diff --git a/3d-viewer/3d_viewer/3d_toolbar.cpp b/3d-viewer/3d_viewer/3d_toolbar.cpp
index ded2f6dd67..c85588e687 100644
--- a/3d-viewer/3d_viewer/3d_toolbar.cpp
+++ b/3d-viewer/3d_viewer/3d_toolbar.cpp
@@ -43,7 +43,7 @@ void EDA_3D_VIEWER::ReCreateMainToolbar()
     wxWindowUpdateLocker dummy( this );
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
diff --git a/common/tool/action_toolbar.cpp b/common/tool/action_toolbar.cpp
index 3c6a4dc3ce..a6f65a31c1 100644
--- a/common/tool/action_toolbar.cpp
+++ b/common/tool/action_toolbar.cpp
@@ -25,6 +25,9 @@
 #include <bitmaps.h>
 #include <eda_draw_frame.h>
 #include <functional>
+#include <memory>
+#include <pgm_base.h>
+#include <settings/common_settings.h>
 #include <tool/action_toolbar.h>
 #include <tool/actions.h>
 #include <tool/tool_event.h>
@@ -37,7 +40,20 @@ ACTION_TOOLBAR::ACTION_TOOLBAR( EDA_BASE_FRAME* parent, wxWindowID id, const wxP
     wxAuiToolBar( parent, id, pos, size, style ),
     m_toolManager( parent->GetToolManager() )
 {
-    Connect( wxEVT_COMMAND_TOOL_CLICKED, wxAuiToolBarEventHandler( ACTION_TOOLBAR::onToolEvent ), NULL, this );
+    Connect( wxEVT_COMMAND_TOOL_CLICKED, wxAuiToolBarEventHandler( ACTION_TOOLBAR::onToolEvent ),
+             NULL, this );
+    Connect( wxEVT_AUITOOLBAR_RIGHT_CLICK, wxAuiToolBarEventHandler( ACTION_TOOLBAR::onToolRightClick ),
+             NULL, this );
+}
+
+
+ACTION_TOOLBAR::~ACTION_TOOLBAR()
+{
+    // Delete all the menus
+    for( auto it = m_toolMenus.begin(); it != m_toolMenus.end(); it++ )
+        delete it->second;
+
+    m_toolMenus.clear();
 }
 
 
@@ -84,6 +100,38 @@ void ACTION_TOOLBAR::AddScaledSeparator( wxWindow* aWindow )
 }
 
 
+void ACTION_TOOLBAR::AddToolContextMenu( const TOOL_ACTION& aAction, CONDITIONAL_MENU* aMenu )
+{
+    int toolId = aAction.GetId() + ACTION_ID;
+
+    // If this is replacing an existing menu, delete the existing menu before adding the new one
+    const auto it = m_toolMenus.find( toolId );
+
+    if( it != m_toolMenus.end() )
+    {
+        // Don't delete it if it is the same menu, just ignore this call
+        if( it->second == aMenu )
+            return;
+
+        delete it->second;
+    }
+
+    m_toolMenus[toolId] = aMenu;
+}
+
+
+void ACTION_TOOLBAR::ClearToolbar()
+{
+    // Delete all the menus
+    for( auto it = m_toolMenus.begin(); it != m_toolMenus.end(); it++ )
+        delete it->second;
+
+    // Clear the menu items and the actual toolbar
+    m_toolMenus.clear();
+    Clear();
+}
+
+
 void ACTION_TOOLBAR::SetToolBitmap( const TOOL_ACTION& aAction, const wxBitmap& aBitmap )
 {
     int toolId = aAction.GetId() + ACTION_ID;
@@ -145,3 +193,29 @@ void ACTION_TOOLBAR::onToolEvent( wxAuiToolBarEvent& aEvent )
     }
 }
 
+
+void ACTION_TOOLBAR::onToolRightClick( wxAuiToolBarEvent& aEvent )
+{
+    int toolId = aEvent.GetToolId();
+
+    // This means the event was not on a button
+    if( toolId == -1 )
+        return;
+
+    const auto it = m_toolMenus.find( aEvent.GetId() );
+
+    if( it == m_toolMenus.end() )
+        return;
+
+    // Update and show the menu
+    CONDITIONAL_MENU* menu = it->second;
+    SELECTION         dummySel;
+
+    menu->Evaluate( dummySel );
+    menu->UpdateAll();
+    PopupMenu( menu );
+
+    // Remove hovered item when the menu closes, otherwise it remains hovered even if the
+    // mouse is not on the toolbar
+    SetHoverItem( nullptr );
+}
diff --git a/cvpcb/display_footprints_frame.cpp b/cvpcb/display_footprints_frame.cpp
index 0366a84712..60edcaa7d6 100644
--- a/cvpcb/display_footprints_frame.cpp
+++ b/cvpcb/display_footprints_frame.cpp
@@ -192,7 +192,7 @@ void DISPLAY_FOOTPRINTS_FRAME::ReCreateVToolbar()
 void DISPLAY_FOOTPRINTS_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                                KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
@@ -227,7 +227,7 @@ void DISPLAY_FOOTPRINTS_FRAME::ReCreateHToolbar()
     // So we do not recreate them after clearing the tools.
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
diff --git a/cvpcb/toolbars_cvpcb.cpp b/cvpcb/toolbars_cvpcb.cpp
index f63d232173..c3318bf48c 100644
--- a/cvpcb/toolbars_cvpcb.cpp
+++ b/cvpcb/toolbars_cvpcb.cpp
@@ -35,7 +35,7 @@
 void CVPCB_MAINFRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                 KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
diff --git a/eeschema/libedit/toolbars_libedit.cpp b/eeschema/libedit/toolbars_libedit.cpp
index a4c171335d..1083456be9 100644
--- a/eeschema/libedit/toolbars_libedit.cpp
+++ b/eeschema/libedit/toolbars_libedit.cpp
@@ -45,7 +45,7 @@
 void LIB_EDIT_FRAME::ReCreateVToolbar()
 {
     if( m_drawToolBar )
-        m_drawToolBar->Clear();
+        m_drawToolBar->ClearToolbar();
     else
         m_drawToolBar = new ACTION_TOOLBAR( this, ID_V_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
@@ -79,7 +79,7 @@ void LIB_EDIT_FRAME::ReCreateVToolbar()
 void LIB_EDIT_FRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
@@ -133,7 +133,7 @@ void LIB_EDIT_FRAME::ReCreateHToolbar()
 void LIB_EDIT_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR,
                                                wxDefaultPosition, wxDefaultSize,
diff --git a/eeschema/toolbars_lib_view.cpp b/eeschema/toolbars_lib_view.cpp
index 6fb5cc0a35..74542d4773 100644
--- a/eeschema/toolbars_lib_view.cpp
+++ b/eeschema/toolbars_lib_view.cpp
@@ -37,7 +37,7 @@
 void LIB_VIEW_FRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR,
                                             wxDefaultPosition, wxDefaultSize,
diff --git a/eeschema/toolbars_sch_editor.cpp b/eeschema/toolbars_sch_editor.cpp
index 05bd8b435a..fba557b25c 100644
--- a/eeschema/toolbars_sch_editor.cpp
+++ b/eeschema/toolbars_sch_editor.cpp
@@ -39,7 +39,7 @@
 void SCH_EDIT_FRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR,
                                             wxDefaultPosition, wxDefaultSize,
@@ -109,7 +109,7 @@ void SCH_EDIT_FRAME::ReCreateHToolbar()
 void SCH_EDIT_FRAME::ReCreateVToolbar()
 {
     if( m_drawToolBar )
-        m_drawToolBar->Clear();
+        m_drawToolBar->ClearToolbar();
     else
         m_drawToolBar = new ACTION_TOOLBAR( this, ID_V_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
@@ -147,7 +147,7 @@ void SCH_EDIT_FRAME::ReCreateVToolbar()
 void SCH_EDIT_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR,
                                                wxDefaultPosition, wxDefaultSize,
diff --git a/gerbview/toolbars_gerber.cpp b/gerbview/toolbars_gerber.cpp
index 15ea4b2c89..5465a233bd 100644
--- a/gerbview/toolbars_gerber.cpp
+++ b/gerbview/toolbars_gerber.cpp
@@ -47,7 +47,7 @@ void GERBVIEW_FRAME::ReCreateHToolbar()
     // So we do not recreate them after clearing the tools.
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
@@ -103,7 +103,7 @@ void GERBVIEW_FRAME::ReCreateAuxiliaryToolbar()
     wxStaticText* text;
 
     if( m_auxiliaryToolBar )
-        m_auxiliaryToolBar->Clear();
+        m_auxiliaryToolBar->ClearToolbar();
     else
         m_auxiliaryToolBar = new ACTION_TOOLBAR( this, ID_AUX_TOOLBAR,
                                                  wxDefaultPosition, wxDefaultSize,
@@ -208,7 +208,7 @@ void GERBVIEW_FRAME::ReCreateVToolbar()
 void GERBVIEW_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                                KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
diff --git a/include/tool/action_toolbar.h b/include/tool/action_toolbar.h
index 2e7b10c371..439802cf2b 100644
--- a/include/tool/action_toolbar.h
+++ b/include/tool/action_toolbar.h
@@ -29,6 +29,7 @@
 #include <wx/aui/auibar.h>
 #include <tool/tool_event.h>
 
+class CONDITIONAL_MENU;
 class EDA_BASE_FRAME;
 class TOOL_MANAGER;
 class TOOL_ACTION;
@@ -45,7 +46,7 @@ public:
                     const wxPoint& pos = wxDefaultPosition, const wxSize& size = wxDefaultSize,
                     long style = wxAUI_TB_DEFAULT_STYLE );
 
-    virtual ~ACTION_TOOLBAR() {}
+    virtual ~ACTION_TOOLBAR();
 
     /**
      * Function Add()
@@ -69,6 +70,21 @@ public:
      */
     void AddScaledSeparator( wxWindow* aWindow );
 
+    /**
+     * Add a context menu to a specific tool item on the toolbar.
+     * This toolbar gets ownership of the menu object, and will delete it when the
+     * ClearToolbar() function is called.
+     *
+     * @param aAction is the action to get the menu
+     * @param aMenu is the context menu
+     */
+    void AddToolContextMenu( const TOOL_ACTION& aAction, CONDITIONAL_MENU* aMenu );
+
+    /**
+     * Clear the toolbar and remove all associated menus.
+     */
+    void ClearToolbar();
+
     /**
      * Function SetToolBitmap()
      * Updates the bitmap of a particular tool.  Not icon-based because we use it
@@ -90,6 +106,9 @@ protected:
     ///> The default tool event handler.
     void onToolEvent( wxAuiToolBarEvent& aEvent );
 
+    ///> Handle a right-click on a menu item
+    void onToolRightClick( wxAuiToolBarEvent& aEvent );
+
 protected:
     ///> Tool items with ID higher than that are considered TOOL_ACTIONs
     static const int ACTION_ID = 10000;
@@ -97,6 +116,7 @@ protected:
     TOOL_MANAGER* m_toolManager;
     std::map<int, bool>               m_toolKinds;
     std::map<int, const TOOL_ACTION*> m_toolActions;
+    std::map<int, CONDITIONAL_MENU*>  m_toolMenus;
 };
 
 #endif
diff --git a/kicad/menubar.cpp b/kicad/menubar.cpp
index f187530f87..2df94b1ea0 100644
--- a/kicad/menubar.cpp
+++ b/kicad/menubar.cpp
@@ -174,7 +174,7 @@ void KICAD_MANAGER_FRAME::ReCreateMenuBar()
 void KICAD_MANAGER_FRAME::RecreateBaseHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
diff --git a/pagelayout_editor/toolbars_pl_editor.cpp b/pagelayout_editor/toolbars_pl_editor.cpp
index 319a7f2009..e1a199b221 100644
--- a/pagelayout_editor/toolbars_pl_editor.cpp
+++ b/pagelayout_editor/toolbars_pl_editor.cpp
@@ -31,7 +31,7 @@
 void PL_EDITOR_FRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
@@ -120,7 +120,7 @@ void PL_EDITOR_FRAME::ReCreateHToolbar()
 void PL_EDITOR_FRAME::ReCreateVToolbar()
 {
     if( m_drawToolBar )
-        m_drawToolBar->Clear();
+        m_drawToolBar->ClearToolbar();
     else
         m_drawToolBar = new ACTION_TOOLBAR( this, ID_V_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
diff --git a/pcbnew/footprint_wizard_frame.cpp b/pcbnew/footprint_wizard_frame.cpp
index c6b3cee93c..9a560b9e8f 100644
--- a/pcbnew/footprint_wizard_frame.cpp
+++ b/pcbnew/footprint_wizard_frame.cpp
@@ -589,7 +589,7 @@ void FOOTPRINT_WIZARD_FRAME::Update3DView( bool aForceReload, const wxString* aT
 void FOOTPRINT_WIZARD_FRAME::ReCreateHToolbar()
 {
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, wxID_ANY, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
diff --git a/pcbnew/toolbars_footprint_editor.cpp b/pcbnew/toolbars_footprint_editor.cpp
index 26a1b198fe..028bda8e3f 100644
--- a/pcbnew/toolbars_footprint_editor.cpp
+++ b/pcbnew/toolbars_footprint_editor.cpp
@@ -42,7 +42,7 @@ void FOOTPRINT_EDIT_FRAME::ReCreateHToolbar()
     // So we do not recreate them after clearing the tools.
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
@@ -140,7 +140,7 @@ void FOOTPRINT_EDIT_FRAME::ReCreateHToolbar()
 void FOOTPRINT_EDIT_FRAME::ReCreateVToolbar()
 {
     if( m_drawToolBar )
-        m_drawToolBar->Clear();
+        m_drawToolBar->ClearToolbar();
     else
         m_drawToolBar = new ACTION_TOOLBAR( this, ID_V_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
@@ -170,7 +170,7 @@ void FOOTPRINT_EDIT_FRAME::ReCreateVToolbar()
 void FOOTPRINT_EDIT_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                                KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
diff --git a/pcbnew/toolbars_footprint_viewer.cpp b/pcbnew/toolbars_footprint_viewer.cpp
index 541317ae55..b5206caae6 100644
--- a/pcbnew/toolbars_footprint_viewer.cpp
+++ b/pcbnew/toolbars_footprint_viewer.cpp
@@ -43,7 +43,7 @@ void FOOTPRINT_VIEWER_FRAME::ReCreateHToolbar()
     // So we do not recreate them after clearing the tools.
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, wxID_ANY, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT  );
@@ -99,7 +99,7 @@ void FOOTPRINT_VIEWER_FRAME::ReCreateHToolbar()
 void FOOTPRINT_VIEWER_FRAME::ReCreateOptToolbar()
 {
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                                KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
diff --git a/pcbnew/toolbars_pcb_editor.cpp b/pcbnew/toolbars_pcb_editor.cpp
index e69a5b2f78..8a00136953 100644
--- a/pcbnew/toolbars_pcb_editor.cpp
+++ b/pcbnew/toolbars_pcb_editor.cpp
@@ -216,7 +216,7 @@ void PCB_EDIT_FRAME::ReCreateHToolbar()
     wxWindowUpdateLocker dummy( this );
 
     if( m_mainToolBar )
-        m_mainToolBar->Clear();
+        m_mainToolBar->ClearToolbar();
     else
         m_mainToolBar = new ACTION_TOOLBAR( this, ID_H_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_HORZ_LAYOUT );
@@ -307,7 +307,7 @@ void PCB_EDIT_FRAME::ReCreateOptToolbar()
     wxWindowUpdateLocker dummy( this );
 
     if( m_optionsToolBar )
-        m_optionsToolBar->Clear();
+        m_optionsToolBar->ClearToolbar();
     else
         m_optionsToolBar = new ACTION_TOOLBAR( this, ID_OPT_TOOLBAR,
                                                wxDefaultPosition, wxDefaultSize,
@@ -349,7 +349,7 @@ void PCB_EDIT_FRAME::ReCreateVToolbar()
     wxWindowUpdateLocker dummy( this );
 
     if( m_drawToolBar )
-        m_drawToolBar->Clear();
+        m_drawToolBar->ClearToolbar();
     else
         m_drawToolBar = new ACTION_TOOLBAR( this, ID_V_TOOLBAR, wxDefaultPosition, wxDefaultSize,
                                             KICAD_AUI_TB_STYLE | wxAUI_TB_VERTICAL );
@@ -391,7 +391,7 @@ void PCB_EDIT_FRAME::ReCreateMicrowaveVToolbar()
     wxWindowUpdateLocker dummy(this);
 
     if( m_microWaveToolBar )
-        m_microWaveToolBar->Clear();
+        m_microWaveToolBar->ClearToolbar();
     else
         m_microWaveToolBar = new ACTION_TOOLBAR( this, ID_MICROWAVE_V_TOOLBAR, wxDefaultPosition,
                                                  wxDefaultSize,