diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp
index b468adf02..2a1996729 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetfactory.cpp
@@ -58,5 +58,8 @@ IOptionsPage *ConfigGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *co
 
 void ConfigGadgetFactory::startInputWizard()
 {
-    gadgetWidget->startInputWizard();
+    if(gadgetWidget)
+    {
+        gadgetWidget->startInputWizard();
+    }
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
index 2df3f9e79..5c445d5ba 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
@@ -29,6 +29,7 @@
 #include <coreplugin/modemanager.h>
 #include <extensionsystem/pluginmanager.h>
 #include <configgadgetfactory.h>
+#include <QMessageBox>
 
 EndPage::EndPage(SetupWizard *wizard, QWidget *parent) :
     AbstractWizardPage(wizard, parent),
@@ -46,12 +47,19 @@ EndPage::~EndPage()
 
 void EndPage::openInputWizard()
 {
-    Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
-
-    getWizard()->close();
-
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     ConfigGadgetFactory* configGadgetFactory = pm->getObject<ConfigGadgetFactory>();
-    Q_ASSERT(configGadgetFactory);
-    configGadgetFactory->startInputWizard();
+
+    if(configGadgetFactory) {
+        Core::ModeManager::instance()->activateModeByWorkspaceName("Configuration");
+        getWizard()->close();
+        configGadgetFactory->startInputWizard();
+    }
+    else {
+        QMessageBox msgBox;
+        msgBox.setText(tr("Unable to open Input Wizard since the Config Plugin is not\nloaded in the current workspace."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui
index 75cd62c94..d69b5dd3f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui
@@ -44,9 +44,9 @@ p, li { white-space: pre-wrap; }
    <property name="geometry">
     <rect>
      <x>20</x>
-     <y>220</y>
+     <y>200</y>
      <width>561</width>
-     <height>160</height>
+     <height>181</height>
     </rect>
    </property>
    <property name="sizePolicy">
@@ -61,22 +61,36 @@ p, li { white-space: pre-wrap; }
    <property name="alignment">
     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
    </property>
-   <widget class="QPushButton" name="pwmButton">
+   <widget class="QToolButton" name="pwmButton">
     <property name="geometry">
      <rect>
       <x>50</x>
       <y>40</y>
       <width>100</width>
-      <height>100</height>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Tricopter, Quadcopter, Hexacopter, Octocopter</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>PWM
-One cable
-per channel</string>
+     <string>PWM</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-pwm-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-pwm-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-pwm-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-pwm-down.png</activeon>:/setupwizard/resources/bttn-pwm-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>100</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -87,26 +101,43 @@ per channel</string>
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
-   <widget class="QPushButton" name="ppmButton">
+   <widget class="QToolButton" name="ppmButton">
     <property name="geometry">
      <rect>
       <x>170</x>
       <y>40</y>
       <width>100</width>
-      <height>100</height>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Airplane, Sloper, Jet</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>PPM
-One cable
-for all channels</string>
+     <string>PPM</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-ppm-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-ppm-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-ppm-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-ppm-down.png</activeon>:/setupwizard/resources/bttn-ppm-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>100</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -114,25 +145,43 @@ for all channels</string>
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
-   <widget class="QPushButton" name="sbusButton">
+   <widget class="QToolButton" name="sbusButton">
     <property name="geometry">
      <rect>
       <x>290</x>
       <y>40</y>
       <width>100</width>
-      <height>100</height>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Airplane, Sloper, Jet</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>Futaba
-S.Bus</string>
+     <string>Futaba</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-sbus-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-sbus-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-sbus-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-sbus-down.png</activeon>:/setupwizard/resources/bttn-sbus-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>100</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -140,25 +189,43 @@ S.Bus</string>
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
-   <widget class="QPushButton" name="spectrumButton">
+   <widget class="QToolButton" name="spectrumButton">
     <property name="geometry">
      <rect>
       <x>410</x>
       <y>40</y>
       <width>100</width>
-      <height>100</height>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Airplane, Sloper, Jet</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>Spectrum
-Satellite</string>
+     <string>Spectrum</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-sat-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-sat-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-sat-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-sat-down.png</activeon>:/setupwizard/resources/bttn-sat-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>100</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -166,12 +233,17 @@ Satellite</string>
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
   </widget>
  </widget>
- <resources/>
+ <resources>
+  <include location="../wizardResources.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputpage.ui
index 37cd5c209..13b95bd6b 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/outputpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/outputpage.ui
@@ -44,9 +44,9 @@ p, li { white-space: pre-wrap; }
    <property name="geometry">
     <rect>
      <x>20</x>
-     <y>220</y>
+     <y>200</y>
      <width>561</width>
-     <height>161</height>
+     <height>181</height>
     </rect>
    </property>
    <property name="sizePolicy">
@@ -61,21 +61,36 @@ p, li { white-space: pre-wrap; }
    <property name="alignment">
     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
    </property>
-   <widget class="QPushButton" name="defaultESCButton">
+   <widget class="QToolButton" name="defaultESCButton">
     <property name="geometry">
      <rect>
-      <x>290</x>
+      <x>300</x>
       <y>40</y>
-      <width>100</width>
-      <height>100</height>
+      <width>200</width>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Tricopter, Quadcopter, Hexacopter, Octocopter</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>Legacy ESC
-50 Hz</string>
+     <string>Standard ESC</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-ESC-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-ESC-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-ESC-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-ESC-down.png</activeon>:/setupwizard/resources/bttn-ESC-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>200</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -86,25 +101,43 @@ p, li { white-space: pre-wrap; }
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
-   <widget class="QPushButton" name="rapidESCButton">
+   <widget class="QToolButton" name="rapidESCButton">
     <property name="geometry">
      <rect>
-      <x>160</x>
+      <x>60</x>
       <y>40</y>
-      <width>100</width>
-      <height>100</height>
+      <width>200</width>
+      <height>120</height>
      </rect>
     </property>
     <property name="toolTip">
      <string>Airplane, Sloper, Jet</string>
     </property>
+    <property name="styleSheet">
+     <string notr="true">QToolButton { border: none }</string>
+    </property>
     <property name="text">
-     <string>Rapid ESC
-400 Hz</string>
+     <string>Rapid ESC</string>
+    </property>
+    <property name="icon">
+     <iconset resource="../wizardResources.qrc">
+      <normaloff>:/setupwizard/resources/bttn-rapid-up.png</normaloff>
+      <normalon>:/setupwizard/resources/bttn-rapid-down.png</normalon>
+      <activeoff>:/setupwizard/resources/bttn-rapid-down.png</activeoff>
+      <activeon>:/setupwizard/resources/bttn-rapid-down.png</activeon>:/setupwizard/resources/bttn-rapid-up.png</iconset>
+    </property>
+    <property name="iconSize">
+     <size>
+      <width>200</width>
+      <height>100</height>
+     </size>
     </property>
     <property name="checkable">
      <bool>true</bool>
@@ -115,12 +148,17 @@ p, li { white-space: pre-wrap; }
     <property name="autoExclusive">
      <bool>true</bool>
     </property>
-    <property name="flat">
-     <bool>false</bool>
+    <property name="toolButtonStyle">
+     <enum>Qt::ToolButtonTextUnderIcon</enum>
+    </property>
+    <property name="autoRaise">
+     <bool>true</bool>
     </property>
    </widget>
   </widget>
  </widget>
- <resources/>
+ <resources>
+  <include location="../wizardResources.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-down.png
new file mode 100644
index 000000000..26899fb5a
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-up.png
new file mode 100644
index 000000000..07016ddc1
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ESC-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-down.png
new file mode 100644
index 000000000..03706d360
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-up.png
new file mode 100644
index 000000000..f58e5596b
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-ppm-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-down.png
new file mode 100644
index 000000000..72656896a
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-up.png
new file mode 100644
index 000000000..25d3624dd
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-pwm-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-down.png
new file mode 100644
index 000000000..276c26c6b
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-up.png
new file mode 100644
index 000000000..66808dca8
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-rapid-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-down.png
new file mode 100644
index 000000000..05bc35895
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-up.png
new file mode 100644
index 000000000..37e16c2cb
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sat-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-down.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-down.png
new file mode 100644
index 000000000..ffea88361
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-down.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-up.png b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-up.png
new file mode 100644
index 000000000..9937ac0b4
Binary files /dev/null and b/ground/openpilotgcs/src/plugins/setupwizard/resources/bttn-sbus-up.png differ
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index 1bac27ec5..3d61a6ed1 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -32,8 +32,8 @@
 #include "attitudesettings.h"
 #include "mixersettings.h"
 #include "systemsettings.h"
-#import "manualcontrolsettings.h"
-#import "stabilizationsettings.h"
+#include "manualcontrolsettings.h"
+#include "stabilizationsettings.h"
 
 VehicleConfigurationHelper::VehicleConfigurationHelper(VehicleConfigurationSource *configSource)
     : m_configSource(configSource), m_uavoManager(0),
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc b/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
index cb4e3d5a3..913782e7d 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
+++ b/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
@@ -12,5 +12,17 @@
         <file>resources/bttn-plane-down.png</file>
         <file>resources/bttn-plane-over.png</file>
         <file>resources/bttn-plane-up.png</file>
+        <file>resources/bttn-ESC-down.png</file>
+        <file>resources/bttn-ESC-up.png</file>
+        <file>resources/bttn-ppm-down.png</file>
+        <file>resources/bttn-ppm-up.png</file>
+        <file>resources/bttn-pwm-down.png</file>
+        <file>resources/bttn-pwm-up.png</file>
+        <file>resources/bttn-rapid-down.png</file>
+        <file>resources/bttn-rapid-up.png</file>
+        <file>resources/bttn-sat-down.png</file>
+        <file>resources/bttn-sat-up.png</file>
+        <file>resources/bttn-sbus-down.png</file>
+        <file>resources/bttn-sbus-up.png</file>
     </qresource>
 </RCC>