diff --git a/ground/src/plugins/coreplugin/coreimpl.cpp b/ground/src/plugins/coreplugin/coreimpl.cpp
index c7d366226..87584c1d3 100644
--- a/ground/src/plugins/coreplugin/coreimpl.cpp
+++ b/ground/src/plugins/coreplugin/coreimpl.cpp
@@ -87,11 +87,10 @@ MessageManager *CoreImpl::messageManager() const
     return m_mainwindow->messageManager();
 }
 
-UAVGadgetManager *CoreImpl::uavGadgetManager() const
-{
-    return m_mainwindow->uavGadgetManager();
-}
-
+//UAVGadgetManager *CoreImpl::uavGadgetManager() const
+//{
+//    return m_mainwindow->uavGadgetManager();
+//}
 
 VariableManager *CoreImpl::variableManager() const
 {
diff --git a/ground/src/plugins/coreplugin/coreimpl.h b/ground/src/plugins/coreplugin/coreimpl.h
index d2376473f..b1c0f3a75 100644
--- a/ground/src/plugins/coreplugin/coreimpl.h
+++ b/ground/src/plugins/coreplugin/coreimpl.h
@@ -55,7 +55,7 @@ public:
     ActionManager *actionManager() const;
     UniqueIDManager *uniqueIDManager() const;
     MessageManager *messageManager() const;
-    UAVGadgetManager *uavGadgetManager() const;
+//    UAVGadgetManager *uavGadgetManager() const;
     VariableManager *variableManager() const;
     ModeManager *modeManager() const;
     MimeDatabase *mimeDatabase() const;
diff --git a/ground/src/plugins/coreplugin/coreplugin.cpp b/ground/src/plugins/coreplugin/coreplugin.cpp
index 34b2db61a..43241cf29 100644
--- a/ground/src/plugins/coreplugin/coreplugin.cpp
+++ b/ground/src/plugins/coreplugin/coreplugin.cpp
@@ -27,6 +27,7 @@
  */
 
 #include "coreplugin.h"
+#include "coreimpl.h"
 #include "mainwindow.h"
 #include "modemanager.h"
 #include "uavgadgetmode.h"
@@ -39,16 +40,19 @@
 using namespace Core::Internal;
 
 CorePlugin::CorePlugin() :
-    m_mainWindow(new MainWindow),
-    m_uavGadgetMode(0)
+    m_mainWindow(new MainWindow)
+//    m_uavGadgetMode(0)
 {
 }
 
 CorePlugin::~CorePlugin()
 {
-    if (m_uavGadgetMode) {
-        removeObject(m_uavGadgetMode);
-        delete m_uavGadgetMode;
+    if (m_uavGadgetModes.count() > 0) {
+        foreach (UAVGadgetMode *mode, m_uavGadgetModes)
+        {
+            removeObject(mode);
+            delete mode;
+        }
     }
     delete m_mainWindow;
 }
@@ -58,9 +62,21 @@ bool CorePlugin::initialize(const QStringList &arguments, QString *errorMessage)
     Q_UNUSED(arguments)
     const bool success = m_mainWindow->init(errorMessage);
     if (success) {
-        UAVGadgetManager *uavGadgetManager = m_mainWindow->uavGadgetManager();
-        m_uavGadgetMode = new UAVGadgetMode(uavGadgetManager);
-        addObject(m_uavGadgetMode);
+        UAVGadgetMode *uavGadgetMode;
+        UAVGadgetManager *m_uavGadgetManager = new UAVGadgetManager(CoreImpl::instance(), m_mainWindow);
+        m_uavGadgetManager->hide();
+        uavGadgetMode = new UAVGadgetMode(m_uavGadgetManager, QString("Mode 1"),
+                                            QIcon(":/core/images/openpilot_logo_64.png"), 80, QString("Mode1"));
+        m_uavGadgetManager->setUAVGadgetMode(uavGadgetMode);
+        m_uavGadgetModes.append(uavGadgetMode);
+        addObject(uavGadgetMode);
+        m_uavGadgetManager = new UAVGadgetManager(CoreImpl::instance(), m_mainWindow);
+        m_uavGadgetManager->hide();
+        uavGadgetMode = new UAVGadgetMode(m_uavGadgetManager, QString("Mode 2"),
+                                            QIcon(":/core/images/plus.png"), 60, QString("Mode2"));
+        m_uavGadgetManager->setUAVGadgetMode(uavGadgetMode);
+        m_uavGadgetModes.append(uavGadgetMode);
+        addObject(uavGadgetMode);
     }
     return success;
 }
diff --git a/ground/src/plugins/coreplugin/coreplugin.h b/ground/src/plugins/coreplugin/coreplugin.h
index e2f3e234e..241b635bc 100644
--- a/ground/src/plugins/coreplugin/coreplugin.h
+++ b/ground/src/plugins/coreplugin/coreplugin.h
@@ -54,7 +54,7 @@ public slots:
 
 private:
     MainWindow *m_mainWindow;
-    UAVGadgetMode *m_uavGadgetMode;
+    QList<UAVGadgetMode*> m_uavGadgetModes;
 };
 
 } // namespace Internal
diff --git a/ground/src/plugins/coreplugin/icore.h b/ground/src/plugins/coreplugin/icore.h
index 7ab30f785..cd26a3a52 100644
--- a/ground/src/plugins/coreplugin/icore.h
+++ b/ground/src/plugins/coreplugin/icore.h
@@ -76,7 +76,7 @@ public:
     virtual MessageManager *messageManager() const = 0;
     virtual VariableManager *variableManager() const = 0;
     virtual ModeManager *modeManager() const = 0;
-    virtual UAVGadgetManager *uavGadgetManager() const = 0;
+//    virtual UAVGadgetManager *uavGadgetManager() const = 0;
     virtual MimeDatabase *mimeDatabase() const = 0;
 
     virtual QSettings *settings() const = 0;
diff --git a/ground/src/plugins/coreplugin/mainwindow.cpp b/ground/src/plugins/coreplugin/mainwindow.cpp
index bc9296a6d..bb6549a1f 100644
--- a/ground/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/src/plugins/coreplugin/mainwindow.cpp
@@ -110,11 +110,11 @@ MainWindow::MainWindow() :
                                             this)),
     m_actionManager(new ActionManagerPrivate(this)),
     m_variableManager(new VariableManager(this)),
-    m_viewManager(0),
+//    m_viewManager(0),
     m_modeManager(0),
     m_uavGadgetManager(0),
     m_mimeDatabase(new MimeDatabase),
-    m_rightPaneWidget(0),
+//    m_rightPaneWidget(0),
     m_versionDialog(0),
     m_activeContext(0),
     m_generalSettings(new GeneralSettings),
@@ -163,18 +163,17 @@ MainWindow::MainWindow() :
     registerDefaultContainers();
     registerDefaultActions();
 
-    m_rightPaneWidget = new RightPaneWidget();
+//    m_rightPaneWidget = new RightPaneWidget();
 
     m_modeStack = new FancyTabWidget(this);
     m_modeManager = new ModeManager(this, m_modeStack);
     //m_modeManager->addWidget(m_progressManager->progressView());
-    m_viewManager = new ViewManager(this);
+//    m_viewManager = new ViewManager(this);
     m_messageManager = new MessageManager;
-    m_uavGadgetManager = new UAVGadgetManager(m_coreImpl, this);
-    m_uavGadgetManager->hide();
+//    m_uavGadgetManager = new UAVGadgetManager(m_coreImpl, this);
+//    m_uavGadgetManager->hide();
     setCentralWidget(m_modeStack);
 
-
     connect(QApplication::instance(), SIGNAL(focusChanged(QWidget*,QWidget*)),
             this, SLOT(updateFocusWidget(QWidget*,QWidget*)));
 
@@ -204,15 +203,15 @@ MainWindow::~MainWindow()
     delete m_uniqueIDManager;
     m_uniqueIDManager = 0;
 
-    delete m_viewManager;
-    m_viewManager = 0;
+//    delete m_viewManager;
+//    m_viewManager = 0;
 
     pm->removeObject(m_coreImpl);
     delete m_coreImpl;
     m_coreImpl = 0;
 
-    delete m_rightPaneWidget;
-    m_rightPaneWidget = 0;
+//    delete m_rightPaneWidget;
+//    m_rightPaneWidget = 0;
 
     delete m_modeManager;
     m_modeManager = 0;
@@ -226,7 +225,7 @@ bool MainWindow::init(QString *errorMessage)
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     pm->addObject(m_coreImpl);
-    m_viewManager->init();
+//    m_viewManager->init();
     m_modeManager->init();
 
     pm->addObject(m_generalSettings);
@@ -242,7 +241,7 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 
 void MainWindow::extensionsInitialized()
 {
-    m_viewManager->extensionsInitalized();
+//    m_viewManager->extensionsInitalized();
 
     m_messageManager->init();
 
@@ -382,6 +381,7 @@ void MainWindow::registerDefaultContainers()
     menubar->addMenu(mwindow, Constants::G_WINDOW);
     mwindow->menu()->setTitle(tr("&Window"));
     mwindow->appendGroup(Constants::G_WINDOW_SIZE);
+    mwindow->appendGroup(Constants::G_WINDOW_HIDE_TOOLBAR);
     mwindow->appendGroup(Constants::G_WINDOW_PANES);
     mwindow->appendGroup(Constants::G_WINDOW_SPLIT);
     mwindow->appendGroup(Constants::G_WINDOW_NAVIGATE);
@@ -869,7 +869,7 @@ void MainWindow::readSettings()
 
     m_settings->endGroup();
 
-    m_rightPaneWidget->readSettings(m_settings);
+//    m_rightPaneWidget->readSettings(m_settings);
 }
 
 void MainWindow::writeSettings()
@@ -889,7 +889,7 @@ void MainWindow::writeSettings()
 
     m_settings->endGroup();
 
-    m_viewManager->saveSettings(m_settings);
+//    m_viewManager->saveSettings(m_settings);
     m_actionManager->saveSettings(m_settings);
 }
 
diff --git a/ground/src/plugins/coreplugin/mainwindow.h b/ground/src/plugins/coreplugin/mainwindow.h
index 4a19d88f3..a12c7af69 100644
--- a/ground/src/plugins/coreplugin/mainwindow.h
+++ b/ground/src/plugins/coreplugin/mainwindow.h
@@ -162,12 +162,12 @@ private:
     ActionManagerPrivate *m_actionManager;
     MessageManager *m_messageManager;
     VariableManager *m_variableManager;
-    ViewManager *m_viewManager;
+//    ViewManager *m_viewManager;
     ModeManager *m_modeManager;
     UAVGadgetManager *m_uavGadgetManager;
     MimeDatabase *m_mimeDatabase;
     FancyTabWidget *m_modeStack;
-    RightPaneWidget *m_rightPaneWidget;
+//    RightPaneWidget *m_rightPaneWidget;
     Core::BaseView *m_outputView;
     VersionDialog *m_versionDialog;
 
diff --git a/ground/src/plugins/coreplugin/modemanager.cpp b/ground/src/plugins/coreplugin/modemanager.cpp
index f0d4fa6aa..50dbc24b3 100644
--- a/ground/src/plugins/coreplugin/modemanager.cpp
+++ b/ground/src/plugins/coreplugin/modemanager.cpp
@@ -67,7 +67,7 @@ ModeManager::ModeManager(Internal::MainWindow *mainWindow, FancyTabWidget *modeS
     m_instance = this;
 
     m_actionBar = new FancyActionBar(modeStack);
-    m_modeStack->addCornerWidget(m_actionBar);
+//    m_modeStack->addCornerWidget(m_actionBar);
 
     connect(m_modeStack, SIGNAL(currentAboutToShow(int)), SLOT(currentTabAboutToChange(int)));
     connect(m_modeStack, SIGNAL(currentChanged(int)), SLOT(currentTabChanged(int)));
@@ -92,7 +92,9 @@ void ModeManager::addWidget(QWidget *widget)
 
 IMode *ModeManager::currentMode() const
 {
-    return m_modes.at(m_modeStack->currentIndex());
+    if (m_modes.count() > 0)
+        return m_modes.at(m_modeStack->currentIndex());
+    return 0;
 }
 
 int ModeManager::indexOf(const QString &id) const
diff --git a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
index 1b4279eb9..5ffa02545 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
+++ b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.cpp
@@ -28,6 +28,7 @@
 
 #include "uavgadgetmanager.h"
 #include "uavgadgetview.h"
+#include "uavgadgetmode.h"
 #include "iuavgadgetfactory.h"
 #include "iuavgadget.h"
 #include "icore.h"
@@ -77,46 +78,51 @@ static inline ExtensionSystem::PluginManager *pluginManager()
 
 //===================UAVGadgetManager=====================
 
-UAVGadgetManagerPlaceHolder *UAVGadgetManagerPlaceHolder::m_current = 0;
+//UAVGadgetManagerPlaceHolder *UAVGadgetManagerPlaceHolder::m_current = 0;
 
-UAVGadgetManagerPlaceHolder::UAVGadgetManagerPlaceHolder(Core::IMode *mode, QWidget *parent)
-    : QWidget(parent), m_mode(mode)
+UAVGadgetManagerPlaceHolder::UAVGadgetManagerPlaceHolder(Core::Internal::UAVGadgetMode *mode, QWidget *parent)
+    : QWidget(parent),
+    m_current(0),
+    m_uavGadgetMode(mode)
 {
+    m_mode = dynamic_cast<Core::IMode*>(mode);
     setLayout(new QVBoxLayout);
     layout()->setMargin(0);
     connect(Core::ModeManager::instance(), SIGNAL(currentModeChanged(Core::IMode *)),
             this, SLOT(currentModeChanged(Core::IMode *)));
 
-    //Julien: this line is crashing (I guess when no mode are added yet)
-    //currentModeChanged(Core::ModeManager::instance()->currentMode());
+    currentModeChanged(Core::ModeManager::instance()->currentMode());
 }
 
 UAVGadgetManagerPlaceHolder::~UAVGadgetManagerPlaceHolder()
 {
     if (m_current == this) {
-        UAVGadgetManager::instance()->setParent(0);
-        UAVGadgetManager::instance()->hide();
+        m_uavGadgetMode->uavGadgetManager()->setParent(0);
+        m_uavGadgetMode->uavGadgetManager()->hide();
     }
 }
 
 void UAVGadgetManagerPlaceHolder::currentModeChanged(Core::IMode *mode)
 {
+//    qDebug() << Q_FUNC_INFO << mode;
+    UAVGadgetManager *gm = m_uavGadgetMode->uavGadgetManager();
     if (m_current == this) {
         m_current = 0;
-        UAVGadgetManager::instance()->setParent(0);
-        UAVGadgetManager::instance()->hide();
+        gm->setParent(0);
+        gm->hide();
     }
     if (m_mode == mode) {
         m_current = this;
-        layout()->addWidget(UAVGadgetManager::instance());
-        UAVGadgetManager::instance()->show();
+        layout()->addWidget(gm);
+        gm->hideToolbars(gm->toolbarsHidden());
+        gm->show();
     }
 }
 
-UAVGadgetManagerPlaceHolder* UAVGadgetManagerPlaceHolder::current()
-{
-    return m_current;
-}
+//UAVGadgetManagerPlaceHolder* UAVGadgetManagerPlaceHolder::current()
+//{
+//    return m_current;
+//}
 
 // ---------------- UAVGadgetManager
 
@@ -134,23 +140,28 @@ struct UAVGadgetManagerPrivate {
     ICore *m_core;
 
     // actions
-    QAction *m_hideToolbarsAction;
-    QAction *m_splitAction;
-    QAction *m_splitSideBySideAction;
-    QAction *m_removeCurrentSplitAction;
-    QAction *m_removeAllSplitsAction;
-    QAction *m_gotoOtherSplitAction;
-    QAction *m_closeCurrentUAVGadgetAction;
+    static QAction *m_hideToolbarsAction;
+    static QAction *m_splitAction;
+    static QAction *m_splitSideBySideAction;
+    static QAction *m_removeCurrentSplitAction;
+    static QAction *m_removeAllSplitsAction;
+    static QAction *m_gotoOtherSplitAction;
 
     Internal::UAVGadgetClosingCoreListener *m_coreListener;
 };
 }
 
+QAction *UAVGadgetManagerPrivate::m_hideToolbarsAction = 0;
+QAction *UAVGadgetManagerPrivate::m_splitAction = 0;
+QAction *UAVGadgetManagerPrivate::m_splitSideBySideAction = 0;
+QAction *UAVGadgetManagerPrivate::m_removeCurrentSplitAction = 0;
+QAction *UAVGadgetManagerPrivate::m_removeAllSplitsAction = 0;
+QAction *UAVGadgetManagerPrivate::m_gotoOtherSplitAction = 0;
+
 UAVGadgetManagerPrivate::UAVGadgetManagerPrivate(ICore *core, QWidget *parent) :
     m_view(0),
     m_splitterOrView(0),
     m_core(core),
-    m_closeCurrentUAVGadgetAction(new QAction(UAVGadgetManager::tr("Close"), parent)),
     m_coreListener(0)
 {
 }
@@ -159,29 +170,18 @@ UAVGadgetManagerPrivate::~UAVGadgetManagerPrivate()
 {
 }
 
-UAVGadgetManager *UAVGadgetManager::m_instance = 0;
-
-/*static Command *createSeparator(ActionManager *am, QObject *parent,
-                                const QString &name,
-                                const QList<int> &context)
-{
-    QAction *tmpaction = new QAction(parent);
-    tmpaction->setSeparator(true);
-    Command *cmd = am->registerAction(tmpaction, name, context);
-    return cmd;
-}*/
-
 UAVGadgetManager::UAVGadgetManager(ICore *core, QWidget *parent) :
     QWidget(parent),
+    m_hidden(false),
     m_d(new UAVGadgetManagerPrivate(core, parent))
 {
   //qDebug() << Q_FUNC_INFO;
-    m_instance = this;
+//    m_instance = this;
 
 //  //qDebug() << Q_FUNC_INFO << m_d->m_core->resourcePath();
     connect(m_d->m_core, SIGNAL(contextAboutToChange(Core::IContext *)),
             this, SLOT(handleContextChange(Core::IContext *)));
-    const QList<int> gc =  QList<int>() << Constants::C_GLOBAL_ID;
+//    const QList<int> gc =  QList<int>() << Constants::C_GLOBAL_ID;
     const QList<int> uavGadgetManagerContext =
             QList<int>() << m_d->m_core->uniqueIDManager()->uniqueIdentifier(Constants::C_UAVGADGETMANAGER);
 
@@ -189,77 +189,91 @@ UAVGadgetManager::UAVGadgetManager(ICore *core, QWidget *parent) :
 
     //Window Menu
     ActionContainer *mwindow = am->actionContainer(Constants::M_WINDOW);
+    Command *cmd;
 
-    //Window menu separators
-    QAction *tmpaction = new QAction(this);
-    tmpaction->setSeparator(true);
-    Command *cmd = am->registerAction(tmpaction, QLatin1String("OpenPilot.Window.Sep.Split"), uavGadgetManagerContext);
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    // The actions m_d->m_hideToolbarsAction etc are common to all instances of UAVGadgetManager
+    // which means that they share the menu items/signals in the Window menu.
+    // That is, they all connect their slots to the same signal and have to check in the slot
+    // if the current mode is their mode, otherwise they just ignore the signal.
+    // The first UAVGadgetManager creates the actions, and the following just use them
+    // (This also implies that they share the same context.)
+    if (m_d->m_hideToolbarsAction == 0)
+    {
+        //Window menu separators
+        QAction *tmpaction = new QAction(this);
+        tmpaction->setSeparator(true);
+        cmd = am->registerAction(tmpaction, QLatin1String("OpenPilot.Window.Sep.Split"), uavGadgetManagerContext);
+        mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
 
-    m_d->m_hideToolbarsAction = new QAction(tr("Hide toolbars"), this);
-    m_d->m_hideToolbarsAction->setCheckable(true);
-    cmd = am->registerAction(m_d->m_hideToolbarsAction, Constants::HIDE_TOOLBARS, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence("Ctrl+Shift+F10"));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+        m_d->m_hideToolbarsAction = new QAction(tr("Hide toolbars"), this);
+        m_d->m_hideToolbarsAction->setCheckable(true);
+        cmd = am->registerAction(m_d->m_hideToolbarsAction, Constants::HIDE_TOOLBARS, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence("Ctrl+Shift+F10"));
+        mwindow->addAction(cmd, Constants::G_WINDOW_HIDE_TOOLBAR);
+
+        //Window menu separators
+        QAction *tmpaction2 = new QAction(this);
+        tmpaction2->setSeparator(true);
+        cmd = am->registerAction(tmpaction2, QLatin1String("OpenPilot.Window.Sep.Split2"), uavGadgetManagerContext);
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_hideToolbarsAction, SIGNAL(triggered(bool)), this, SLOT(hideToolbars(bool)));
 
-//    //Window menu separators
-    QAction *tmpaction2 = new QAction(this);
-    tmpaction2->setSeparator(true);
-    cmd = am->registerAction(tmpaction2, QLatin1String("OpenPilot.Window.Sep.Split2"), uavGadgetManagerContext);
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
-
-    //Close Action
-//  //qDebug() << Q_FUNC_INFO << "close cmd" << m_d->m_closeCurrentUAVGadgetAction;
-    cmd = am->registerAction(m_d->m_closeCurrentUAVGadgetAction, Constants::CLOSE, uavGadgetManagerContext);
-//    cmd->setDefaultKeySequence(QKeySequence(tr("Ctrl+W")));
-    cmd->setAttribute(Core::Command::CA_UpdateText);
-    cmd->setDefaultText(m_d->m_closeCurrentUAVGadgetAction->text());
-    connect(m_d->m_closeCurrentUAVGadgetAction, SIGNAL(triggered()), this, SLOT(closeUAVGadget()));
-
 #ifdef Q_WS_MAC
     QString prefix = tr("Meta+E");
 #else
     QString prefix = tr("Ctrl+E");
 #endif
 
-
-    m_d->m_splitAction = new QAction(tr("Split"), this);
-    cmd = am->registerAction(m_d->m_splitAction, Constants::SPLIT, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence(tr("%1,2").arg(prefix)));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    if (m_d->m_splitAction == 0)
+    {
+        m_d->m_splitAction = new QAction(tr("Split"), this);
+        cmd = am->registerAction(m_d->m_splitAction, Constants::SPLIT, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence(tr("%1,2").arg(prefix)));
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_splitAction, SIGNAL(triggered()), this, SLOT(split()));
 
-    m_d->m_splitSideBySideAction = new QAction(tr("Split Side by Side"), this);
-    cmd = am->registerAction(m_d->m_splitSideBySideAction, Constants::SPLIT_SIDE_BY_SIDE, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence(tr("%1,3").arg(prefix)));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    if (m_d->m_splitSideBySideAction == 0)
+    {
+        m_d->m_splitSideBySideAction = new QAction(tr("Split Side by Side"), this);
+        cmd = am->registerAction(m_d->m_splitSideBySideAction, Constants::SPLIT_SIDE_BY_SIDE, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence(tr("%1,3").arg(prefix)));
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_splitSideBySideAction, SIGNAL(triggered()), this, SLOT(splitSideBySide()));
 
-    m_d->m_removeCurrentSplitAction = new QAction(tr("Remove Current Split"), this);
-    cmd = am->registerAction(m_d->m_removeCurrentSplitAction, Constants::REMOVE_CURRENT_SPLIT, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence(tr("%1,0").arg(prefix)));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    if (m_d->m_removeCurrentSplitAction == 0)
+    {
+        m_d->m_removeCurrentSplitAction = new QAction(tr("Remove Current Split"), this);
+        cmd = am->registerAction(m_d->m_removeCurrentSplitAction, Constants::REMOVE_CURRENT_SPLIT, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence(tr("%1,0").arg(prefix)));
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_removeCurrentSplitAction, SIGNAL(triggered()), this, SLOT(removeCurrentSplit()));
 
-    m_d->m_removeAllSplitsAction = new QAction(tr("Remove All Splits"), this);
-    cmd = am->registerAction(m_d->m_removeAllSplitsAction, Constants::REMOVE_ALL_SPLITS, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence(tr("%1,1").arg(prefix)));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    if (m_d->m_removeAllSplitsAction == 0)
+    {
+        m_d->m_removeAllSplitsAction = new QAction(tr("Remove All Splits"), this);
+        cmd = am->registerAction(m_d->m_removeAllSplitsAction, Constants::REMOVE_ALL_SPLITS, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence(tr("%1,1").arg(prefix)));
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_removeAllSplitsAction, SIGNAL(triggered()), this, SLOT(removeAllSplits()));
 
-    m_d->m_gotoOtherSplitAction = new QAction(tr("Goto Other Split"), this);
-    cmd = am->registerAction(m_d->m_gotoOtherSplitAction, Constants::GOTO_OTHER_SPLIT, uavGadgetManagerContext);
-    cmd->setDefaultKeySequence(QKeySequence(tr("%1,o").arg(prefix)));
-    mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    if (m_d->m_gotoOtherSplitAction == 0)
+    {
+        m_d->m_gotoOtherSplitAction = new QAction(tr("Goto Other Split"), this);
+        cmd = am->registerAction(m_d->m_gotoOtherSplitAction, Constants::GOTO_OTHER_SPLIT, uavGadgetManagerContext);
+        cmd->setDefaultKeySequence(QKeySequence(tr("%1,o").arg(prefix)));
+        mwindow->addAction(cmd, Constants::G_WINDOW_SPLIT);
+    }
     connect(m_d->m_gotoOtherSplitAction, SIGNAL(triggered()), this, SLOT(gotoOtherSplit()));
 
-
     // other setup
-    m_d->m_splitterOrView = new SplitterOrView(0, true);
+    m_d->m_splitterOrView = new SplitterOrView(this, 0, true);
     m_d->m_view = m_d->m_splitterOrView->view();
 
-
     QHBoxLayout *layout = new QHBoxLayout(this);
     layout->setMargin(0);
     layout->setSpacing(0);
@@ -430,7 +444,7 @@ bool UAVGadgetManager::closeAllUAVGadgets()
 {
 //    if (closeUAVGadgets(openedUAVGadgets())) {
 //        m_d->clearNavigationHistory();
-        return true;
+//        return true;
 //    }
     return true;
 }
@@ -614,7 +628,7 @@ void UAVGadgetManager::ensureUAVGadgetManagerVisible()
 {
   //qDebug() << Q_FUNC_INFO;
     if (!isVisible())
-        m_d->m_core->modeManager()->activateMode(Constants::MODE_UAVGADGET);
+        m_d->m_core->modeManager()->activateMode(m_uavGadgetMode->uniqueModeName());
 }
 
 void UAVGadgetManager::updateActions()
@@ -752,6 +766,8 @@ void UAVGadgetManager::readSettings()
 
 void UAVGadgetManager::split(Qt::Orientation orientation)
 {
+    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+        return;
   //qDebug() << Q_FUNC_INFO;
     SplitterOrView *view = m_d->m_currentView;
 //  //qDebug() << Q_FUNC_INFO << view << m_d->m_currentUAVGadget;
@@ -779,6 +795,8 @@ void UAVGadgetManager::splitSideBySide()
 
 void UAVGadgetManager::removeCurrentSplit()
 {
+    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+        return;
   //qDebug() << Q_FUNC_INFO;
     SplitterOrView *viewToClose = m_d->m_currentView;
     if (!viewToClose && m_d->m_currentUAVGadget)
@@ -793,6 +811,8 @@ void UAVGadgetManager::removeCurrentSplit()
 
 void UAVGadgetManager::removeAllSplits()
 {
+    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+        return;
     if (!m_d->m_splitterOrView->isSplitter())
         return;
     IUAVGadget *uavGadget = m_d->m_currentUAVGadget;
@@ -805,6 +825,8 @@ void UAVGadgetManager::removeAllSplits()
 
 void UAVGadgetManager::gotoOtherSplit()
 {
+    if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+        return;
     if (m_d->m_splitterOrView->isSplitter()) {
         SplitterOrView *currentView = m_d->m_currentView;
         if (!currentView && m_d->m_currentUAVGadget)
@@ -827,7 +849,11 @@ void UAVGadgetManager::gotoOtherSplit()
 
 void UAVGadgetManager::hideToolbars(bool hide)
 {
-  //qDebug() << Q_FUNC_INFO;
+     if (m_d->m_core->modeManager()->currentMode() != m_uavGadgetMode)
+        return;
+     m_d->m_hideToolbarsAction->setChecked(hide);
+     m_hidden = hide;
+ //qDebug() << Q_FUNC_INFO;
     QList<SplitterOrView*> views;
     SplitterOrView *next = m_d->m_splitterOrView->findFirstView();
   //qDebug() << Q_FUNC_INFO << next->m_isRoot;
diff --git a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
index c23033100..ab9aafba4 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
+++ b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetmanager.h
@@ -54,6 +54,7 @@ struct UAVGadgetManagerPrivate;
 
 namespace Internal {
 
+class UAVGadgetMode;
 class UAVGadgetView;
 class SplitterOrView;
 
@@ -66,14 +67,15 @@ class CORE_EXPORT UAVGadgetManagerPlaceHolder : public QWidget
 {
     Q_OBJECT
 public:
-    UAVGadgetManagerPlaceHolder(Core::IMode *mode, QWidget *parent = 0);
+    UAVGadgetManagerPlaceHolder(Core::Internal::UAVGadgetMode *mode, QWidget *parent = 0);
     ~UAVGadgetManagerPlaceHolder();
-    static UAVGadgetManagerPlaceHolder* current();
+//    static UAVGadgetManagerPlaceHolder* current();
 private slots:
     void currentModeChanged(Core::IMode *);
 private:
     Core::IMode *m_mode;
-    static UAVGadgetManagerPlaceHolder* m_current;
+    Core::Internal::UAVGadgetMode *m_uavGadgetMode;
+    UAVGadgetManagerPlaceHolder* m_current;
 };
 
 class CORE_EXPORT UAVGadgetManager : public QWidget
@@ -86,7 +88,9 @@ public:
     explicit UAVGadgetManager(ICore *core, QWidget *parent);
     virtual ~UAVGadgetManager();
     void init();
-    static UAVGadgetManager *instance() { return m_instance; }
+    // setUAVGadgetMode should be called exactly once
+    // right after the mode has been created, and never thereafter
+    void setUAVGadgetMode(Core::Internal::UAVGadgetMode *mode) { m_uavGadgetMode = mode; }
 
     void ensureUAVGadgetManagerVisible();
 
@@ -100,6 +104,7 @@ public:
 
     void saveSettings();
     void readSettings();
+    bool toolbarsHidden() { return m_hidden; }
 
     UAVGadgetFactoryList uavGadgetFactories() const;
 
@@ -141,8 +146,9 @@ private:
     Core::Internal::UAVGadgetView *currentUAVGadgetView() const;
     IUAVGadget *pickUnusedUAVGadget() const;
 
-    static UAVGadgetManager *m_instance;
     UAVGadgetManagerPrivate *m_d;
+    Core::Internal::UAVGadgetMode *m_uavGadgetMode;
+    bool m_hidden;
 
     friend class Core::Internal::SplitterOrView;
     friend class Core::Internal::UAVGadgetView;
diff --git a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp
index 283298484..87ce49078 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp
+++ b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp
@@ -63,8 +63,9 @@ using namespace Core::Internal;
 
 // ================UAVGadgetView====================
 
-UAVGadgetView::UAVGadgetView(IUAVGadget *uavGadget, QWidget *parent) :
+UAVGadgetView::UAVGadgetView(UAVGadgetManager *uavGadgetManager, IUAVGadget *uavGadget, QWidget *parent) :
         QWidget(parent),
+        m_uavGadgetManager(uavGadgetManager),
         m_uavGadget(uavGadget),
         m_toolBar(new QWidget),
         m_defaultToolBar(new QWidget(this)),
@@ -116,8 +117,8 @@ UAVGadgetView::UAVGadgetView(IUAVGadget *uavGadget, QWidget *parent) :
     //  //qDebug() << Q_FUNC_INFO << uavGadget;
     ActionManager *am = ICore::instance()->actionManager();
     //  //qDebug() << Q_FUNC_INFO << uavGadget << am;
-    connect(am->command(Constants::CLOSE), SIGNAL(keySequenceChanged()),
-            this, SLOT(updateActionShortcuts()));
+//    connect(am->command(Constants::CLOSE), SIGNAL(keySequenceChanged()),
+//            this, SLOT(updateActionShortcuts()));
 
     updateActionShortcuts();
     //    updateActions();
@@ -140,8 +141,7 @@ void UAVGadgetView::hideToolbar(bool hide)
 void UAVGadgetView::closeView()
 {
 //    m_top->hide();
-    UAVGadgetManager *gm = CoreImpl::instance()->uavGadgetManager();
-    gm->closeView(this);
+    m_uavGadgetManager->closeView(this);
   //qDebug() << Q_FUNC_INFO;
 /*    removeUAVGadget();
     if (m_uavGadget)
@@ -228,17 +228,18 @@ void UAVGadgetView::listSelectionActivated(int index)
 void UAVGadgetView::updateActionShortcuts()
 {
   //qDebug() << Q_FUNC_INFO;
-    ActionManager *am = ICore::instance()->actionManager();
-    m_closeButton->setToolTip(am->command(Constants::CLOSE)->stringWithAppendedShortcut(UAVGadgetManager::tr("Close")));
+//    ActionManager *am = ICore::instance()->actionManager();
+//    m_closeButton->setToolTip(am->command(Constants::CLOSE)->stringWithAppendedShortcut(UAVGadgetManager::tr("Close")));
 }
 
 
-SplitterOrView::SplitterOrView(Core::IUAVGadget *uavGadget, bool isRoot)
+SplitterOrView::SplitterOrView(UAVGadgetManager *uavGadgetManager, Core::IUAVGadget *uavGadget, bool isRoot) :
+        m_uavGadgetManager(uavGadgetManager),
+        m_isRoot(isRoot)
 {    
   //qDebug() << Q_FUNC_INFO << uavGadget << isRoot;
-    m_isRoot = isRoot;
     //  //qDebug() << Q_FUNC_INFO << uavGadget << isRoot;
-    m_view = new UAVGadgetView(uavGadget);
+    m_view = new UAVGadgetView(m_uavGadgetManager, uavGadget);
     m_layout = new QStackedLayout(this);
     m_splitter = 0;
     m_layout->addWidget(m_view);
@@ -258,13 +259,13 @@ void SplitterOrView::mousePressEvent(QMouseEvent *e)
     if (e->button() != Qt::LeftButton)
         return;
     setFocus(Qt::MouseFocusReason);
-    CoreImpl::instance()->uavGadgetManager()->setCurrentView(this);
+    m_uavGadgetManager->setCurrentView(this);
 }
 
 void SplitterOrView::paintEvent(QPaintEvent *)
 {
     //  //qDebug() << Q_FUNC_INFO;
-    if (CoreImpl::instance()->uavGadgetManager()->currentSplitterOrView() != this)
+    if (m_uavGadgetManager->currentSplitterOrView() != this)
         return;
 
     if (!m_view || hasUAVGadgets())
@@ -464,18 +465,17 @@ void SplitterOrView::split(Qt::Orientation orientation)
     m_splitter = new MiniSplitter(this);
     m_splitter->setOrientation(orientation);
     m_layout->addWidget(m_splitter);
-    UAVGadgetManager *gm = CoreImpl::instance()->uavGadgetManager();
     Core::IUAVGadget *e = m_view->currentUAVGadget();
 
     SplitterOrView *view = 0;
     SplitterOrView *otherView = 0;
     if (e) {
         m_view->removeUAVGadget();
-        m_splitter->addWidget((view = new SplitterOrView(e)));
-        m_splitter->addWidget((otherView = new SplitterOrView()));
+        m_splitter->addWidget((view = new SplitterOrView(m_uavGadgetManager, e)));
+        m_splitter->addWidget((otherView = new SplitterOrView(m_uavGadgetManager)));
     } else {
-        m_splitter->addWidget((otherView = new SplitterOrView()));
-        m_splitter->addWidget((view = new SplitterOrView()));
+        m_splitter->addWidget((otherView = new SplitterOrView(m_uavGadgetManager)));
+        m_splitter->addWidget((view = new SplitterOrView(m_uavGadgetManager)));
     }
 
     //    QWidget *w = m_layout->currentWidget();
@@ -483,12 +483,12 @@ void SplitterOrView::split(Qt::Orientation orientation)
     //    m_layout->removeWidget(w);
 
     if (m_view && !m_isRoot) {
-        gm->emptyView(m_view);
+        m_uavGadgetManager->emptyView(m_view);
         delete m_view;
         m_view = 0;
     }
 
-    gm->setCurrentView(view);
+    m_uavGadgetManager->setCurrentView(view);
 }
 
 void SplitterOrView::unsplitAll()
@@ -505,7 +505,7 @@ void SplitterOrView::unsplitAll_helper()
 {
   //qDebug() << Q_FUNC_INFO;
     if (!m_isRoot && m_view)
-        CoreImpl::instance()->uavGadgetManager()->emptyView(m_view);
+        m_uavGadgetManager->emptyView(m_view);
     if (m_splitter) {
         for (int i = 0; i < m_splitter->count(); ++i) {
             if (SplitterOrView *splitterOrView = qobject_cast<SplitterOrView*>(m_splitter->widget(i))) {
@@ -522,7 +522,6 @@ void SplitterOrView::unsplit()
         return;
 
     Q_ASSERT(m_splitter->count() == 1);
-    UAVGadgetManager *em = CoreImpl::instance()->uavGadgetManager();
     SplitterOrView *childSplitterOrView = qobject_cast<SplitterOrView*>(m_splitter->widget(0));
     QSplitter *oldSplitter = m_splitter;
     m_splitter = 0;
@@ -540,7 +539,7 @@ void SplitterOrView::unsplit()
                 childView->removeUAVGadget();
                 m_view->setCurrentUAVGadget(e);
             }
-            em->emptyView(childView);
+            m_uavGadgetManager->emptyView(childView);
         } else {
             m_view = childSplitterOrView->takeView();
             m_layout->addWidget(m_view);
@@ -548,71 +547,71 @@ void SplitterOrView::unsplit()
         m_layout->setCurrentWidget(m_view);
     }
     delete oldSplitter;
-    em->setCurrentView(findFirstView());
+    m_uavGadgetManager->setCurrentView(findFirstView());
 }
 
 
 QByteArray SplitterOrView::saveState() const
 {
     QByteArray bytes;
-    /*    QDataStream stream(&bytes, QIODevice::WriteOnly);
-
-    if (m_splitter) {
-        stream << QByteArray("splitter")
-                << (qint32)m_splitter->orientation()
-                << m_splitter->saveState()
-                << static_cast<SplitterOrView*>(m_splitter->widget(0))->saveState()
-                << static_cast<SplitterOrView*>(m_splitter->widget(1))->saveState();
-    } else {
-        IUAVGadget* e = uavGadget();
-        UAVGadgetManager *em = CoreImpl::instance()->uavGadgetManager();
-
-        if (e && e == em->currentUAVGadget()) {
-            stream << QByteArray("currentuavGadget")
-                    << e->file()->fileName() << e->kind() << e->saveState();
-        } else if (e) {
-            stream << QByteArray("uavGadget")
-                    << e->file()->fileName() << e->kind() << e->saveState();
-        } else {
-            stream << QByteArray("empty");
-        }
-    }*/
+//    QDataStream stream(&bytes, QIODevice::WriteOnly);
+//
+//    if (m_splitter) {
+//        stream << QByteArray("splitter")
+//                << (qint32)m_splitter->orientation()
+//                << m_splitter->saveState()
+//                << static_cast<SplitterOrView*>(m_splitter->widget(0))->saveState()
+//                << static_cast<SplitterOrView*>(m_splitter->widget(1))->saveState();
+//    } else {
+//        IUAVGadget* e = uavGadget();
+//        UAVGadgetManager *em = CoreImpl::instance()->uavGadgetManager();
+//
+//        if (e && e == em->currentUAVGadget()) {
+//            stream << QByteArray("currentuavGadget")
+//                    << e->file()->fileName() << e->kind() << e->saveState();
+//        } else if (e) {
+//            stream << QByteArray("uavGadget")
+//                    << e->file()->fileName() << e->kind() << e->saveState();
+//        } else {
+//            stream << QByteArray("empty");
+//        }
+//    }
     return bytes;
 }
 
 void SplitterOrView::restoreState(const QByteArray &state)
 {
-    /*    QDataStream stream(state);
-    QByteArray mode;
-    stream >> mode;
-    if (mode == "splitter") {
-        qint32 orientation;
-        QByteArray splitter, first, second;
-        stream >> orientation >> splitter >> first >> second;
-        split((Qt::Orientation)orientation);
-        m_splitter->restoreState(splitter);
-        static_cast<SplitterOrView*>(m_splitter->widget(0))->restoreState(first);
-        static_cast<SplitterOrView*>(m_splitter->widget(1))->restoreState(second);
-    } else if (mode == "uavGadget" || mode == "currentuavGadget") {
-        UAVGadgetManager *em = CoreImpl::instance()->uavGadgetManager();
-        QString fileName;
-        QByteArray kind;
-        QByteArray uavGadgetState;
-        stream >> fileName >> kind >> uavGadgetState;
-        IUAVGadget *e = em->openUAVGadget(view(), fileName, kind, Core::UAVGadgetManager::IgnoreNavigationHistory
-                                    | Core::UAVGadgetManager::NoActivate);
-
-        if (!e) {
-            QModelIndex idx = em->openedUAVGadgetsModel()->firstRestoredUAVGadget();
-            if (idx.isValid())
-                em->activateUAVGadget(idx, view(), Core::UAVGadgetManager::IgnoreNavigationHistory
-                                    | Core::UAVGadgetManager::NoActivate);
-        }
-
-        if (e) {
-            e->restoreState(uavGadgetState);
-            if (mode == "currentuavGadget")
-                em->setCurrentUAVGadget(e);
-        }
-    }*/
+//    QDataStream stream(state);
+//    QByteArray mode;
+//    stream >> mode;
+//    if (mode == "splitter") {
+//        qint32 orientation;
+//        QByteArray splitter, first, second;
+//        stream >> orientation >> splitter >> first >> second;
+//        split((Qt::Orientation)orientation);
+//        m_splitter->restoreState(splitter);
+//        static_cast<SplitterOrView*>(m_splitter->widget(0))->restoreState(first);
+//        static_cast<SplitterOrView*>(m_splitter->widget(1))->restoreState(second);
+//    } else if (mode == "uavGadget" || mode == "currentuavGadget") {
+//        UAVGadgetManager *em = CoreImpl::instance()->uavGadgetManager();
+//        QString fileName;
+//        QByteArray kind;
+//        QByteArray uavGadgetState;
+//        stream >> fileName >> kind >> uavGadgetState;
+//        IUAVGadget *e = em->openUAVGadget(view(), fileName, kind, Core::UAVGadgetManager::IgnoreNavigationHistory
+//                                    | Core::UAVGadgetManager::NoActivate);
+//
+//        if (!e) {
+//            QModelIndex idx = em->openedUAVGadgetsModel()->firstRestoredUAVGadget();
+//            if (idx.isValid())
+//                em->activateUAVGadget(idx, view(), Core::UAVGadgetManager::IgnoreNavigationHistory
+//                                    | Core::UAVGadgetManager::NoActivate);
+//        }
+//
+//        if (e) {
+//            e->restoreState(uavGadgetState);
+//            if (mode == "currentuavGadget")
+//                em->setCurrentUAVGadget(e);
+//        }
+//    }
 }
diff --git a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h
index 51d5a860e..7a9a8f17b 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h
+++ b/ground/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h
@@ -54,6 +54,7 @@ class StyledBar;
 namespace Core {
 
 class IUAVGadget;
+class UAVGadgetManager;
 
 namespace Internal {
 
@@ -62,7 +63,7 @@ class UAVGadgetView : public QWidget
     Q_OBJECT
 
 public:
-    UAVGadgetView(IUAVGadget *uavGadget = 0, QWidget *parent = 0);
+    UAVGadgetView(UAVGadgetManager *uavGadgetManager, IUAVGadget *uavGadget = 0, QWidget *parent = 0);
     virtual ~UAVGadgetView();
 
     void removeUAVGadget();
@@ -81,6 +82,7 @@ private slots:
 private:
     void updateToolBar();
 
+    UAVGadgetManager *m_uavGadgetManager;
     IUAVGadget *m_uavGadget;
     QWidget *m_toolBar;
     QWidget *m_defaultToolBar;
@@ -96,7 +98,7 @@ class SplitterOrView  : public QWidget
 {
     Q_OBJECT
 public:
-    SplitterOrView(Core::IUAVGadget *uavGadget = 0, bool root = false);
+    SplitterOrView(UAVGadgetManager *uavGadgetManager, Core::IUAVGadget *uavGadget = 0, bool root = false);
     ~SplitterOrView();
 
     void split(Qt::Orientation orientation);
@@ -135,13 +137,11 @@ protected:
     void paintEvent(QPaintEvent *);
     void mousePressEvent(QMouseEvent *e);
 
-
 private:
     void unsplitAll_helper();
     SplitterOrView *findNextView_helper(SplitterOrView *view, bool *found);
-public:
+    UAVGadgetManager *m_uavGadgetManager;
     bool m_isRoot;
-private:
     QStackedLayout *m_layout;
     UAVGadgetView *m_view;
     QSplitter *m_splitter;
diff --git a/ground/src/plugins/coreplugin/uavgadgetmode.cpp b/ground/src/plugins/coreplugin/uavgadgetmode.cpp
index fc1a57160..513cbd690 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmode.cpp
+++ b/ground/src/plugins/coreplugin/uavgadgetmode.cpp
@@ -37,7 +37,6 @@
 #include "iuavgadget.h"
 
 #include <QtCore/QLatin1String>
-#include <QtGui/QIcon>
 #include <QtGui/QHBoxLayout>
 #include <QtGui/QWidget>
 #include <QtGui/QSplitter>
@@ -45,8 +44,11 @@
 using namespace Core;
 using namespace Core::Internal;
 
-UAVGadgetMode::UAVGadgetMode(UAVGadgetManager *uavGadgetManager) :
+UAVGadgetMode::UAVGadgetMode(UAVGadgetManager *uavGadgetManager, QString name, QIcon icon, int priority, QString uniqueName) :
     m_uavGadgetManager(uavGadgetManager),
+    m_name(name),
+    m_icon(icon),
+    m_priority(0),
     m_widget(new QWidget),
     m_layout(new QVBoxLayout)
 {
@@ -54,26 +56,18 @@ UAVGadgetMode::UAVGadgetMode(UAVGadgetManager *uavGadgetManager) :
     m_layout->setMargin(0);
     m_widget->setLayout(m_layout);
     m_layout->insertWidget(0, new Core::UAVGadgetManagerPlaceHolder(this));
-
-//    MiniSplitter *rightPaneSplitter = new MiniSplitter;
-//    rightPaneSplitter->insertWidget(0, rightSplitWidget);
-//    rightPaneSplitter->insertWidget(1, new RightPanePlaceHolder(this));
-//    rightPaneSplitter->setStretchFactor(0, 1);
-//    rightPaneSplitter->setStretchFactor(1, 0);
-//
-//    MiniSplitter *splitter = new MiniSplitter;
-//    splitter->setOrientation(Qt::Vertical);
-//    splitter->insertWidget(0, rightPaneSplitter);
-//    splitter->insertWidget(1, new Core::OutputPanePlaceHolder(this));
-//    splitter->setStretchFactor(0, 3);
-//    splitter->setStretchFactor(1, 0);
-//
-//    m_splitter->insertWidget(0, new NavigationWidgetPlaceHolder(this));
-//    m_splitter->insertWidget(1, splitter);
-//    m_splitter->setStretchFactor(0, 0);
-//    m_splitter->setStretchFactor(1, 1);
+    if (0 <= priority && priority <= 100)
+        m_priority = priority;
 
     ModeManager *modeManager = ModeManager::instance();
+    // checking that the mode name is unique gives harmless
+    // warnings on the console output
+    if (!modeManager->mode(uniqueName)) {
+        m_uniqueName = uniqueName;
+    } else {
+        // this shouldn't happen
+        m_uniqueName = uniqueName + QString::number(quint64(this));
+    }
     connect(modeManager, SIGNAL(currentModeChanged(Core::IMode*)),
             this, SLOT(grabUAVGadgetManager(Core::IMode*)));
     m_widget->setFocusProxy(m_uavGadgetManager);
@@ -81,6 +75,7 @@ UAVGadgetMode::UAVGadgetMode(UAVGadgetManager *uavGadgetManager) :
 
 UAVGadgetMode::~UAVGadgetMode()
 {
+    // TODO: see if this leftover from Qt Creator still applies
     // Make sure the uavGadget manager does not get deleted
     m_uavGadgetManager->setParent(0);
     delete m_widget;
@@ -88,17 +83,17 @@ UAVGadgetMode::~UAVGadgetMode()
 
 QString UAVGadgetMode::name() const
 {
-    return tr("UavGadget");
+    return m_name;
 }
 
 QIcon UAVGadgetMode::icon() const
 {
-    return QIcon(QLatin1String(":/core/images/openpilot_logo_64.png"));
+    return m_icon;
 }
 
 int UAVGadgetMode::priority() const
 {
-    return Constants::P_MODE_UAVGADGET;
+    return m_priority;
 }
 
 QWidget* UAVGadgetMode::widget()
@@ -108,7 +103,7 @@ QWidget* UAVGadgetMode::widget()
 
 const char* UAVGadgetMode::uniqueModeName() const
 {
-    return Constants::MODE_UAVGADGET;
+    return m_uniqueName.toAscii().data();
 }
 
 QList<int> UAVGadgetMode::context() const
diff --git a/ground/src/plugins/coreplugin/uavgadgetmode.h b/ground/src/plugins/coreplugin/uavgadgetmode.h
index ccc3999ff..401f6d6f6 100644
--- a/ground/src/plugins/coreplugin/uavgadgetmode.h
+++ b/ground/src/plugins/coreplugin/uavgadgetmode.h
@@ -32,10 +32,12 @@
 #include <coreplugin/imode.h>
 
 #include <QtCore/QObject>
+#include <QtGui/QIcon>
 
 QT_BEGIN_NAMESPACE
 class QSplitter;
 class QWidget;
+class QIcon;
 class QVBoxLayout;
 QT_END_NAMESPACE
 
@@ -50,7 +52,7 @@ class UAVGadgetMode : public Core::IMode
     Q_OBJECT
 
 public:
-    UAVGadgetMode(UAVGadgetManager *uavGadgetManager);
+    UAVGadgetMode(UAVGadgetManager *uavGadgetManager, QString name, QIcon icon, int priority, QString uniqueName);
     ~UAVGadgetMode();
 
     // IMode
@@ -60,6 +62,7 @@ public:
     QWidget* widget();
     const char* uniqueModeName() const;
     QList<int> context() const;
+    UAVGadgetManager* uavGadgetManager() const { return m_uavGadgetManager; }
 
 private slots:
     void grabUAVGadgetManager(Core::IMode *mode);
@@ -68,6 +71,10 @@ private:
     UAVGadgetManager *m_uavGadgetManager;
     QWidget *m_widget;
     QVBoxLayout *m_layout;
+    QString m_name;
+    QIcon m_icon;
+    QString m_uniqueName;
+    int m_priority;
 };
 
 } // namespace Internal