diff --git a/companion/src/simulation/debugoutput.cpp b/companion/src/simulation/debugoutput.cpp
index f894767df..dafd871c4 100644
--- a/companion/src/simulation/debugoutput.cpp
+++ b/companion/src/simulation/debugoutput.cpp
@@ -67,7 +67,7 @@ DebugOutput::DebugOutput(QWidget * parent, SimulatorInterface *simulator):
   QStringList stockFilters;
   stockFilters << "^lua[A-Z].*";
   stockFilters << "/(error|warning|-(E|W)-)/i";
-  stockFilters << "!^(GC Use|(play|load|write|find(True)?)File|convert(To|From)Simu|\\tfound( in map)?:|eeprom |f_[a-z]+\\(|(push|(p|P)op(up)?|chain)? ?Menu( .+ display)?|RamBackup).+$";
+  stockFilters << "!^(GC Use|(play|load|write|find(True)?)File|convert(To|From)Simu|\\t(not )?found( in map)?:?|eeprom |f_[a-z]+\\(|(push|(p|P)op(up)?|chain)? ?Menu( .+ display)?|RamBackup).+$";
 
   foreach (const QString & fltr, stockFilters)
     ui->filterText->addItem(fltr, "no_delete");
@@ -267,9 +267,9 @@ void DebugOutput::on_actionClearScr_triggered()
 void DebugOutput::on_actionShowFilterHelp_triggered()
 {
   // TODO : find some place better for this.
-  QString help = \
-    "<html><head><style>kbd {background-color: ghostwhite; font-size: large; white-space: nowrap;}</style></head><body>"
-    "<p>The filter supports two syntax types: basic matching with common wildcards and well as full Perl-style (<code>pcre</code>) Regular Expressions.</p>"
+  QString help = tr( \
+    "<html><head><style>kbd {background-color: palette(alternate-base); font-size: large; white-space: nowrap;}</style></head><body>"
+    "<p>The filter supports two syntax types: basic matching with common wildcards as well as full Perl-style (<code>pcre</code>) Regular Expressions.</p>"
     "<p>By default a filter will only show lines which match (<b>inclusive</b>). To make an <b>exclusive</b> filter which removes matching lines, "
       "prefix the filter expression with a <kbd>!</kbd> (exclamation mark).</p>"
     "<p>To use <b>Regular Expressions</b> (RegEx), prefix the filter text with a <kbd>/</kbd> (slash) or <kbd>^</kbd> (up caret). "
@@ -280,8 +280,9 @@ void DebugOutput::on_actionShowFilterHelp_triggered()
       "<li>If the RegEx is invalid, the filter edit field should show a red border and you will not be able to enable the filter.</li>"
       "<li>A useful resource for testing REs (with a full reference) can be found at <a href=\"http://www.regexr.com/\">http://www.regexr.com/</a></li>"
     "</ul></p>"
-    "<p>To use <b>basic matching</b> just type any text. Wildcards <kbd>*</kbd> (asterisk) matches any text and <kbd>?</kbd> (question mark) matches any single character."
+    "<p>To use <b>basic matching</b> just type any text."
     "<ul>"
+      "<li>Wildcards: <kbd>*</kbd> (asterisk) matches zero or more of any character(s), and <kbd>?</kbd> (question mark) matches any single character.</li>"
       "<li>The match is always case-insensitive.</li>"
       "<li>The match always starts from the beginning of a log line. To ignore characters at the start, use a leading <kbd>*</kbd> wildcard.</li>"
       "<li>A trailing <kbd>*</kbd> is always implied (that is, matches anything to the end of the log line). To avoid this, use a RegEx.</li>"
@@ -291,7 +292,7 @@ void DebugOutput::on_actionShowFilterHelp_triggered()
     "<p>To <b>remove an entry</b> from the filter selector list, first choose it, and while in the line editor press <kbd>Shift-Delete</kbd> (or <kbd>Shift-Backspace</kbd>) key combination. "
       "The default filters cannot be removed. Up to 50 filters are stored.</p>"
     "</body></html>"
-  ;
+  );
   QMessageBox * msgbox = new QMessageBox(QMessageBox::NoIcon, tr("Debug Console Filter Help"), help, QMessageBox::Ok, this);
   msgbox->exec();
 }
@@ -341,7 +342,6 @@ QRegularExpression DebugOutput::makeRegEx(const QString & input, bool * isExlusi
     reFlags |= QRegularExpression::CaseInsensitiveOption;
     re.setPattern(output);
   }
-  // TODO : user option?
   re.setPatternOptions(reFlags);
   return re;
 }
diff --git a/companion/src/simulation/radiooutputswidget.cpp b/companion/src/simulation/radiooutputswidget.cpp
index 86162fc71..607e4dd11 100644
--- a/companion/src/simulation/radiooutputswidget.cpp
+++ b/companion/src/simulation/radiooutputswidget.cpp
@@ -234,8 +234,8 @@ void RadioOutputsWidget::setupGVarsDisplay()
     gvarsLayout->addWidget(label, gv+1, 0);
     for (int fm=0; fm < fmodes; fm++) {
       QLabel * value = new QLabel(gvarsWidget);
-      value->setAutoFillBackground(true);
       value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
+      value->setAutoFillBackground(true);
       value->setBackgroundRole(bgrole);
       value->setText("0");
       value->setStyleSheet("padding-right: .06em;");
@@ -272,43 +272,38 @@ void RadioOutputsWidget::setupLsDisplay()
   // populate logical switches
   int rows = switches / (switches > 16 ? 4 : 2);
   for (int i=0; i < switches; i++) {
-    QLabel * lsLbl = new QLabel;
-    logicalSwitchesLayout->addWidget(createLogicalSwitch(logicalSwitches, i, lsLbl), i / rows, i % rows, 1, 1);
-    m_logicSwitchMap.insert(i, lsLbl);
+    logicalSwitchesLayout->addWidget(createLogicalSwitch(logicalSwitches, i), i / rows, i % rows, 1, 1);
   }
 }
 
-QWidget * RadioOutputsWidget::createLogicalSwitch(QWidget * parent, int switchNo, QLabel * label)
+QWidget * RadioOutputsWidget::createLogicalSwitch(QWidget * parent, int switchNo)
 {
-  QFrame * swtch = new QFrame(parent);
+  QLabel * swtch = new QLabel(parent);
   swtch->setAutoFillBackground(true);
-  swtch->setFrameShape(QFrame::Panel);
-  swtch->setFrameShadow(QFrame::Raised);
+  swtch->setFrameStyle(QFrame::Panel | QFrame::Raised);
+  swtch->setLineWidth(2);
   swtch->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
-  swtch->setMaximumHeight(18);
-  QVBoxLayout * layout = new QVBoxLayout(swtch);
-  layout->setContentsMargins(2, 0, 2, 0);
-  if (label) {
-    QFont font;
-    font.setPointSize(8);
-    label->setParent(swtch);
-    label->setFont(font);
-    label->setText(RawSwitch(SWITCH_TYPE_VIRTUAL, switchNo+1).toString());
-    label->setAlignment(Qt::AlignCenter);
-    label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-    label->setAutoFillBackground(true);
-    layout->addWidget(label);
-  }
+  QFont font = swtch->font();
+  font.setBold(true);
+  swtch->setFont(font);
+  swtch->setMinimumWidth(swtch->fontMetrics().width("99") + 10);
+  font.setBold(false);
+  swtch->setFont(font);
+  swtch->setText(QString("%1").arg(RawSwitch(SWITCH_TYPE_VIRTUAL, switchNo+1).toString().remove("L"), 2, QLatin1Char('0')));
+  swtch->setAlignment(Qt::AlignCenter);
+  m_logicSwitchMap.insert(switchNo, swtch);
   return swtch;
 }
 
 // Read various values from firmware simulator and populate values in this UI
 void RadioOutputsWidget::setValues()
 {
-  static int lastPhase = 0;
+  static int lastPhase = -1;
   static TxOutputs prevOutputs = TxOutputs();
+  static bool firstGvarsRun = true;
   int currentPhase;
   TxOutputs outputs;
+  QFont font;
 
   m_simulator->getValues(outputs);
   currentPhase = m_simulator->getPhase();
@@ -328,13 +323,17 @@ void RadioOutputsWidget::setValues()
     for (ls = m_logicSwitchMap.constBegin(); ls != m_logicSwitchMap.constEnd(); ++ls) {
       if (ls.key() >= CPN_MAX_CSW || prevOutputs.vsw[ls.key()] == outputs.vsw[ls.key()])
         continue;
-      ls.value()->setBackgroundRole(outputs.vsw[ls.key()] ? QPalette::Highlight : QPalette::Background);
+      ls.value()->setBackgroundRole(outputs.vsw[ls.key()] ? QPalette::Dark : QPalette::Background);
+      ls.value()->setForegroundRole(outputs.vsw[ls.key()] ? QPalette::BrightText : QPalette::WindowText);
+      ls.value()->setFrameShadow(outputs.vsw[ls.key()] ? QFrame::Sunken : QFrame::Raised);
+      font = ls.value()->font();
+      font.setBold(outputs.vsw[ls.key()]);
+      ls.value()->setFont(font);
       prevOutputs.vsw[ls.key()] = outputs.vsw[ls.key()];
     }
   }
 
   if (ui->globalVarsWidget->isVisible()) {
-    QFont font;
     QPalette::ColorRole bgrole;
     QHash<int, QHash<int, QLabel *> >::const_iterator gv;
     QHash<int, QLabel *>::const_iterator fm;
@@ -344,22 +343,23 @@ void RadioOutputsWidget::setValues()
       for (fm = gv.value().constBegin(); fm != gv.value().constEnd(); ++fm) {
         if (fm.key() >= CPN_MAX_FLIGHT_MODES)
           continue;
-        if (currentPhase != lastPhase || prevOutputs.gvars[fm.key()][gv.key()] != outputs.gvars[fm.key()][gv.key()]) {
-          font = fm.value()->font();
-          bgrole = ((gv.key() % 2) ? QPalette::Background : QPalette::AlternateBase);
-          if (fm.key() == lastPhase) {
-            font.setBold(true);
-            bgrole = QPalette::Highlight;
-          }
-          fm.value()->setText(QString::number(outputs.gvars[fm.key()][gv.key()]));
-          fm.value()->setFont(font);
+        if (currentPhase != lastPhase || prevOutputs.gvars[fm.key()][gv.key()] != outputs.gvars[fm.key()][gv.key()] || firstGvarsRun) {
+          if (fm.key() == currentPhase)
+            bgrole = QPalette::Dark;
+          else
+            bgrole = ((gv.key() % 2) ? QPalette::Background : QPalette::AlternateBase);
           fm.value()->setBackgroundRole(bgrole);
+          fm.value()->setForegroundRole(fm.key() == currentPhase ? QPalette::BrightText : QPalette::WindowText);
+          font = fm.value()->font();
+          font.setBold(fm.key() == currentPhase);
+          fm.value()->setFont(font);
+          fm.value()->setText(QString::number(outputs.gvars[fm.key()][gv.key()]));
           prevOutputs.gvars[fm.key()][gv.key()] = outputs.gvars[fm.key()][gv.key()];
+          firstGvarsRun = false;
         }
       }
     }
   }
 
-  if (currentPhase != lastPhase)
-    lastPhase = currentPhase;
+  lastPhase = currentPhase;
 }
diff --git a/companion/src/simulation/radiooutputswidget.h b/companion/src/simulation/radiooutputswidget.h
index 972577cb5..cd1b825d7 100644
--- a/companion/src/simulation/radiooutputswidget.h
+++ b/companion/src/simulation/radiooutputswidget.h
@@ -63,7 +63,7 @@ class RadioOutputsWidget : public QWidget
     void setupChannelsDisplay();
     void setupLsDisplay();
     void setupGVarsDisplay();
-    QWidget * createLogicalSwitch(QWidget * parent, int switchNo, QLabel * label);
+    QWidget * createLogicalSwitch(QWidget * parent, int switchNo);
 
     SimulatorInterface * m_simulator;
     Firmware * m_firmware;
diff --git a/companion/src/simulation/simulatordialog.ui b/companion/src/simulation/simulatordialog.ui
index 181f4da1d..a4862824e 100644
--- a/companion/src/simulation/simulatordialog.ui
+++ b/companion/src/simulation/simulatordialog.ui
@@ -11,7 +11,7 @@
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
@@ -20,7 +20,7 @@
    <string>Companion Simulator</string>
   </property>
   <property name="windowIcon">
-   <iconset resource="../companion.qrc">
+   <iconset>
     <normaloff>:/icon.png</normaloff>:/icon.png</iconset>
   </property>
   <property name="styleSheet">
@@ -307,8 +307,6 @@
    </item>
   </layout>
  </widget>
- <resources>
-  <include location="../companion.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>
diff --git a/companion/src/simulation/simulatormainwindow.cpp b/companion/src/simulation/simulatormainwindow.cpp
index b57a02479..cf623c8d0 100644
--- a/companion/src/simulation/simulatormainwindow.cpp
+++ b/companion/src/simulation/simulatormainwindow.cpp
@@ -36,7 +36,7 @@
 
 extern AppData g;  // ensure what "g" means
 
-const quint16 SimulatorMainWindow::m_savedUiStateVersion = 1;
+const quint16 SimulatorMainWindow::m_savedUiStateVersion = 2;
 
 SimulatorMainWindow::SimulatorMainWindow(QWidget *parent, SimulatorInterface * simulator, quint8 flags, Qt::WindowFlags wflags) :
   QMainWindow(parent, wflags),
@@ -51,28 +51,21 @@ SimulatorMainWindow::SimulatorMainWindow(QWidget *parent, SimulatorInterface * s
   m_trainerDockWidget(NULL),
   m_outputsDockWidget(NULL),
   m_radioProfileId(g.sessionId()),
+  m_radioSizeConstraint(Qt::Horizontal | Qt::Vertical),
   m_firstShow(true),
-  m_showRadioTitlebar(true),
+  m_showRadioDocked(true),
   m_showMenubar(true)
 {
   ui->setupUi(this);
-  ui->centralwidget->hide();
-
-//#if (QT_VERSION >= QT_VERSION_CHECK(5, 6, 0))
-//  setDockOptions(dockOptions() | QMainWindow::GroupedDragging);
-//#endif
 
+  setCorner(Qt::TopLeftCorner, Qt::LeftDockWidgetArea);
   setCorner(Qt::BottomLeftCorner, Qt::LeftDockWidgetArea);
+  setCorner(Qt::TopRightCorner, Qt::RightDockWidgetArea);
+  setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea);
 
   m_simulatorWidget = new SimulatorDialog(this, m_simulator, flags);
 
-  m_simulatorDockWidget = new QDockWidget(m_simulatorWidget->windowTitle(), this);
-  m_simulatorDockWidget->setObjectName("RADIO_SIMULATOR");
-  m_simulatorDockWidget->setWidget(m_simulatorWidget);
-  m_simulatorDockWidget->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
-  addDockWidget(Qt::BottomDockWidgetArea, m_simulatorDockWidget);
-  // setCentralWidget(m_simulatorWidget);
-
+  toggleRadioDocked(true);
   createDockWidgets();
 
   ui->actionReloadLua->setIcon(SimulatorIcon("reload_script"));
@@ -80,8 +73,10 @@ SimulatorMainWindow::SimulatorMainWindow(QWidget *parent, SimulatorInterface * s
   ui->actionJoystickSettings->setIcon(SimulatorIcon("joystick_settings"));
   ui->actionScreenshot->setIcon(SimulatorIcon("camera"));
   ui->actionShowKeymap->setIcon(SimulatorIcon("info"));
-  ui->actionToggleRadioTitle->setIcon(ui->toolBar->toggleViewAction()->icon());
   ui->actionToggleMenuBar->setIcon(ui->toolBar->toggleViewAction()->icon());
+  ui->actionFixedRadioWidth->setIcon(ui->toolBar->toggleViewAction()->icon());
+  ui->actionFixedRadioHeight->setIcon(ui->toolBar->toggleViewAction()->icon());
+  ui->actionDockRadio->setIcon(ui->toolBar->toggleViewAction()->icon());
 
   ui->toolBar->toggleViewAction()->setShortcut(tr("Alt+T"));
   ui->toolBar->setIconSize(SimulatorIcon::toolbarIconSize(g.iconSize()));
@@ -91,10 +86,8 @@ SimulatorMainWindow::SimulatorMainWindow(QWidget *parent, SimulatorInterface * s
   addAction(ui->toolBar->toggleViewAction());
   addAction(ui->actionToggleMenuBar);
 
-  ui->menuView->addSeparator();
-  ui->menuView->addAction(ui->toolBar->toggleViewAction());
-  ui->menuView->addAction(ui->actionToggleMenuBar);
-  ui->menuView->addAction(ui->actionToggleRadioTitle);
+  ui->menuView->insertSeparator(ui->actionToggleMenuBar);
+  ui->menuView->insertAction(ui->actionToggleMenuBar, ui->toolBar->toggleViewAction());
 
   // Hide some actions based on board capabilities.
   Firmware * firmware = getCurrentFirmware();
@@ -117,23 +110,16 @@ SimulatorMainWindow::SimulatorMainWindow(QWidget *parent, SimulatorInterface * s
   connect(ui->actionShowKeymap, &QAction::triggered, this, &SimulatorMainWindow::showHelp);
   connect(ui->actionJoystickSettings, &QAction::triggered, this, &SimulatorMainWindow::openJoystickDialog);
   connect(ui->actionReloadLua, &QAction::triggered, this, &SimulatorMainWindow::luaReload);
-  connect(ui->actionToggleRadioTitle, &QAction::toggled, this, &SimulatorMainWindow::showRadioTitlebar);
-  connect(ui->actionToggleMenuBar, &QAction::toggled, this, &SimulatorMainWindow::toggleMenuBar);
+  connect(ui->actionToggleMenuBar, &QAction::toggled, this, &SimulatorMainWindow::showMenuBar);
+  connect(ui->actionFixedRadioWidth, &QAction::toggled, this, &SimulatorMainWindow::showRadioFixedWidth);
+  connect(ui->actionFixedRadioHeight, &QAction::toggled, this, &SimulatorMainWindow::showRadioFixedHeight);
+  connect(ui->actionDockRadio, &QAction::toggled, this, &SimulatorMainWindow::showRadioDocked);
   if (m_simulatorWidget) {
     connect(ui->actionScreenshot, &QAction::triggered, m_simulatorWidget, &SimulatorDialog::captureScreenshot);
     connect(ui->actionReloadRadioData, &QAction::triggered, m_simulatorWidget, &SimulatorDialog::restart);
   }
   if (m_outputsWidget)
     connect(ui->actionReloadRadioData, &QAction::triggered, m_outputsWidget, &RadioOutputsWidget::restart);
-
-  // this sets the radio widget to a fixed width while docked, freeform while floating
-  connect(m_simulatorDockWidget, &QDockWidget::topLevelChanged, [this](bool top) {
-    if (top)
-      m_simulatorWidget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-    else
-      m_simulatorWidget->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Preferred);
-  });
-
 }
 
 SimulatorMainWindow::~SimulatorMainWindow()
@@ -155,6 +141,20 @@ void SimulatorMainWindow::closeEvent(QCloseEvent *)
     delete m_outputsDockWidget;
   if (m_simulatorDockWidget)
     delete m_simulatorDockWidget;
+  else if (m_simulatorWidget)
+    delete m_simulatorWidget;
+}
+
+void SimulatorMainWindow::show()
+{
+  QMainWindow::show();
+#ifdef Q_OS_LINUX
+  // for whatever reason, w/out this workaround any floating docks may appear and get "stuck" behind other windows, eg. Terminal or Companion.
+  if (m_firstShow) {
+    restoreUiState();
+    m_firstShow = false;
+  }
+#endif
 }
 
 void SimulatorMainWindow::changeEvent(QEvent *e)
@@ -169,10 +169,10 @@ void SimulatorMainWindow::changeEvent(QEvent *e)
   }
 }
 
-QMenu* SimulatorMainWindow::createPopupMenu(){
+QMenu * SimulatorMainWindow::createPopupMenu(){
   QMenu * menu = QMainWindow::createPopupMenu();
-  menu->addAction(ui->actionToggleMenuBar);
-  menu->addAction(ui->actionToggleRadioTitle);
+  menu->clear();
+  menu->addActions(ui->menuView->actions());
   return menu;
 }
 
@@ -180,7 +180,8 @@ void SimulatorMainWindow::saveUiState()
 {
   QByteArray state;
   QDataStream stream(&state, QIODevice::WriteOnly);
-  stream << m_savedUiStateVersion << saveState() << m_showMenubar << m_showRadioTitlebar;
+  stream << m_savedUiStateVersion << saveState(m_savedUiStateVersion)
+         << m_showMenubar << m_showRadioDocked << m_radioSizeConstraint;
 
   SimulatorOptions opts = g.profile[m_radioProfileId].simulatorOptions();
   opts.windowState = state;
@@ -196,13 +197,17 @@ void SimulatorMainWindow::restoreUiState()
   QDataStream stream(state);
 
   stream >> ver;
-  if (ver && ver <= m_savedUiStateVersion)
-    stream >> windowState >> m_showMenubar >> m_showRadioTitlebar;
+  if (ver && ver <= m_savedUiStateVersion) {
+    stream >> windowState >> m_showMenubar >> m_showRadioDocked;
+    if (ver >= 2)
+      stream >> m_radioSizeConstraint;
+  }
 
-  restoreState(windowState);
-  restoreGeometry(g.profile[m_radioProfileId].simulatorOptions().windowGeometry);
-  showRadioTitlebar(m_showRadioTitlebar);
+  toggleRadioDocked(m_showRadioDocked);
+  setRadioSizePolicy(m_radioSizeConstraint);
   toggleMenuBar(m_showMenubar);
+  restoreGeometry(g.profile[m_radioProfileId].simulatorOptions().windowGeometry);
+  restoreState(windowState, m_savedUiStateVersion);
 }
 
 bool SimulatorMainWindow::setRadioData(RadioData * radioData)
@@ -236,17 +241,15 @@ void SimulatorMainWindow::createDockWidgets()
     SimulatorIcon icon("radio_outputs");
     m_outputsDockWidget = new QDockWidget(tr("Radio Outputs"), this);
     m_outputsWidget = new RadioOutputsWidget(m_simulator, getCurrentFirmware(), this);
-    m_outputsWidget->setWindowIcon(icon);
     m_outputsDockWidget->setWidget(m_outputsWidget);
     m_outputsDockWidget->setObjectName("OUTPUTS");
-    addTool(m_outputsDockWidget, Qt::BottomDockWidgetArea, icon, QKeySequence(tr("F2")));
+    addTool(m_outputsDockWidget, Qt::RightDockWidgetArea, icon, QKeySequence(tr("F2")));
   }
 
   if (!m_telemetryDockWidget) {
     SimulatorIcon icon("telemetry");
     m_telemetryDockWidget = new QDockWidget(tr("Telemetry Simulator"), this);
     TelemetrySimulator * telem = new TelemetrySimulator(this, m_simulator);
-    telem->setWindowIcon(icon);
     m_telemetryDockWidget->setWidget(telem);
     m_telemetryDockWidget->setObjectName("TELEMETRY_SIMULATOR");
     addTool(m_telemetryDockWidget, Qt::LeftDockWidgetArea, icon, QKeySequence(tr("F4")));
@@ -256,7 +259,6 @@ void SimulatorMainWindow::createDockWidgets()
     SimulatorIcon icon("trainer");
     m_trainerDockWidget = new QDockWidget(tr("Trainer Simulator"), this);
     TrainerSimulator * trainer = new TrainerSimulator(this, m_simulator);
-    trainer->setWindowIcon(icon);
     m_trainerDockWidget->setWidget(trainer);
     m_trainerDockWidget->setObjectName("TRAINER_SIMULATOR");
     addTool(m_trainerDockWidget, Qt::TopDockWidgetArea, icon, QKeySequence(tr("F5")));
@@ -266,7 +268,6 @@ void SimulatorMainWindow::createDockWidgets()
     SimulatorIcon icon("console");
     m_consoleDockWidget = new QDockWidget(tr("Debug Output"), this);
     m_consoleWidget = new DebugOutput(this, m_simulator);
-    m_consoleWidget->setWindowIcon(icon);
     m_consoleDockWidget->setWidget(m_consoleWidget);
     m_consoleDockWidget->setObjectName("CONSOLE");
     addTool(m_consoleDockWidget, Qt::RightDockWidgetArea, icon, QKeySequence(tr("F6")));
@@ -278,40 +279,148 @@ void SimulatorMainWindow::addTool(QDockWidget * widget, Qt::DockWidgetArea area,
   QAction* tempAction = widget->toggleViewAction();
   tempAction->setIcon(icon);
   tempAction->setShortcut(shortcut);
-  ui->menuView->addAction(tempAction);
+  ui->menuView->insertAction(ui->actionToggleMenuBar, tempAction);
   ui->toolBar->insertAction(ui->actionReloadLua, tempAction);
-  widget->setAllowedAreas(Qt::AllDockWidgetAreas);
   widget->setWindowIcon(icon);
+  widget->widget()->setWindowIcon(icon);
   addDockWidget(area, widget);
   widget->hide();
   widget->setFloating(true);
+
+  // Upon subsequent launches of application, any previously un-shown floating widgets get
+  //   positioned at screen location (0,0 - frameGeometry.topLeft) which is awkward at best.
+  // This ensures newly shown floating widgets don't get stuck in top left corner.
+  connect(widget, &QDockWidget::visibilityChanged, [this, widget](bool visible) {
+    if (visible && widget->isFloating() && widget->geometry().topLeft() == QPoint(0,0)) {
+      // position top left corner in middle of this parent window.
+      QPoint newPos(pos() + (geometry().bottomRight() - geometry().topLeft()) / 2);
+      widget->move(newPos);
+    }
+  });
 }
 
-void SimulatorMainWindow::showRadioTitlebar(bool show)
+void SimulatorMainWindow::showMenuBar(bool show)
 {
-  m_showRadioTitlebar = show;
-  if (show) {
-    QWidget * w = m_simulatorDockWidget->titleBarWidget();
-    if (w)
-      w->deleteLater();
-    m_simulatorDockWidget->setTitleBarWidget(0);
-  }
-  else {
-    m_simulatorDockWidget->setTitleBarWidget(new QWidget());
-  }
-  if (ui->actionToggleRadioTitle->isChecked() != show)
-    ui->actionToggleRadioTitle->setChecked(show);
-
+  if (m_showMenubar != show)
+    toggleMenuBar(show);
 }
 
 void SimulatorMainWindow::toggleMenuBar(bool show)
 {
-  m_showMenubar = show;
   ui->menubar->setVisible(show);
+  m_showMenubar = show;
   if (ui->actionToggleMenuBar->isChecked() != show)
     ui->actionToggleMenuBar->setChecked(show);
 }
 
+void SimulatorMainWindow::showRadioFixedSize(Qt::Orientation orientation, bool fixed)
+{
+  int fix = m_radioSizeConstraint;
+  if (fixed)
+    fix |= orientation;
+  else
+    fix &= ~(orientation);
+
+  if (m_radioSizeConstraint != fix)
+    setRadioSizePolicy(fix);
+}
+
+void SimulatorMainWindow::showRadioFixedWidth(bool fixed)
+{
+  showRadioFixedSize(Qt::Horizontal, fixed);
+}
+
+void SimulatorMainWindow::showRadioFixedHeight(bool fixed)
+{
+  showRadioFixedSize(Qt::Vertical, fixed);
+}
+
+void SimulatorMainWindow::setRadioSizePolicy(int fixType)
+{
+  QSizePolicy sp;
+  sp.setHorizontalPolicy((fixType & Qt::Horizontal) ? QSizePolicy::Maximum : QSizePolicy::Preferred);
+  sp.setVerticalPolicy((fixType & Qt::Vertical) ? QSizePolicy::Maximum : QSizePolicy::Preferred);
+  m_simulatorWidget->setSizePolicy(sp);
+
+  m_radioSizeConstraint = fixType;
+
+  if (ui->actionFixedRadioWidth->isChecked() != (fixType & Qt::Horizontal))
+    ui->actionFixedRadioWidth->setChecked((fixType & Qt::Horizontal));
+  if (ui->actionFixedRadioHeight->isChecked() != (fixType & Qt::Vertical))
+    ui->actionFixedRadioHeight->setChecked((fixType & Qt::Vertical));
+}
+
+void SimulatorMainWindow::showRadioDocked(bool dock)
+{
+  if (m_showRadioDocked != dock)
+    toggleRadioDocked(dock);
+}
+
+void SimulatorMainWindow::toggleRadioDocked(bool dock)
+{
+  if (!m_simulatorWidget)
+    return;
+
+  if (dock) {
+    if (m_simulatorDockWidget) {
+      m_simulatorDockWidget->setWidget(0);
+      m_simulatorDockWidget->deleteLater();
+      m_simulatorDockWidget = NULL;
+    }
+
+    QWidget * w = takeCentralWidget();
+    if (w && w != m_simulatorWidget)
+      w->deleteLater();
+    setCentralWidget(m_simulatorWidget);
+    setRadioSizePolicy(m_radioSizeConstraint);
+    ui->actionFixedRadioWidth->setEnabled(true);
+    ui->actionFixedRadioHeight->setEnabled(true);
+    m_simulatorWidget->show();
+  }
+  else {
+
+    if (m_simulatorDockWidget) {
+      m_simulatorDockWidget->deleteLater();
+      m_simulatorDockWidget = NULL;
+    }
+
+    takeCentralWidget();
+    QLabel * dummy = new QLabel("");
+    dummy->setFixedSize(0, 0);
+    dummy->setEnabled(false);
+    setCentralWidget(dummy);
+
+    m_simulatorDockWidget = new QDockWidget(m_simulatorWidget->windowTitle(), this);
+    m_simulatorDockWidget->setObjectName("RADIO_SIMULATOR");
+    m_simulatorDockWidget->setWidget(m_simulatorWidget);
+    m_simulatorDockWidget->setFeatures(QDockWidget::DockWidgetFloatable);
+    m_simulatorDockWidget->setAllowedAreas(Qt::BottomDockWidgetArea);
+    addDockWidget(Qt::BottomDockWidgetArea, m_simulatorDockWidget);
+    m_simulatorDockWidget->setFloating(true);
+    m_simulatorWidget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+    ui->actionFixedRadioWidth->setDisabled(true);
+    ui->actionFixedRadioHeight->setDisabled(true);
+    restoreDockWidget(m_simulatorDockWidget);
+    if (!m_simulatorDockWidget->isVisible())
+      m_simulatorDockWidget->show();
+    if (m_simulatorDockWidget->geometry().topLeft() == QPoint(0,0) && this->isVisible()) {
+      // default position top left corner in middle of this parent window.
+      QPoint newPos(pos() + (geometry().bottomRight() - geometry().topLeft()) / 2);
+      m_simulatorDockWidget->move(newPos);
+    }
+
+    connect(m_simulatorDockWidget, &QDockWidget::topLevelChanged, [this](bool top) {
+      showRadioDocked(!top);
+    });
+  }
+
+  m_showRadioDocked = dock;
+
+  if (ui->actionDockRadio->isChecked() != dock)
+    ui->actionDockRadio->setChecked(dock);
+
+}
+
 void SimulatorMainWindow::luaReload(bool)
 {
   // force a reload of the lua environment
diff --git a/companion/src/simulation/simulatormainwindow.h b/companion/src/simulation/simulatormainwindow.h
index db5bba39e..2250446ef 100644
--- a/companion/src/simulation/simulatormainwindow.h
+++ b/companion/src/simulation/simulatormainwindow.h
@@ -57,15 +57,22 @@ class SimulatorMainWindow : public QMainWindow
     QMenu * createPopupMenu();
 
   public slots:
+    virtual void show();
     void start();
-    void showRadioTitlebar(bool show);
-    void toggleMenuBar(bool show);
+    void showMenuBar(bool show);
+    void showRadioFixedSize(Qt::Orientation orientation, bool fixed);
+    void showRadioFixedWidth(bool fixed);
+    void showRadioFixedHeight(bool fixed);
+    void showRadioDocked(bool dock);
 
   protected slots:
     virtual void closeEvent(QCloseEvent *);
     virtual void changeEvent(QEvent *e);
     void restoreUiState();
     void saveUiState();
+    void toggleMenuBar(bool show);
+    void setRadioSizePolicy(int fixType);
+    void toggleRadioDocked(bool dock);
     void luaReload(bool);
     void openJoystickDialog(bool);
     void showHelp(bool show);
@@ -89,8 +96,9 @@ class SimulatorMainWindow : public QMainWindow
 
     QVector<keymapHelp_t> m_keymapHelp;
     int m_radioProfileId;
+    int m_radioSizeConstraint;
     bool m_firstShow;
-    bool m_showRadioTitlebar;
+    bool m_showRadioDocked;
     bool m_showMenubar;
 
     const static quint16 m_savedUiStateVersion;
diff --git a/companion/src/simulation/simulatormainwindow.ui b/companion/src/simulation/simulatormainwindow.ui
index 1520cd34c..1e7d5eab3 100644
--- a/companion/src/simulation/simulatormainwindow.ui
+++ b/companion/src/simulation/simulatormainwindow.ui
@@ -14,7 +14,7 @@
    <string>OpenTx Simulator</string>
   </property>
   <property name="windowIcon">
-   <iconset>
+   <iconset resource="../companion.qrc">
     <normaloff>:/icon.png</normaloff>:/icon.png</iconset>
   </property>
   <property name="dockNestingEnabled">
@@ -23,7 +23,14 @@
   <property name="dockOptions">
    <set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks</set>
   </property>
-  <widget class="QWidget" name="centralwidget"/>
+  <widget class="QWidget" name="centralwidget">
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+  </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">
     <rect>
@@ -40,6 +47,16 @@
     <property name="title">
      <string>View</string>
     </property>
+    <widget class="QMenu" name="menuRadio_Window">
+     <property name="title">
+      <string>Radio Window</string>
+     </property>
+     <addaction name="actionFixedRadioWidth"/>
+     <addaction name="actionFixedRadioHeight"/>
+     <addaction name="actionDockRadio"/>
+    </widget>
+    <addaction name="actionToggleMenuBar"/>
+    <addaction name="menuRadio_Window"/>
    </widget>
    <widget class="QMenu" name="menuReload">
     <property name="title">
@@ -79,7 +96,7 @@
   </widget>
   <action name="actionReloadLua">
    <property name="icon">
-    <iconset>
+    <iconset resource="../companion.qrc">
      <normaloff>:/images/simulator/icons/svg/reload_script.svg</normaloff>:/images/simulator/icons/svg/reload_script.svg</iconset>
    </property>
    <property name="text">
@@ -94,7 +111,7 @@
   </action>
   <action name="actionReloadRadioData">
    <property name="icon">
-    <iconset>
+    <iconset resource="../companion.qrc">
      <normaloff>:/images/simulator/icons/svg/restart.svg</normaloff>:/images/simulator/icons/svg/restart.svg</iconset>
    </property>
    <property name="text">
@@ -109,7 +126,7 @@
   </action>
   <action name="actionShowKeymap">
    <property name="icon">
-    <iconset>
+    <iconset resource="../companion.qrc">
      <normaloff>:/images/simulator/icons/svg/info.svg</normaloff>:/images/simulator/icons/svg/info.svg</iconset>
    </property>
    <property name="text">
@@ -124,7 +141,7 @@
   </action>
   <action name="actionJoystickSettings">
    <property name="icon">
-    <iconset>
+    <iconset resource="../companion.qrc">
      <normaloff>:/images/simulator/icons/svg/joystick_settings.svg</normaloff>:/images/simulator/icons/svg/joystick_settings.svg</iconset>
    </property>
    <property name="text">
@@ -139,7 +156,7 @@
   </action>
   <action name="actionScreenshot">
    <property name="icon">
-    <iconset>
+    <iconset resource="../companion.qrc">
      <normaloff>:/images/simulator/icons/svg/camera.svg</normaloff>:/images/simulator/icons/svg/camera.svg</iconset>
    </property>
    <property name="text">
@@ -152,15 +169,15 @@
     <string>F8</string>
    </property>
   </action>
-  <action name="actionToggleRadioTitle">
+  <action name="actionDockRadio">
    <property name="checkable">
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>Radio Titlebar</string>
+    <string>Dock In Main Window</string>
    </property>
    <property name="toolTip">
-    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The title bar on the main radio window allows you to undock it or move it around separately from the other windows. Hiding the title makes a more compact and streamlined appearance.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    <string>Show the radio in the main window or as a separate &quot;floating&quot; window.</string>
    </property>
   </action>
   <action name="actionToggleMenuBar">
@@ -177,7 +194,31 @@
     <string>Alt+M</string>
    </property>
   </action>
+  <action name="actionFixedRadioWidth">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Constrain Width</string>
+   </property>
+   <property name="toolTip">
+    <string>Set radio widget width to be a fixed size.</string>
+   </property>
+  </action>
+  <action name="actionFixedRadioHeight">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Constrain Height</string>
+   </property>
+   <property name="toolTip">
+    <string>Set radio widget height to be a fixed size.</string>
+   </property>
+  </action>
  </widget>
- <resources/>
+ <resources>
+  <include location="../companion.qrc"/>
+ </resources>
  <connections/>
 </ui>