void Mouse6dofInput::setActiveUAS(UASInterface* uas)
{
    // Only connect / disconnect is the UAS is of a controllable UAS class
    UAS* tmp = 0;
    if (this->uas)
    {
        SkyeMAV* mav = dynamic_cast<SkyeMAV*>(tmp);
        if(mav)
        {
            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), mav, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
            disconnect(this, SIGNAL(mouseRotationActiveChanged(bool)), mav, SLOT(changeMouseRotationActive(bool)));
            disconnect(this, SIGNAL(mouseTranslationActiveChanged(bool)), mav, SLOT(changeMouseTranslationActive(bool)));
            disconnect(mav, SIGNAL(inputModeChanged(SkyeMAV::QGC_INPUT_MODE)), this, SLOT(updateInputMode(SkyeMAV::QGC_INPUT_MODE)));
        }else{
void FalseColorDock::initUi()
{
	// initialize scaled view
	view->installEventFilter(this); // needed for leave event
	view->init();
	scene = new ScaledView();
	view->setScene(scene);
	connect(scene, SIGNAL(newContentRect(QRect)),
			view, SLOT(fitContentRect(QRect)));

	// initialize selection widget
	sel = new AutohideWidget();
	uisel = new Ui::FalsecolorDockSelUI();
	uisel->setupUi(sel);
	scene->offTop = AutohideWidget::OutOffset;
	view->addWidget(AutohideWidget::TOP, sel);

	// setup source box
	uisel->sourceBox->setAHView(view);
	uisel->sourceBox->addItem(prettyFalseColorNames[FalseColoring::CMF],
					   FalseColoring::CMF);
	uisel->sourceBox->addItem(prettyFalseColorNames[FalseColoring::PCA],
					   FalseColoring::PCA);
	uisel->sourceBox->addItem(prettyFalseColorNames[FalseColoring::PCAGRAD],
					   FalseColoring::PCAGRAD);

#ifdef WITH_SOM
	uisel->sourceBox->addItem(prettyFalseColorNames[FalseColoring::SOM],
					   FalseColoring::SOM);
	uisel->sourceBox->addItem(prettyFalseColorNames[FalseColoring::SOMGRAD],
					   FalseColoring::SOMGRAD);
#endif // WITH_SOM
	uisel->sourceBox->setCurrentIndex(0);

	updateTheButton();
	updateProgressBar();

	connect(scene, SIGNAL(newSizeHint(QSize)),
			view, SLOT(updateSizeHint(QSize)));

	connect(scene, SIGNAL(updateScrolling(bool)),
	        view, SLOT(suppressScrolling(bool)));

	connect(scene, SIGNAL(requestCursor(Qt::CursorShape)),
	        view, SLOT(applyCursor(Qt::CursorShape)));

	connect(scene, SIGNAL(pixelOverlay(int,int)),
	        this, SIGNAL(pixelOverlay(int,int)));

	connect(scene, SIGNAL(requestSpecSim(int,int)),
	        this, SLOT(requestSpecSim(int,int)));

	connect(uisel->sourceBox, SIGNAL(currentIndexChanged(int)),
			this, SLOT(processSelectedColoring()));

	connect(uisel->theButton, SIGNAL(clicked()),
			this, SLOT(processApplyClicked()));

	connect(this, SIGNAL(visibilityChanged(bool)),
			this, SLOT(processVisibilityChanged(bool)));

	connect(uisel->screenshotButton, SIGNAL(released()),
	        this, SLOT(screenshot()));

	// add similarity widget
	sw = new SimilarityWidget(view);
	scene->offBottom = AutohideWidget::OutOffset;
	view->addWidget(AutohideWidget::BOTTOM, sw);

	connect(sw->doneAction(), SIGNAL(triggered()),
	        this, SLOT(restoreFalseColorFunction()));
	connect(sw->doneAction(), SIGNAL(triggered()),
	        scene, SLOT(updateInputMode()));
	connect(sw->targetAction(), SIGNAL(triggered()),
	        scene, SLOT(updateInputMode()));
	scene->setActionTarget(sw->targetAction());
}