diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index d52beb03bcd04e60d13545188088e24d9311fde5..50f6486f51fd58dcd6308f3109bc048be70ef5b6 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -372,7 +372,8 @@ HEADERS += src/MG.h \
     src/ui/QGCHilXPlaneConfiguration.h \
     src/ui/designer/QGCComboBox.h \
     src/ui/designer/QGCTextLabel.h \
-    src/ui/submainwindow.h
+    src/ui/submainwindow.h \
+    src/ui/dockwidgettitlebareventfilter.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -537,7 +538,8 @@ SOURCES += src/main.cc \
     src/ui/QGCHilXPlaneConfiguration.cc \
     src/ui/designer/QGCComboBox.cc \
     src/ui/designer/QGCTextLabel.cc \
-    src/ui/submainwindow.cpp
+    src/ui/submainwindow.cpp \
+    src/ui/dockwidgettitlebareventfilter.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index d0753f1f8085b7dc51d9545394dbb254ba0de8a2..978716c92b86c1193bb84fe2ea462955fde74d21 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -38,7 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QGCHilLink.h>
 #include <QGCHilConfiguration.h>
 #include <QGCHilFlightGearConfiguration.h>
-
+#include "dockwidgettitlebareventfilter.h"
 #include "QGC.h"
 #include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
@@ -104,6 +104,7 @@ MainWindow::MainWindow(QWidget *parent):
     lowPowerMode(false)
 {
     hide();
+    dockWidgetTitleBarEnabled = true;
     isAdvancedMode = false;
     emit initStatusChanged("Loading UI Settings..");
     loadSettings();
@@ -358,7 +359,10 @@ void MainWindow::buildCustomWidget()
         QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
         if (!dock)
         {
-            QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
+            QSettings settings;
+            settings.beginGroup("QGC_MAINWINDOW");
+
+            /*QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
             dock->setObjectName(tool->objectName()+"_DOCK");
             dock->setWidget(tool);
             connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
@@ -367,13 +371,36 @@ void MainWindow::buildCustomWidget()
             connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
             connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
             widgets.at(i)->setMainMenuAction(showAction);
-            ui.menuTools->addAction(showAction);
+            ui.menuTools->addAction(showAction);*/
 
             // Load dock widget location (default is bottom)
             Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));
 
-            addDockWidget(location, dock);
-            dock->hide();
+            //addDockWidget(location, dock);
+            //dock->hide();
+            int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
+            //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);
+            settings.endGroup();
+            switch (view)
+            {
+            case VIEW_ENGINEER:
+                createDockWidget(dataView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
+            case VIEW_FLIGHT:
+                createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
+            case VIEW_SIMULATION:
+                createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
+            case VIEW_MISSION:
+                createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
+            default:
+                createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
+                break;
+            }
+
+            //createDockWidget(0,tool,tool->getTitle(),tool->objectName(),view,location);
         }
     }
 }
@@ -603,17 +630,36 @@ void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* w
 
 void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
 {
+    if (child->objectName() == "")
+    {
+        child->setObjectName(objectname);
+    }
     QDockWidget *widget = new QDockWidget(title,this);
     if (!isAdvancedMode)
     {
-        dockToTitleBarMap[widget] = widget->titleBarWidget();
-        widget->setTitleBarWidget(new QWidget(this));
+        if (dockWidgetTitleBarEnabled)
+        {
+            dockToTitleBarMap[widget] = widget->titleBarWidget();
+            QLabel *label = new QLabel(this);
+            label->setText(title);
+            widget->setTitleBarWidget(label);
+            label->installEventFilter(new DockWidgetTitleBarEventFilter());
+        }
+        else
+        {
+            dockToTitleBarMap[widget] = widget->titleBarWidget();
+            widget->setTitleBarWidget(new QWidget(this));
+        }
     }
     else
     {
-        dockToTitleBarMap[widget] = new QWidget(this);
+        QLabel *label = new QLabel(this);
+        label->setText(title);
+        dockToTitleBarMap[widget] = label;
+        label->installEventFilter(new DockWidgetTitleBarEventFilter());
+        label->hide();
     }
-    widget->setObjectName(objectname);
+    widget->setObjectName(child->objectName()+"DOCK");
     widget->setWidget(child);
     if (minheight != 0 || minwidth != 0)
     {
@@ -810,26 +856,35 @@ void MainWindow::connectCommonWidgets()
 
 void MainWindow::createCustomWidget()
 {
-    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
-    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock);
+    //void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
+    //QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
 
     if (QGCToolWidget::instances()->size() < 2)
     {
         // This is the first widget
         ui.menuTools->addSeparator();
     }
+    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
+    createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView,Qt::BottomDockWidgetArea);
+    //tool->setObjectName("UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()));
+    QSettings settings;
+    settings.beginGroup("QGC_MAINWINDOW");
+    settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
+    settings.endGroup();
+
 
-    connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
-    dock->setWidget(tool);
 
-    QAction* showAction = new QAction(tool->getTitle(), this);
-    showAction->setCheckable(true);
-    connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
-    connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
-    tool->setMainMenuAction(showAction);
-    ui.menuTools->addAction(showAction);
-    this->addDockWidget(Qt::BottomDockWidgetArea, dock);
-    dock->setVisible(true);
+    //connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
+    //dock->setWidget(tool);
+
+    //QAction* showAction = new QAction(tool->getTitle(), this);
+    //showAction->setCheckable(true);
+    //connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
+    //connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
+    //tool->setMainMenuAction(showAction);
+    //ui.menuTools->addAction(showAction);
+    //this->addDockWidget(Qt::BottomDockWidgetArea, dock);
+    //dock->setVisible(true);
 }
 
 void MainWindow::loadCustomWidget()
@@ -844,8 +899,35 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
     QGCToolWidget* tool = new QGCToolWidget("", this);
     if (tool->loadSettings(fileName, true) || !singleinstance)
     {
+        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
+        QSettings settings;
+        settings.beginGroup("QGC_MAINWINDOW");
+        //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);
+
+        int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
+        switch (view)
+        {
+        case VIEW_ENGINEER:
+            createDockWidget(dataView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            break;
+        case VIEW_FLIGHT:
+            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            break;
+        case VIEW_SIMULATION:
+            createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            break;
+        case VIEW_MISSION:
+            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            break;
+        default:
+            createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
+            break;
+        }
+
+
+        settings.endGroup();
         // Add widget to UI
-        QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
+        /*QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
         connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
         dock->setWidget(tool);
         tool->setParent(dock);
@@ -857,7 +939,7 @@ void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
         tool->setMainMenuAction(showAction);
         ui.menuTools->addAction(showAction);
         this->addDockWidget(Qt::BottomDockWidgetArea, dock);
-        dock->hide();
+        dock->hide();*/
     }
     else
     {
@@ -903,7 +985,9 @@ void MainWindow::loadSettings()
     autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
     currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
     lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
+    dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool();
     settings.endGroup();
+    enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
 }
 
 void MainWindow::storeSettings()
@@ -990,6 +1074,36 @@ void MainWindow::saveScreen()
         window.save(screenFileName, format.toAscii());
     }
 }
+void MainWindow::enableDockWidgetTitleBars(bool enabled)
+{
+    dockWidgetTitleBarEnabled = enabled;
+    QSettings settings;
+    settings.beginGroup("QGC_MAINWINDOW");
+    settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled);
+    settings.endGroup();
+    settings.sync();
+    if (!isAdvancedMode)
+    {
+        if (enabled)
+        {
+            for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
+            {
+                QLabel *label = new QLabel(this);
+                label->setText(i.key()->windowTitle());
+                i.key()->setTitleBarWidget(label);
+                //label->setEnabled(false);
+                label->installEventFilter(new DockWidgetTitleBarEventFilter());
+            }
+        }
+        else
+        {
+            for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
+            {
+                i.key()->setTitleBarWidget(new QWidget(this));
+            }
+        }
+    }
+}
 
 void MainWindow::enableAutoReconnect(bool enabled)
 {
@@ -1504,14 +1618,32 @@ void MainWindow::UASCreated(UASInterface* uas)
         // HIL
         showHILConfigurationWidget(uas);
 
-        // Line chart
-        /*if (!linechartWidget)
+        if (!linechartWidget)
         {
-            // Center widgets
             linechartWidget = new Linecharts(this);
+            //linechartWidget->hide();
+
+        }
+
+
+        // Line chart
+        //if (!linechartWidget)
+        //{
+
+            // Center widgets
+
+            //linechartWidget->addSystem(uas);
+
             linechartWidget->addSource(mavlinkDecoder);
-            addCentralWidget(linechartWidget, tr("Realtime Plot"));
-        }*/
+            //addCentralWidget(linechartWidget, tr("Realtime Plot"));
+            if (dataView->centralWidget() != linechartWidget)
+            {
+                dataView->setCentralWidget(linechartWidget);
+                linechartWidget->show();
+            }
+            //dataView->setCentralWidget(linechartWidget);
+            //linechartWidget->show();
+        //}
 
         // Load default custom widgets for this autopilot type
         loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
@@ -1707,6 +1839,7 @@ void MainWindow::loadViewState()
         {
             if (widgetname != "")
             {
+                qDebug() << "Loading widget:" << widgetname;
                 loadDockWidget(widgetname);
             }
         }
@@ -1745,7 +1878,6 @@ void MainWindow::setAdvancedMode()
             QWidget *widget = i.key()->titleBarWidget();
             i.key()->setTitleBarWidget(i.value());
             dockToTitleBarMap[i.key()] = widget;
-
         }
     }
 }
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 1e65684f01119d252a489169b10553273dff86fb..cae4a267c97df67898e218c53eecc27651bc642d 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -119,6 +119,12 @@ public:
         return autoReconnect;
     }
 
+    /** @brief Get title bar mode setting */
+    bool dockWidgetTitleBarsEnabled()
+    {
+        return dockWidgetTitleBarEnabled;
+    }
+
     /** @brief Get low power mode setting */
     bool lowPowerModeEnabled()
     {
@@ -186,6 +192,8 @@ public slots:
     void reloadStylesheet();
     /** @brief Let the user select the CSS style sheet */
     void selectStylesheet();
+    /** @breif Enable title bars on dock widgets when no in advanced mode */
+    void enableDockWidgetTitleBars(bool enabled);
     /** @brief Automatically reconnect last link */
     void enableAutoReconnect(bool enabled);
     /** @brief Save power by reducing update rates */
@@ -343,7 +351,7 @@ void createDockWidget(QWidget *parent,QWidget *child,QString title,QString objec
     QPointer<SubMainWindow> simView;
 
     // Center widgets
-    //QPointer<Linecharts> linechartWidget;
+    QPointer<Linecharts> linechartWidget;
     //QPointer<HUD> hudWidget;
     //QPointer<QGCVehicleConfig> configWidget;
     //QPointer<QGCMapTool> mapWidget;
@@ -436,6 +444,7 @@ private:
     QMap<QDockWidget*,QWidget*> dockToTitleBarMap;
     QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
     bool isAdvancedMode;
+    bool dockWidgetTitleBarEnabled;
     Ui::MainWindow ui;
 
     QString getWindowStateKey();
diff --git a/src/ui/QGCSettingsWidget.cc b/src/ui/QGCSettingsWidget.cc
index 4bd74e58189648a0fe184df0c7e6c36ba28bbd73..f5fb0a6d0aadc5dd245c3a67b3073550fa0bdaab 100644
--- a/src/ui/QGCSettingsWidget.cc
+++ b/src/ui/QGCSettingsWidget.cc
@@ -42,6 +42,10 @@ QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) :
     ui->lowPowerCheckBox->setChecked(MainWindow::instance()->lowPowerModeEnabled());
     connect(ui->lowPowerCheckBox, SIGNAL(clicked(bool)), MainWindow::instance(), SLOT(enableLowPowerMode(bool)));
 
+    //Dock widget title bars
+    ui->titleBarCheckBox->setChecked(MainWindow::instance()->dockWidgetTitleBarsEnabled());
+    connect(ui->titleBarCheckBox,SIGNAL(clicked(bool)),MainWindow::instance(),SLOT(enableDockWidgetTitleBars(bool)));
+
     // Style
     MainWindow::QGC_MAINWINDOW_STYLE style = (MainWindow::QGC_MAINWINDOW_STYLE)MainWindow::instance()->getStyle();
     switch (style) {
diff --git a/src/ui/QGCSettingsWidget.ui b/src/ui/QGCSettingsWidget.ui
index 9a89b8fe7ca65a8ae5e186c3e13fbf21fd39c1c2..a26ae5f7badb048180b4892c539b12368e22d52e 100644
--- a/src/ui/QGCSettingsWidget.ui
+++ b/src/ui/QGCSettingsWidget.ui
@@ -46,7 +46,7 @@
          </property>
         </widget>
        </item>
-       <item row="3" column="0">
+       <item row="4" column="0">
         <widget class="QRadioButton" name="nativeStyle">
          <property name="text">
           <string>Use native platform look and feel (Windows/Linux/Mac OS)</string>
@@ -56,14 +56,14 @@
          </property>
         </widget>
        </item>
-       <item row="4" column="0">
+       <item row="5" column="0">
         <widget class="QRadioButton" name="indoorStyle">
          <property name="text">
           <string>Use indoor mission style (black background)</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="0">
+       <item row="6" column="0">
         <widget class="QRadioButton" name="outdoorStyle">
          <property name="text">
           <string>Use outdoor mission style (light background)</string>
@@ -80,6 +80,16 @@
          </property>
         </widget>
        </item>
+       <item row="3" column="0">
+        <widget class="QCheckBox" name="titleBarCheckBox">
+         <property name="text">
+          <string>Show Docked Widget title bars when NOT in advanced Mode.</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
       </layout>
      </widget>
     </widget>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 84dd6aebcdf9b45bb3d351a75c761be2713777f3..7f976f68ae28352ac4a640f3b95a5b7d2df3061b 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -117,11 +117,13 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
     {
         settings->setArrayIndex(i);
         QString name = settings->value("TITLE", "").toString();
+        QString objname = settings->value("OBJECT_NAME", "").toString();
 
         if (!instances()->contains(name) && name.length() != 0)
         {
             //qDebug() << "CREATED WIDGET:" << name;
             QGCToolWidget* tool = new QGCToolWidget(name, parent, settings);
+            tool->setObjectName(objname);
             newWidgets.append(tool);
         }
         else if (name.length() == 0)
@@ -403,6 +405,7 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
             {
                 settings->setArrayIndex(num++);
                 settings->setValue("TITLE", instances()->values().at(i)->getTitle());
+                settings->setValue("OBJECT_NAME", instances()->values().at(i)->objectName());
                 //qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle();
             }
         }
diff --git a/src/ui/dockwidgettitlebareventfilter.cpp b/src/ui/dockwidgettitlebareventfilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca5951d7d6a0661a360eff4766e352cd7204207a
--- /dev/null
+++ b/src/ui/dockwidgettitlebareventfilter.cpp
@@ -0,0 +1,15 @@
+#include "dockwidgettitlebareventfilter.h"
+#include <QDebug>
+#include <QEvent>
+DockWidgetTitleBarEventFilter::DockWidgetTitleBarEventFilter(QObject *parent) : QObject(parent)
+{
+}
+bool DockWidgetTitleBarEventFilter::eventFilter(QObject *object,QEvent *event)
+{
+    qDebug() << event->type();
+    if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
+    {
+        return true;
+    }
+    return QObject::eventFilter(object,event);
+}
diff --git a/src/ui/dockwidgettitlebareventfilter.h b/src/ui/dockwidgettitlebareventfilter.h
new file mode 100644
index 0000000000000000000000000000000000000000..d57edef1fb862711ba55d810b34614bc38dfad0f
--- /dev/null
+++ b/src/ui/dockwidgettitlebareventfilter.h
@@ -0,0 +1,19 @@
+#ifndef DOCKWIDGETTITLEBAREVENTFILTER_H
+#define DOCKWIDGETTITLEBAREVENTFILTER_H
+
+#include <QObject>
+
+class DockWidgetTitleBarEventFilter : public QObject
+{
+    Q_OBJECT
+public:
+    explicit DockWidgetTitleBarEventFilter(QObject *parent = 0);
+protected:
+    bool eventFilter(QObject *object,QEvent *event);
+signals:
+    
+public slots:
+    
+};
+
+#endif // DOCKWIDGETTITLEBAREVENTFILTER_H