13 @@ MainWindow::MainWindow(QWidget *parent):
     if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
     if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
     if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
+    if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
 
-    // The pilot view is not available on startup
+    // The pilot, engineer and operator view are not available on startup
+    // since they only make sense with a system connected.
     ui.actionPilotsView->setEnabled(false);
+    ui.actionOperatorsView->setEnabled(false);
+    ui.actionEngineersView->setEnabled(false);
 
     buildCommonWidgets();
 
@@ -217,6 +192,54 @@ MainWindow::~MainWindow()
 
 }
 
+/**
+ * Set default settings for this AP type.
+ */
+void MainWindow::setDefaultSettingsForAp()
+{
+    // Check if the settings exist, instantiate defaults if necessary
+
+    // UNCONNECTED VIEW DEFAULT
+    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
+    if (!settings.contains(centralKey))
+    {
+        settings.setValue(centralKey,true);
+    }
+
+    // OPERATOR VIEW DEFAULT
+    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
+    if (!settings.contains(centralKey))
+    {
+        settings.setValue(centralKey,true);
+
+        // ENABLE UAS LIST
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
+        // ENABLE COMMUNICATION CONSOLE
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE,VIEW_OPERATOR), true);
+    }
+
+    // ENGINEER VIEW DEFAULT
+    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
+    if (!settings.contains(centralKey))
+    {
+        settings.setValue(centralKey,true);
+    }
+
+    // MAVLINK VIEW DEFAULT
+    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
+    if (!settings.contains(centralKey))
+    {
+        settings.setValue(centralKey,true);
+    }
+
+    // PILOT VIEW DEFAULT
+    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
+    if (!settings.contains(centralKey))
+    {
+        settings.setValue(centralKey,true);
+    }
+}
+
 void MainWindow::resizeEvent(QResizeEvent * event)
 {
     Q_UNUSED(event);
@@ -289,7 +312,7 @@ void MainWindow::buildCommonWidgets()
         controlDockWidget = new QDockWidget(tr("Control"), this);
         controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
         controlDockWidget->setWidget( new UASControlWidget(this) );
-        addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
+        addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
     }
 
     if (!listDockWidget)
@@ -297,7 +320,7 @@ void MainWindow::buildCommonWidgets()
         listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
         listDockWidget->setWidget( new UASListWidget(this) );
         listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
-        addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
+        addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea);
     }
 
     if (!waypointsDockWidget)
@@ -305,7 +328,7 @@ void MainWindow::buildCommonWidgets()
         waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
         waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
         waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
-        addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
+        addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
     }
 
     if (!infoDockWidget)
@@ -313,7 +336,7 @@ void MainWindow::buildCommonWidgets()
         infoDockWidget = new QDockWidget(tr("Status Details"), this);
         infoDockWidget->setWidget( new UASInfoWidget(this) );
         infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
-        addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
+        addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea);
     }
 
     if (!debugConsoleDockWidget)
@@ -321,7 +344,7 @@ void MainWindow::buildCommonWidgets()
         debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
         debugConsoleDockWidget->setWidget( new DebugConsole(this) );
         debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
-        addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
+        addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
     }
 
     if (!logPlayerDockWidget)
@@ -329,13 +352,13 @@ void MainWindow::buildCommonWidgets()
         logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
         logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
         logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
-        addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget()), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
+        addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
     }
 
     // Center widgets
     if (!mapWidget)
     {
-        mapWidget         = new MapWidget(this);
+        mapWidget = new MapWidget(this);
         addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
     }
 
@@ -350,7 +373,7 @@ void MainWindow::buildCommonWidgets()
     {
         slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
         slugsHilSimWidget->setWidget( new SlugsHilSim(this));
-        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
+        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
     }
 
     //TODO temporaly debug
@@ -358,7 +381,7 @@ void MainWindow::buildCommonWidgets()
     {
         slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
         slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
-        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
+        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
     }
     if (!dataplotWidget)
     {
@@ -437,7 +460,7 @@ void MainWindow::buildPxWidgets()
         detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
         detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
         detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
-        addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
+        addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea);
     }
 
     if (!parametersDockWidget)
@@ -445,7 +468,7 @@ void MainWindow::buildPxWidgets()
         parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
         parametersDockWidget->setWidget( new ParameterInterface(this) );
         parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
-        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
     }
 
     if (!watchdogControlDockWidget)
@@ -453,7 +476,7 @@ void MainWindow::buildPxWidgets()
         watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
         watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
         watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
-        addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
+        addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
     }
 
     if (!hsiDockWidget)
@@ -461,7 +484,7 @@ void MainWindow::buildPxWidgets()
         hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
         hsiDockWidget->setWidget( new HSIDisplay(this) );
         hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
-        addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
+        addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
     }
 
     if (!headDown1DockWidget)
@@ -469,7 +492,7 @@ void MainWindow::buildPxWidgets()
         headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
         headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
         headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
-        addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
+        addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea);
     }
 
     if (!headDown2DockWidget)
@@ -477,7 +500,7 @@ void MainWindow::buildPxWidgets()
         headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
         headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Payload Status", this) );
         headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
-        addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
+        addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea);
     }
 
     if (!rcViewDockWidget)
@@ -485,7 +508,7 @@ void MainWindow::buildPxWidgets()
         rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
         rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
         rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
-        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
+        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
     }
 
     if (!headUpDockWidget)
@@ -493,7 +516,7 @@ void MainWindow::buildPxWidgets()
         headUpDockWidget = new QDockWidget(tr("HUD"), this);
         headUpDockWidget->setWidget( new HUD(320, 240, this));
         headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
-        addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
+        addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
     }
 
     if (!video1DockWidget)
@@ -505,7 +528,7 @@ void MainWindow::buildPxWidgets()
         // FIXME select video stream as well
         video1DockWidget->setWidget(video1);
         video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
-        addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget()), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
+        addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
     }
 
     if (!video2DockWidget)
@@ -517,7 +540,7 @@ void MainWindow::buildPxWidgets()
         // FIXME select video stream as well
         video2DockWidget->setWidget(video2);
         video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
-        addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget()), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
+        addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
     }
 
     // Dialogue widgets
@@ -538,7 +561,7 @@ void MainWindow::buildSlugsWidgets()
         headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
         headUpDockWidget->setWidget( new HUD(320, 240, this));
         headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
-        addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
+        addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea);
     }
 
     if (!rcViewDockWidget)
@@ -546,7 +569,7 @@ void MainWindow::buildSlugsWidgets()
         rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
         rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
         rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
-        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
+        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
     }
 
     if (!slugsDataWidget)
@@ -555,7 +578,7 @@ void MainWindow::buildSlugsWidgets()
         slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
         slugsDataWidget->setWidget( new SlugsDataSensorView(this));
         slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
-        addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
+        addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
     }
 
     if (!slugsPIDControlWidget)
@@ -563,7 +586,7 @@ void MainWindow::buildSlugsWidgets()
         slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
         slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
         slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
-        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
+        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
     }
 
     if (!slugsHilSimWidget)
@@ -571,7 +594,7 @@ void MainWindow::buildSlugsWidgets()
         slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
         slugsHilSimWidget->setWidget( new SlugsHilSim(this));
         slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
-        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
+        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
     }
 
     if (!slugsCamControlWidget)
@@ -579,7 +602,7 @@ void MainWindow::buildSlugsWidgets()
         slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
         slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
         slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
-        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
+        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
     }
 }
 
@@ -592,15 +615,17 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
     QAction* tempAction;
 
 
-    // Add the separator that will separate tools from central Widgets
-    if (!toolsMenuActions[CENTRAL_SEPARATOR])
-    {
-        tempAction = ui.menuTools->addSeparator();
-        toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
-        tempAction->setData(CENTRAL_SEPARATOR);
-    }
+// Not needed any more - separate menu now available
 
-    tempAction = ui.menuTools->addAction(title);
+//    // Add the separator that will separate tools from central Widgets
+//    if (!toolsMenuActions[CENTRAL_SEPARATOR])
+//    {
+//        tempAction = ui.menuTools->addSeparator();
+//        toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
+//        tempAction->setData(CENTRAL_SEPARATOR);
+//    }
+
+    tempAction = ui.menuMain->addAction(title);
 
     tempAction->setCheckable(true);
     tempAction->setData(centralWidget);
@@ -622,13 +647,17 @@ void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
     }
 
     // connect the action
-    connect(tempAction,SIGNAL(triggered()),this, slotName);
+    connect(tempAction,SIGNAL(triggered(bool)),this, slotName);
 }
 
 
 void MainWindow::showCentralWidget()
 {
     QAction* senderAction = qobject_cast<QAction *>(sender());
+
+    // Block sender action while manipulating state
+    senderAction->blockSignals(true);
+
     int tool = senderAction->data().toInt();
     QString chKey;
 
@@ -636,7 +665,6 @@ void MainWindow::showCentralWidget()
 
     if (senderAction && dockWidgets[tool])
     {
-
         // uncheck all central widget actions
         QHashIterator<int, QAction*> i(toolsMenuActions);
         while (i.hasNext())
@@ -645,7 +673,11 @@ void MainWindow::showCentralWidget()
             //qDebug() << "shCW" << i.key() << "read";
             if (i.value() && i.value()->data().toInt() > 255)
             {
+                // Block signals and uncheck action
+                // firing would be unneccesary
+                i.value()->blockSignals(true);
                 i.value()->setChecked(false);
+                i.value()->blockSignals(false);
 
                 // update the settings
                 chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
@@ -664,6 +696,9 @@ void MainWindow::showCentralWidget()
         chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
         settings.setValue(chKey,true);
 
+        // Unblock sender action
+        senderAction->blockSignals(false);
+
         presentView();
     }
 }
@@ -723,39 +758,60 @@ void MainWindow::addToToolsMenu ( QWidget* widget,
     }
     else
     {
-        tempAction->setChecked(settings.value(chKey).toBool());
+        tempAction->setChecked(settings.value(chKey, false).toBool());
         widget->setVisible(settings.value(chKey, false).toBool());
     }
 
     // connect the action
-    connect(tempAction,SIGNAL(triggered()),this, slotName);
+    connect(tempAction,SIGNAL(toggled(bool)),this, slotName);
+
+    connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
+            SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
 
-//  connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
-//          SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
+    //  connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
+    //          SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
 
     connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
             SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
-
 }
 
-void MainWindow::showToolWidget()
+void MainWindow::showToolWidget(bool visible)
 {
-    QAction* temp = qobject_cast<QAction *>(sender());
-    int tool = temp->data().toInt();
-
-    if (temp && dockWidgets[tool])
+    if (!aboutToCloseFlag && !changingViewsFlag)
     {
-        if (temp->isChecked())
-        {
-            addDockWidget(dockWidgetLocations[tool], qobject_cast<QDockWidget *> (dockWidgets[tool]));
-            qobject_cast<QDockWidget *>(dockWidgets[tool])->show();
-        }
-        else
+        QAction* action = qobject_cast<QAction *>(sender());
+        int tool = action->data().toInt();
+
+        QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);
+
+        if (action && dockWidget)
         {
-            removeDockWidget(qobject_cast<QDockWidget *>(dockWidgets[tool]));
+            if (visible)
+            {
+                addDockWidget(dockWidgetLocations[tool], dockWidget);
+                dockWidget->show();
+            }
+
+            if (!visible && dockWidget->isVisible())
+            {
+                removeDockWidget(dockWidget);
+            }
+
+
+                QHashIterator<int, QWidget*> i(dockWidgets);
+                while (i.hasNext())
+                {
+                    i.next();
+                    if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget)
+                    {
+                        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
+                        settings.setValue(chKey,visible);
+                        qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
+                        break;
+                    }
+                }
         }
     }
-
 }
 
 
@@ -767,6 +823,8 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
 
     tempVisible =  settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();
 
+     qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;
+
     if (tempWidget)
     {
         toolsMenuActions[widget]->setChecked(tempVisible);
@@ -785,12 +843,14 @@ void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
     //        }
     //    }
 
-    if ((tempWidget != NULL) && tempVisible)
+    if (tempWidget != NULL)
     {
-        addDockWidget(tempLocation, tempWidget);
-        tempWidget->show();
+        if (tempVisible)
+        {
+            addDockWidget(tempLocation, tempWidget);
+            tempWidget->show();
+        }
     }
-
 }
 
 QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view)
@@ -802,11 +862,11 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t
              UASManager::instance()->getActiveUAS()->getAutopilotType():
              -1;
 
-    return (QString::number(apType) + "/" +
-            QString::number(SECTION_MENU) + "/" +
-            QString::number(view) + "/" +
-            QString::number(tool) + "/" +
-            QString::number(section) + "/" );
+    return (QString::number(apType) + "_" +
+            QString::number(SECTION_MENU) + "_" +
+            QString::number(view) + "_" +
+            QString::number(tool) + "_" +
+            QString::number(section) + "_" );
 }
 
 void MainWindow::closeEvent(QCloseEvent *event)
@@ -824,6 +884,29 @@ void MainWindow::closeEvent(QCloseEvent *event)
     QMainWindow::closeEvent(event);
 }
 
+void MainWindow::showDockWidget (bool vis)
+{
+    if (!aboutToCloseFlag && !changingViewsFlag)
+    {
+        QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
+
+        if (temp)
+        {
+            QHashIterator<int, QWidget*> i(dockWidgets);
+            while (i.hasNext())
+            {
+                i.next();
+                if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
+                {
+                    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
+                    settings.setValue(chKey,vis);
+                    toolsMenuActions[i.key()]->setChecked(vis);
+                    break;
+                }
+            }
+        }
+    }
+}
 
 void MainWindow::updateVisibilitySettings (bool vis)
 {
@@ -834,9 +917,11 @@ void MainWindow::updateVisibilitySettings (bool vis)
         if (temp)
         {
             QHashIterator<int, QWidget*> i(dockWidgets);
-        while (i.hasNext()) {
+            while (i.hasNext())
+            {
                 i.next();
-          if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
+                if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
+                {
                     QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                     settings.setValue(chKey,vis);
                     toolsMenuActions[i.key()]->setChecked(vis);
@@ -1163,6 +1248,7 @@ void MainWindow::connectCommonActions()
     connect(ui.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
     connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
     connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
+    connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
 
     connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
     connect(ui.actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
@@ -1309,8 +1395,13 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     if (uas != NULL)
     {
-        // The pilot view was not available on startup, enable it now
+        // Set default settings
+        setDefaultSettingsForAp();
+
+        // The pilot, operator and engineer views were not available on startup, enable them now
         ui.actionPilotsView->setEnabled(true);
+        ui.actionOperatorsView->setEnabled(true);
+        ui.actionEngineersView->setEnabled(true);
 
         QIcon icon;
         // Set matching icon
@@ -1404,6 +1495,7 @@ void MainWindow::UASCreated(UASInterface* uas)
                 //                }
                 //              }
                 //            }
+
             }
             break;
         default:
@@ -1424,8 +1516,6 @@ void MainWindow::UASCreated(UASInterface* uas)
                 connectPxActions();
             }
             break;
-
-            loadOperatorView();
         }
 
         // Change the view only if this is the first UAS
@@ -1439,19 +1529,31 @@ void MainWindow::UASCreated(UASInterface* uas)
             // Load last view if setting is present
             if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
             {
+                clearView();
                 int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
-                currentView = (VIEW_SECTIONS) view;
-                presentView();
-
-                // Restore the widget positions and size
-                if (settings.contains(getWindowStateKey()))
+                switch (view)
                 {
-                    restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
+                case VIEW_ENGINEER:
+                    loadEngineerView();
+                    break;
+                case VIEW_MAVLINK:
+                    loadMAVLinkView();
+                    break;
+                case VIEW_PILOT:
+                    loadPilotView();
+                    break;
+                case VIEW_UNCONNECTED:
+                    loadUnconnectedView();
+                    break;
+                case VIEW_OPERATOR:
+                default:
+                    loadOperatorView();
+                    break;
                 }
             }
             else
             {
-                loadEngineerView();
+                loadOperatorView();
             }
         }
 
@@ -1469,7 +1571,7 @@ void MainWindow::UASCreated(UASInterface* uas)
 void MainWindow::clearView()
 {
     // Save current state
-    if (UASManager::instance()->getActiveUAS()) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
+    if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
     settings.setValue(getWindowGeometryKey(), saveGeometry());
 
     QAction* temp;
@@ -1482,12 +1584,12 @@ void MainWindow::clearView()
 
         if (temp)
         {
-            //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
+            qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
             settings.setValue(chKey,temp->isChecked());
         }
         else
         {
-            //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
+            qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
             settings.setValue(chKey,false);
         }
     }
@@ -1504,11 +1606,8 @@ void MainWindow::clearView()
         if (dockWidget)
         {
             // Remove dock widget from main window
-            //this->removeDockWidget(dockWidget);
-            dockWidget->setVisible(false);
-            // Deletion of dockWidget would also delete all child
-            // widgets of dockWidget
-            // Is there a way to unset a widget from QDockWidget?
+            removeDockWidget(dockWidget);
+            //dockWidget->setVisible(false);
         }
     }
     changingViewsFlag = false;
@@ -1518,11 +1617,10 @@ void MainWindow::loadEngineerView()
 {
     if (currentView != VIEW_ENGINEER)
     {
-    clearView();
-
-    currentView = VIEW_ENGINEER;
-
-    presentView();
+        clearView();
+        currentView = VIEW_ENGINEER;
+        ui.actionEngineersView->setChecked(true);
+        presentView();
     }
 }
 
@@ -1530,11 +1628,21 @@ void MainWindow::loadOperatorView()
 {
     if (currentView != VIEW_OPERATOR)
     {
-    clearView();
-
-    currentView = VIEW_OPERATOR;
+        clearView();
+        currentView = VIEW_OPERATOR;
+        ui.actionOperatorsView->setChecked(true);
+        presentView();
+    }
+}
 
-    presentView();
+void MainWindow::loadUnconnectedView()
+{
+    if (currentView != VIEW_UNCONNECTED)
+    {
+        clearView();
+        currentView = VIEW_UNCONNECTED;
+        ui.actionUnconnectedView->setChecked(true);
+        presentView();
     }
 }
 
@@ -1542,11 +1650,10 @@ void MainWindow::loadPilotView()
 {
     if (currentView != VIEW_PILOT)
     {
-    clearView();
-
-    currentView = VIEW_PILOT;
-
-    presentView();
+        clearView();
+        currentView = VIEW_PILOT;
+        ui.actionPilotsView->setChecked(true);
+        presentView();
     }
 }
 
@@ -1554,11 +1661,10 @@ void MainWindow::loadMAVLinkView()
 {
     if (currentView != VIEW_MAVLINK)
     {
-    clearView();
-
-    currentView = VIEW_MAVLINK;
-
-    presentView();
+        clearView();
+        currentView = VIEW_MAVLINK;
+        ui.actionMavlinkView->setChecked(true);
+        presentView();
     }
 }
 
@@ -1589,7 +1695,6 @@ void MainWindow::presentView()
     showTheCentralWidget(CENTRAL_DATA_PLOT, currentView);
 
 
-
     // Show docked widgets based on current view and autopilot type
 
     // UAS CONTROL
@@ -1664,8 +1769,28 @@ void MainWindow::presentView()
     // MAVLINK LOG PLAYER
     showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView);
 
+    // VIDEO 1
+    showTheWidget(MENU_VIDEO_STREAM_1, currentView);
+
+    // VIDEO 2
+    showTheWidget(MENU_VIDEO_STREAM_2, currentView);
+
     this->show();
 
+    // Restore window state
+//    if (UASManager::instance()->getUASList().count() > 0)
+//    {
+//        // Restore the widget positions and size
+//        if (settings.contains(getWindowStateKey()))
+//        {
+//            restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
+//        }
+
+        if (settings.contains(getWindowGeometryKey()))
+        {
+            restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
+        }
+//    }
 }
 
 void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view)
@@ -1673,15 +1798,17 @@ void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SE
     bool tempVisible;
     QWidget* tempWidget = dockWidgets[centralWidget];
 
-    tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
-    //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
+    tempVisible =  settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
+    qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
     if (toolsMenuActions[centralWidget])
     {
+        qDebug() << "SETTING TO:" << tempVisible;
         toolsMenuActions[centralWidget]->setChecked(tempVisible);
     }
 
     if (centerStack && tempWidget && tempVisible)
     {
+        qDebug() << "ACTIVATING MAIN WIDGET";
         centerStack->setCurrentWidget(tempWidget);
     }
 }
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index cb78a0738234993e82c9a042ab7cc67d59bdb3c9..25504031af09bbb1e7c99870d1d1963c9bf8e4f3 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -112,6 +112,8 @@ public slots:
     void stopVideoCapture();
     void saveScreen();
 
+    /** @brief Load default view when no MAV is connected */
+    void loadUnconnectedView();
     /** @brief Load view for pilot */
     void loadPilotView();
     /** @brief Load view for engineer */
@@ -166,7 +168,7 @@ public slots:
      * It shows the QDockedWidget based on the action sender
      *
      */
-    void showToolWidget();
+    void showToolWidget(bool visible);
 
     /**
      * @brief Shows a Widget from the center stack based on the action sender
@@ -177,8 +179,10 @@ public slots:
      */
     void showCentralWidget();
 
+    /** @brief Change actively a QDockWidgets visibility by an action */
+    void showDockWidget(bool vis);
     /** @brief Updates a QDockWidget's checked status based on its visibility */
-    void updateVisibilitySettings (bool vis);
+    void updateVisibilitySettings(bool vis);
 
     /** @brief Updates a QDockWidget's location */
     void updateLocationSettings (Qt::DockWidgetArea location);
@@ -187,6 +191,9 @@ protected:
 
     MainWindow(QWidget *parent = 0);
 
+    /** @brief Set default window settings for the current autopilot type */
+    void setDefaultSettingsForAp();
+
     // These defines are used to save the settings when selecting with
     // which widgets populate the views
     // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
@@ -240,6 +247,7 @@ protected:
       VIEW_OPERATOR,
       VIEW_PILOT,
       VIEW_MAVLINK,
+      VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
     } VIEW_SECTIONS;
 
 
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index 5808be0b0053bb85beee4a4b984c4d7dceda6936..85e8412f13c36da33604b7e93a6a358969609269 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -100,7 +100,7 @@
    </widget>
    <widget class="QMenu" name="menuTools">
     <property name="title">
-     <string>Tools</string>
+     <string>Widgets</string>
     </property>
     <addaction name="actionNewCustomWidget"/>
    </widget>
@@ -121,11 +121,18 @@
     <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
     <addaction name="actionMavlinkView"/>
+    <addaction name="actionUnconnectedView"/>
+   </widget>
+   <widget class="QMenu" name="menuMain">
+    <property name="title">
+     <string>Main</string>
+    </property>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
+   <addaction name="menuMain"/>
    <addaction name="menuTools"/>
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
@@ -296,6 +303,9 @@
    <property name="text">
     <string>Operator</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+O</string>
+   </property>
   </action>
   <action name="actionEngineersView">
    <property name="checkable">
@@ -308,6 +318,9 @@
    <property name="text">
     <string>Engineer</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+E</string>
+   </property>
   </action>
   <action name="actionMavlinkView">
    <property name="checkable">
@@ -320,6 +333,9 @@
    <property name="text">
     <string>Mavlink</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+M</string>
+   </property>
   </action>
   <action name="actionReloadStyle">
    <property name="icon">
@@ -341,6 +357,9 @@
    <property name="text">
     <string>Pilot</string>
    </property>
+   <property name="shortcut">
+    <string>Meta+P</string>
+   </property>
   </action>
   <action name="actionNewCustomWidget">
    <property name="icon">
@@ -379,6 +398,21 @@
     <string>QGroundControl global settings</string>
    </property>
   </action>
+  <action name="actionUnconnectedView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Unconnected</string>
+   </property>
+   <property name="shortcut">
+    <string>Meta+U</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>
diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index 27dc8acf94cfbfe6a0939e6b6f3d5f1b24e9d0b5..0bfb64ca4beb80e5c669155058c012a79d744543 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -308,7 +308,7 @@ Pixhawk3DWidget::insertWaypoint(void)
         if (wp)
         {
             wp->setFrame(frame);
-            uas->getWaypointManager().addWaypoint(wp);
+            uas->getWaypointManager()->addWaypoint(wp);
         }
     }
 }
@@ -325,7 +325,7 @@ Pixhawk3DWidget::setWaypoint(void)
     if (uas)
     {
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         if (frame == MAV_FRAME_GLOBAL)
@@ -366,7 +366,7 @@ Pixhawk3DWidget::deleteWaypoint(void)
 {
     if (uas)
     {
-        uas->getWaypointManager().removeWaypoint(selectedWpIndex);
+        uas->getWaypointManager()->removeWaypoint(selectedWpIndex);
     }
 }
 
@@ -377,7 +377,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
     {
         bool ok;
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         double altitude = waypoint->getZ();
@@ -409,10 +409,10 @@ Pixhawk3DWidget::clearAllWaypoints(void)
     if (uas)
     {
         const QVector<Waypoint *> waypoints =
-                uas->getWaypointManager().getWaypointList();
+                uas->getWaypointManager()->getWaypointList();
         for (int i = waypoints.size() - 1; i >= 0; --i)
         {
-            uas->getWaypointManager().removeWaypoint(i);
+            uas->getWaypointManager()->removeWaypoint(i);
         }
     }
 }
diff --git a/src/ui/map3D/WaypointGroupNode.cc b/src/ui/map3D/WaypointGroupNode.cc
index 26ba1612905ad043d683df3e87105158ac21bb92..deb08f643c229d1d8312c649a10c78effa37b2c0 100644
--- a/src/ui/map3D/WaypointGroupNode.cc
+++ b/src/ui/map3D/WaypointGroupNode.cc
@@ -78,7 +78,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
             removeChild(0, getNumChildren());
         }
 
-        const QVector<Waypoint *>& list = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointList();
 
         for (int i = 0; i < list.size(); i++)
         {