diff --git a/pcbnew/tools/edit_tool.cpp b/pcbnew/tools/edit_tool.cpp
index 6278911fea..10947d3caf 100644
--- a/pcbnew/tools/edit_tool.cpp
+++ b/pcbnew/tools/edit_tool.cpp
@@ -287,6 +287,10 @@ bool EDIT_TOOL::Init()
     auto singleModuleCondition = SELECTION_CONDITIONS::OnlyType( PCB_MODULE_T )
                                     && SELECTION_CONDITIONS::Count( 1 );
 
+    auto noActiveToolCondition = [ this ] ( const SELECTION& aSelection ) {
+        return ( frame()->GetToolId() == ID_NO_TOOL_SELECTED );
+    };
+
     // Add context menu entries that are displayed when selection tool is active
     CONDITIONAL_MENU& menu = m_selectionTool->GetToolMenu().GetMenu();
 
@@ -309,8 +313,10 @@ bool EDIT_TOOL::Init()
 
     menu.AddItem( PCB_ACTIONS::copyToClipboard, SELECTION_CONDITIONS::NotEmpty );
     menu.AddItem( PCB_ACTIONS::cutToClipboard, SELECTION_CONDITIONS::NotEmpty );
-    menu.AddItem( PCB_ACTIONS::pasteFromClipboard );
-    menu.AddSeparator();
+    // Selection tool handles the context menu for some other tools, such as the Picker.
+    // Don't add things like Paste when another tool is active.
+    menu.AddItem( PCB_ACTIONS::pasteFromClipboard, noActiveToolCondition );
+    menu.AddSeparator( noActiveToolCondition );
 
     // Mirror only available in modedit
     menu.AddItem( PCB_ACTIONS::mirror, editingModuleCondition && SELECTION_CONDITIONS::NotEmpty );
diff --git a/pcbnew/tools/pcb_editor_control.cpp b/pcbnew/tools/pcb_editor_control.cpp
index a0af906f71..78f05ecf3c 100644
--- a/pcbnew/tools/pcb_editor_control.cpp
+++ b/pcbnew/tools/pcb_editor_control.cpp
@@ -226,7 +226,8 @@ public:
 
 PCB_EDITOR_CONTROL::PCB_EDITOR_CONTROL() :
     PCB_TOOL( "pcbnew.EditorControl" ),
-    m_frame( nullptr )
+    m_frame( nullptr ),
+    m_menu( *this )
 {
     m_placeOrigin.reset( new KIGFX::ORIGIN_VIEWITEM( KIGFX::COLOR4D( 0.8, 0.0, 0.0, 1.0 ),
                                                 KIGFX::ORIGIN_VIEWITEM::CIRCLE_CROSS ) );
@@ -255,6 +256,31 @@ void PCB_EDITOR_CONTROL::Reset( RESET_REASON aReason )
 
 bool PCB_EDITOR_CONTROL::Init()
 {
+    auto activeToolCondition = [ this ] ( const SELECTION& aSel ) {
+        return ( m_frame->GetToolId() != ID_NO_TOOL_SELECTED );
+    };
+
+    auto inactiveStateCondition = [ this ] ( const SELECTION& aSel ) {
+        return ( m_frame->GetToolId() == ID_NO_TOOL_SELECTED && aSel.Size() == 0 );
+    };
+
+    auto placeModuleCondition = [ this ] ( const SELECTION& aSel ) {
+        return ( m_frame->GetToolId() == ID_PCB_MODULE_BUTT && aSel.GetSize() == 0 );
+    };
+
+    auto& ctxMenu = m_menu.GetMenu();
+
+    // "Cancel" goes at the top of the context menu when a tool is active
+    ctxMenu.AddItem( ACTIONS::cancelInteractive, activeToolCondition, 1000 );
+    ctxMenu.AddSeparator( activeToolCondition, 1000 );
+
+    // "Get and Place Footprint" should be available for Place Footprint tool
+    ctxMenu.AddItem( PCB_ACTIONS::findMove, placeModuleCondition, 1000 );
+    ctxMenu.AddSeparator( placeModuleCondition, 1000 );
+
+    // Finally, add the standard zoom & grid items
+    m_menu.AddStandardSubMenus( *getEditFrame<PCB_BASE_FRAME>() );
+
     auto zoneMenu = std::make_shared<ZONE_CONTEXT_MENU>();
     zoneMenu->SetTool( this );
 
@@ -270,6 +296,10 @@ bool PCB_EDITOR_CONTROL::Init()
         auto& toolMenu = selTool->GetToolMenu();
         auto& menu = toolMenu.GetMenu();
 
+        // Add "Get and Place Footprint" when Selection tool is in an inactive state
+        menu.AddItem( PCB_ACTIONS::findMove, inactiveStateCondition );
+        menu.AddSeparator( inactiveStateCondition );
+
         toolMenu.AddSubMenu( zoneMenu );
         toolMenu.AddSubMenu( lockMenu );
 
@@ -413,7 +443,7 @@ int PCB_EDITOR_CONTROL::PlaceModule( const TOOL_EVENT& aEvent )
         if( reselect && module )
             m_toolMgr->RunAction( PCB_ACTIONS::selectItem, true, module );
 
-        if( evt->IsCancel() || evt->IsActivate() )
+        if( evt->IsCancel() || TOOL_EVT_UTILS::IsCancelInteractive( *evt ) || evt->IsActivate() )
         {
             if( module )
             {
@@ -459,6 +489,11 @@ int PCB_EDITOR_CONTROL::PlaceModule( const TOOL_EVENT& aEvent )
             controls->CaptureCursor( placing );
         }
 
+        else if( evt->IsClick( BUT_RIGHT ) )
+        {
+            m_menu.ShowContextMenu( selTool->GetSelection() );
+        }
+
         else if( module && evt->IsMotion() )
         {
             module->SetPosition( wxPoint( cursorPos.x, cursorPos.y ) );
@@ -541,6 +576,7 @@ int PCB_EDITOR_CONTROL::modifyLockSelected( MODIFY_MODE aMode )
 
 int PCB_EDITOR_CONTROL::PlaceTarget( const TOOL_EVENT& aEvent )
 {
+    auto selTool = m_toolMgr->GetTool<SELECTION_TOOL>();
     KIGFX::VIEW* view = getView();
     KIGFX::VIEW_CONTROLS* controls = getViewControls();
     BOARD* board = getModel<BOARD>();
@@ -569,7 +605,7 @@ int PCB_EDITOR_CONTROL::PlaceTarget( const TOOL_EVENT& aEvent )
     {
         cursorPos = controls->GetCursorPosition();
 
-        if( evt->IsCancel() || evt->IsActivate() )
+        if( evt->IsCancel() || TOOL_EVT_UTILS::IsCancelInteractive( *evt ) || evt->IsActivate() )
             break;
 
         else if( evt->IsAction( &PCB_ACTIONS::incWidth ) )
@@ -605,6 +641,11 @@ int PCB_EDITOR_CONTROL::PlaceTarget( const TOOL_EVENT& aEvent )
             preview.Add( target );
         }
 
+        else if( evt->IsClick( BUT_RIGHT ) )
+        {
+            m_menu.ShowContextMenu( selTool->GetSelection() );
+        }
+
         else if( evt->IsMotion() )
         {
             target->SetPosition( wxPoint( cursorPos.x, cursorPos.y ) );
diff --git a/pcbnew/tools/pcb_editor_control.h b/pcbnew/tools/pcb_editor_control.h
index 9027de6978..91fb25b05d 100644
--- a/pcbnew/tools/pcb_editor_control.h
+++ b/pcbnew/tools/pcb_editor_control.h
@@ -26,6 +26,7 @@
 #define PCB_EDITOR_CONTROL_H
 
 #include <tools/pcb_tool.h>
+#include <tool/tool_menu.h>
 
 namespace KIGFX {
     class ORIGIN_VIEWITEM;
@@ -128,6 +129,9 @@ private:
     ///> Pointer to the currently used edit frame.
     PCB_EDIT_FRAME* m_frame;
 
+    /// Menu model displayed by the tool.
+    TOOL_MENU m_menu;
+
     ///> Place & drill origin marker.
     std::unique_ptr<KIGFX::ORIGIN_VIEWITEM> m_placeOrigin;
 
diff --git a/pcbnew/tools/picker_tool.cpp b/pcbnew/tools/picker_tool.cpp
index 79b5913030..bf3c2eb97c 100644
--- a/pcbnew/tools/picker_tool.cpp
+++ b/pcbnew/tools/picker_tool.cpp
@@ -29,6 +29,9 @@
 #include <pcb_edit_frame.h>
 #include <view/view_controls.h>
 #include <tool/tool_manager.h>
+#include "tool_event_utils.h"
+#include "selection_tool.h"
+
 
 TOOL_ACTION PCB_ACTIONS::pickerTool( "pcbnew.Picker", AS_GLOBAL, 0, "", "", NULL, AF_ACTIVATE );
 
@@ -40,6 +43,29 @@ PICKER_TOOL::PICKER_TOOL()
 }
 
 
+bool PICKER_TOOL::Init()
+{
+    auto activeToolCondition = [ this ] ( const SELECTION& aSel ) {
+        return ( frame()->GetToolId() != ID_NO_TOOL_SELECTED );
+    };
+
+    SELECTION_TOOL* selTool = m_toolMgr->GetTool<SELECTION_TOOL>();
+
+    // We delegate our context menu to the Selection tool, so make sure it has a
+    // "Cancel" item at the top.
+    if( selTool )
+    {
+        auto& toolMenu = selTool->GetToolMenu();
+        auto& menu = toolMenu.GetMenu();
+
+        menu.AddItem( ACTIONS::cancelInteractive, activeToolCondition, 1000 );
+        menu.AddSeparator( activeToolCondition, 1000 );
+    }
+
+    return true;
+}
+
+
 int PICKER_TOOL::Main( const TOOL_EVENT& aEvent )
 {
     KIGFX::VIEW_CONTROLS* controls = getViewControls();
@@ -83,7 +109,7 @@ int PICKER_TOOL::Main( const TOOL_EVENT& aEvent )
                 setControls();
         }
 
-        else if( evt->IsCancel() || evt->IsActivate() )
+        else if( evt->IsCancel() || TOOL_EVT_UTILS::IsCancelInteractive( *evt ) || evt->IsActivate() )
             break;
 
         else
diff --git a/pcbnew/tools/picker_tool.h b/pcbnew/tools/picker_tool.h
index 9cdc74a740..f92c01b580 100644
--- a/pcbnew/tools/picker_tool.h
+++ b/pcbnew/tools/picker_tool.h
@@ -40,6 +40,9 @@ public:
     ///> Mouse event click handler type.
     typedef std::function<bool(const VECTOR2D&)> CLICK_HANDLER;
 
+    /// @copydoc TOOL_INTERACTIVE::Init()
+    bool Init() override;
+
     ///> @copydoc TOOL_INTERACTIVE::Reset()
     void Reset( RESET_REASON aReason ) override {}
 
diff --git a/pcbnew/tools/selection_tool.cpp b/pcbnew/tools/selection_tool.cpp
index c8ce568c19..33e3d32005 100644
--- a/pcbnew/tools/selection_tool.cpp
+++ b/pcbnew/tools/selection_tool.cpp
@@ -117,7 +117,9 @@ TOOL_ACTION PCB_ACTIONS::find( "pcbnew.InteractiveSelection.Find",
         _( "Find Item..." ),_( "Searches the document for an item" ), find_xpm );
 
 TOOL_ACTION PCB_ACTIONS::findMove( "pcbnew.InteractiveSelection.FindMove",
-        AS_GLOBAL, TOOL_ACTION::LegacyHotKey( HK_GET_AND_MOVE_FOOTPRINT ) );
+        AS_GLOBAL, TOOL_ACTION::LegacyHotKey( HK_GET_AND_MOVE_FOOTPRINT ),
+        _( "Get and Move Footprint" ),
+        _( "Selects a footprint by reference and places it under the cursor for moving"));
 
 TOOL_ACTION PCB_ACTIONS::filterSelection( "pcbnew.InteractiveSelection.FilterSelection",
         AS_GLOBAL, 0,
@@ -204,7 +206,6 @@ bool SELECTION_TOOL::Init()
     auto& menu = m_menu.GetMenu();
 
     menu.AddMenu( selectMenu.get(), false, SELECTION_CONDITIONS::NotEmpty );
-    // only show separator if there is a Select menu to show above it
     menu.AddSeparator( SELECTION_CONDITIONS::NotEmpty, 1000 );
 
     auto frame = getEditFrame<PCB_BASE_FRAME>();