I take the same approach. At home, I never have to dig my DSLR out of a bag. It's usually sitting on my desk with either the 18-200 or 28-70 attached. I used to keep the flash on it, but with the D7000, I crank up the ISO and shoot without flash, though I will dig one out of the bag if necessary.
My Panasonic GF2 gets used when I'm on an outing with family/friends where photography is not the main purpose of the outing and I don't want to lug around heavier, more obtrusive gear.