diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index b024584a8ae74516a7032388709ce070ffd34b0a..d3a2a9d2a3ec2a0c749ec06a99a47d36eec66f42 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -183,6 +183,9 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
         setActiveUAS(UASManager::instance()->getActiveUAS());
     }
 
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
+
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
             this, SLOT(setActiveUAS(UASInterface*)));
 
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index 81ffb140d43d12c72bfdf153020f88bce25cccbd..9e04dd48641ebdbdd99314cfb8da775c9c456cf6 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -256,19 +256,21 @@ 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)
                 {
@@ -285,18 +287,20 @@ 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)
                 {
@@ -314,7 +318,7 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         }
     }
 
-    //Load tabs for general configuration
+    // Load tabs for general configuration
     foreach (QString dir,generaldir.entryList(QDir::Dirs | QDir::NoDotAndDotDot))
     {
         QPushButton *button = new QPushButton(ui->scrollAreaWidgetContents_3);
@@ -331,10 +335,10 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         buttonToWidgetMap[button] = tab;
         tab->setLayout(new QVBoxLayout());
         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();
@@ -343,14 +347,14 @@ 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 {
@@ -360,7 +364,7 @@ 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);
@@ -379,10 +383,10 @@ void QGCVehicleConfig::loadQgcConfig(bool primary)
         button->setText(dir);
         tab->setLayout(new QVBoxLayout());
         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();
@@ -392,15 +396,15 @@ 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();
@@ -412,30 +416,31 @@ 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 {
@@ -494,7 +499,7 @@ 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")
@@ -674,7 +679,16 @@ 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);
@@ -702,9 +716,9 @@ void QGCVehicleConfig::loadConfig()
                                 }
 
                                 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")
                                 {
@@ -719,7 +733,16 @@ 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);
@@ -747,31 +770,25 @@ void QGCVehicleConfig::loadConfig()
                                 }
 
                                 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();
             }
         }
@@ -785,7 +802,7 @@ void QGCVehicleConfig::loadConfig()
 
 void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 {
-    // Do nothing if system is the same or NULL
+    // Do nothing if system is the same
     if (mav == active) return;
 
     if (mav)
@@ -796,11 +813,41 @@ 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
@@ -811,7 +858,7 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     // Connect new system
     mav = active;
     if (mav)
-        {
+    {
         connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
                    SLOT(remoteControlChannelRawChanged(int,float)));
         connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
@@ -819,13 +866,13 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 
         if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
         {
-            paramToWidgetMap = systemTypeToParamMap[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()];
+            paramToWidgetMap = &systemTypeToParamMap[mav->getSystemTypeName()];
         }
 
         if (!paramTooltips.isEmpty())
@@ -842,7 +889,7 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
         updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
 
         // Since a system is now connected, enable the VehicleConfig UI.
-        //ui->tabWidget->setEnabled(true);
+        ui->tabWidget->setEnabled(true);
         ui->setButton->setEnabled(true);
         ui->refreshButton->setEnabled(true);
         ui->readButton->setEnabled(true);
@@ -1139,7 +1186,18 @@ 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)
             {
@@ -1148,14 +1206,17 @@ 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.ui b/src/ui/QGCVehicleConfig.ui
index 9bbc7af163ffb056189af2021cad08898a2665a4..24e9e663d755ed46ff6c16e6e30e67a7068f3420 100644
--- a/src/ui/QGCVehicleConfig.ui
+++ b/src/ui/QGCVehicleConfig.ui
@@ -34,8 +34,13 @@
        <height>16777215</height>
       </size>
      </property>
+<<<<<<< HEAD
      <property name="widgetResizable">
       <bool>true</bool>
+=======
+     <property name="currentIndex">
+      <number>0</number>
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
      </property>
      <widget class="QWidget" name="scrollAreaWidgetContents_3">
       <property name="geometry">
@@ -1070,9 +1075,20 @@ p, li { white-space: pre-wrap; }
              <property name="title">
               <string>Configuration</string>
              </property>
+<<<<<<< HEAD
              <layout class="QVBoxLayout" name="verticalLayout_2">
               <property name="margin">
                <number>0</number>
+=======
+             <widget class="QWidget" name="sensorContents">
+              <property name="geometry">
+               <rect>
+                <x>0</x>
+                <y>0</y>
+                <width>362</width>
+                <height>489</height>
+               </rect>
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
               </property>
               <item>
                <widget class="QScrollArea" name="scrollArea_4">
@@ -1193,11 +1209,104 @@ p, li { white-space: pre-wrap; }
            <property name="enabled">
             <bool>false</bool>
            </property>
+<<<<<<< HEAD
            <property name="toolTip">
             <string>Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them.</string>
            </property>
            <property name="statusTip">
             <string/>
+=======
+           <layout class="QVBoxLayout" name="verticalLayout_3">
+            <property name="margin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QScrollArea" name="scrollArea">
+              <property name="widgetResizable">
+               <bool>true</bool>
+              </property>
+              <widget class="QWidget" name="generalLeftContents">
+               <property name="geometry">
+                <rect>
+                 <x>0</x>
+                 <y>0</y>
+                 <width>356</width>
+                 <height>438</height>
+                </rect>
+               </property>
+               <layout class="QHBoxLayout" name="horizontalLayout_4">
+                <property name="margin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <layout class="QVBoxLayout" name="leftGeneralLayout"/>
+                </item>
+               </layout>
+              </widget>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="generalRightGroupBox">
+           <property name="title">
+            <string>Configuration</string>
+           </property>
+           <layout class="QVBoxLayout" name="verticalLayout_5">
+            <property name="margin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QScrollArea" name="scrollArea_2">
+              <property name="widgetResizable">
+               <bool>true</bool>
+              </property>
+              <widget class="QWidget" name="generalRightContents">
+               <property name="geometry">
+                <rect>
+                 <x>0</x>
+                 <y>0</y>
+                 <width>356</width>
+                 <height>438</height>
+                </rect>
+               </property>
+               <layout class="QHBoxLayout" name="horizontalLayout_5">
+                <property name="margin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <layout class="QVBoxLayout" name="rightGeneralLayout"/>
+                </item>
+               </layout>
+              </widget>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="advancedTab">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <attribute name="title">
+       <string>Advanced Config</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <item>
+          <spacer name="horizontalSpacer_9">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
            </property>
            <property name="whatsThis">
             <string/>
@@ -1247,12 +1356,106 @@ p, li { white-space: pre-wrap; }
            <property name="toolTip">
             <string>Save parameters in this view to a file on this computer.</string>
            </property>
+<<<<<<< HEAD
            <property name="statusTip">
             <string/>
+=======
+           <layout class="QVBoxLayout" name="verticalLayout_2">
+            <property name="sizeConstraint">
+             <enum>QLayout::SetNoConstraint</enum>
+            </property>
+            <property name="margin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QScrollArea" name="scrollArea_4">
+              <property name="widgetResizable">
+               <bool>true</bool>
+              </property>
+              <widget class="QWidget" name="advancedLeftContents">
+               <property name="geometry">
+                <rect>
+                 <x>0</x>
+                 <y>0</y>
+                 <width>356</width>
+                 <height>438</height>
+                </rect>
+               </property>
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <layout class="QVBoxLayout" name="verticalLayout_7">
+                <property name="margin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <layout class="QVBoxLayout" name="leftAdvancedLayout">
+                  <property name="spacing">
+                   <number>0</number>
+                  </property>
+                 </layout>
+                </item>
+               </layout>
+              </widget>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item>
+          <widget class="QGroupBox" name="advancedRightGroupBox">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
            </property>
            <property name="text">
             <string>Save (File)</string>
            </property>
+<<<<<<< HEAD
+=======
+           <layout class="QVBoxLayout" name="verticalLayout_4">
+            <property name="margin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QScrollArea" name="scrollArea_5">
+              <property name="widgetResizable">
+               <bool>true</bool>
+              </property>
+              <widget class="QWidget" name="advancedRightContents">
+               <property name="geometry">
+                <rect>
+                 <x>0</x>
+                 <y>0</y>
+                 <width>356</width>
+                 <height>438</height>
+                </rect>
+               </property>
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <layout class="QVBoxLayout" name="verticalLayout_8">
+                <property name="margin">
+                 <number>0</number>
+                </property>
+                <item>
+                 <layout class="QVBoxLayout" name="rightAdvancedLayout"/>
+                </item>
+               </layout>
+              </widget>
+             </widget>
+            </item>
+           </layout>
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
           </widget>
          </item>
         </layout>
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 8effb85e438affb9fceedb9593f4620ff79cab41..5c43eddce76117967531fcb66b702e81c1b15cbf 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)
+    if (this->uas)
     {
         UASInterface* oldUAS = UASManager::instance()->getUASForId(this->uas);
         disconnect(ui.controlButton, SIGNAL(clicked()), oldUAS, SLOT(armSystem()));
diff --git a/src/ui/uas/UASQuickView.cc b/src/ui/uas/UASQuickView.cc
index a5d81e23c00293ebab13666256d93dcf2964881f..7465b200643565c3407c7a410f34d2f0921a4220 100644
--- a/src/ui/uas/UASQuickView.cc
+++ b/src/ui/uas/UASQuickView.cc
@@ -69,6 +69,17 @@ void UASQuickView::saveSettings()
         settings.setArrayIndex(count++);
         settings.setValue("name",i.key());
         settings.setValue("type","text");
+=======
+        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(tr("longitude"));
+        this->layout()->addWidget(item);
+        uasPropertyToLabelMap["longitude"] = item;
+>>>>>>> 975f41067229245752f23de45b80ca4a7e28642d
     }
     settings.endArray();
     settings.sync();
@@ -80,6 +91,7 @@ void UASQuickView::loadSettings()
     int size = settings.beginReadArray("UAS_QUICK_VIEW_ITEMS");
     for (int i=0;i<size;i++)
     {
+<<<<<<< HEAD
         settings.setArrayIndex(i);
         QString nameval = settings.value("name").toString();
         QString typeval = settings.value("type").toString();
@@ -149,6 +161,7 @@ void UASQuickView::addUAS(UASInterface* uas)
 
 void UASQuickView::setActiveUAS(UASInterface* uas)
 {
+    // Clean up from the old UAS
     if (this->uas)
     {
         uasPropertyValueMap.clear();
@@ -259,6 +272,9 @@ void UASQuickView::valueChanged(const int uasId, const QString& name, const QStr
         {
             quickViewSelectDialog->addItem(name);
         }
+
+        // And periodically update the view.
+        updateTimer->start(1000);
     }
     uasPropertyValueMap[name] = value;
 }