diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index a1051f3d4..09ac656de 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -48,7 +48,7 @@
 
 QList<inputChannelForm*> inputList;
 
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false),transmitterType(heli)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@@ -296,6 +296,7 @@ void ConfigInputWidget::wzCancel()
     case wizardWelcome:
         break;
     case wizardChooseMode:
+    case wizardChooseType:
         break;
     case wizardIdentifySticks:
         disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
@@ -323,7 +324,12 @@ void ConfigInputWidget::wzNext()
 
 void ConfigInputWidget::wzBack()
 {
-    setupWizardWidget(wizardStep-1);
+    if(wizardStep == wizardIdentifySticks && currentCommand != 0) {
+        currentCommand --;
+        usedChannels.removeLast();
+        getChannelFromStep(currentCommand);
+    } else
+        setupWizardWidget(wizardStep-1);
 }
 
 void ConfigInputWidget::setupWizardWidget(int step)
@@ -372,9 +378,8 @@ void ConfigInputWidget::setupWizardWidget(int step)
         m_config->checkBoxesLayout->layout()->addWidget(mode2);
         wizardStep=wizardChooseMode;
     }
-    else if(step==wizardIdentifySticks && !isSimple)
+    else if(step==wizardChooseType)
     {
-        usedChannels.clear();
         if(wizardStep==wizardChooseMode)
         {
             QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
@@ -386,28 +391,45 @@ void ConfigInputWidget::setupWizardWidget(int step)
             delete extraWidgets.at(1);
             extraWidgets.clear();
         }
+
+        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
+                                     "Acro means normal transmitter\n"
+                                     "Heli means there is a collective pitch and throttle input\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
+        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
+        typeAcro->setChecked(true);
+        typeHeli->setChecked(false);
+        extraWidgets.clear();
+        extraWidgets.append(typeAcro);
+        extraWidgets.append(typeHeli);
+        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
+        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
+        wizardStep=wizardChooseType;
+    } else if(step==wizardIdentifySticks && !isSimple) {
+        usedChannels.clear();
+        if(wizardStep==wizardChooseType)
+        {
+            qDebug() << "Chosing type";
+            QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+            if(type->isChecked())
+                transmitterType=acro;
+            else
+                transmitterType=heli;
+            qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
+            delete extraWidgets.at(0);
+            delete extraWidgets.at(1);
+            extraWidgets.clear();
+        }
         wizardStep=wizardIdentifySticks;
         currentCommand=0;
-        setMoveFromCommand(currentCommand);
-        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
-                                             "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand)));
+        getChannelFromStep(currentCommand);
         manualSettingsData=manualSettingsObj->getData();
         connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
         m_config->wzNext->setEnabled(false);
     }
     else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
     {
-        if(wizardStep==wizardChooseMode)
-        {
-            QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-            if(mode->isChecked())
-                transmitterMode=mode1;
-            else
-                transmitterMode=mode2;
-            delete extraWidgets.at(0);
-            delete extraWidgets.at(1);
-            extraWidgets.clear();
-        }
         setTxMovement(centerAll);
         if(wizardStep==wizardIdentifySticks)
             disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
@@ -528,9 +550,41 @@ void ConfigInputWidget::setupWizardWidget(int step)
 
 }
 
+/**
+  * Unfortunately order of channel should be different in different conditions
+  */
+int ConfigInputWidget::getChannelFromStep(int currentStep)
+{
+    int channelToSet;
+    if(transmitterType == heli) {
+        // For heli swap order of collective to beginning
+        qDebug() << "Transmitter type: " << heli << " channelToSet: " << currentStep;
+        if(currentStep == 0)
+            channelToSet = ManualControlSettings::CHANNELGROUPS_COLLECTIVE;
+        else if(currentStep <= ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
+            channelToSet = currentStep - 1;
+        else channelToSet = currentStep;
+        qDebug() << "Channel to set: " << channelToSet;
+    } else
+        channelToSet = currentStep;
+
+    Q_ASSERT(channelToSet >= 0 && channelToSet < ManualControlSettings::CHANNELGROUPS_NUMELEM);
+
+    if(channelToSet == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
+        m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
+    else
+        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
+                                     "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(channelToSet)));
+
+    return channelToSet;
+}
+
 void ConfigInputWidget::identifyControls()
 {
     static int debounce=0;
+
+    int channelToSet = getChannelFromStep(currentCommand);
+
     receiverActivityData=receiverActivityObj->getData();
     if(receiverActivityData.ActiveChannel==255)
         return;
@@ -548,22 +602,21 @@ void ConfigInputWidget::identifyControls()
             debounce=0;
             usedChannels.append(lastChannel);
             manualSettingsData=manualSettingsObj->getData();
-            manualSettingsData.ChannelGroups[currentCommand]=currentChannel.group;
-            manualSettingsData.ChannelNumber[currentCommand]=currentChannel.number;
+            manualSettingsData.ChannelGroups[channelToSet]=currentChannel.group;
+            manualSettingsData.ChannelNumber[channelToSet]=currentChannel.number;
             manualSettingsObj->setData(manualSettingsData);
         }
         else
             return;
     }
     ++currentCommand;
-    setMoveFromCommand(currentCommand);
+    channelToSet = getChannelFromStep(currentCommand);
+    setMoveFromCommand(channelToSet);
     if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
     {
         disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
         m_config->wzNext->setEnabled(true);
     }
-    m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
-                                         "Move the %1 stick")).arg(manualSettingsObj->getFields().at(0)->getElementNames().at(currentCommand)));
     if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory") ||
        manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Collective"))
     {
@@ -607,6 +660,13 @@ void ConfigInputWidget::setMoveFromCommand(int command)
         else
             setTxMovement(moveRightVerticalStick);
     }
+    else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveLeftVerticalStick);
+        else
+            setTxMovement(moveRightVerticalStick);
+    }
     else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
     {
         setTxMovement(moveFlightMode);
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index 0b95371c5..1bc1701e7 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -52,10 +52,11 @@ class ConfigInputWidget: public ConfigTaskWidget
 public:
         ConfigInputWidget(QWidget *parent = 0);
         ~ConfigInputWidget();
-        enum wizardSteps{wizardWelcome,wizardChooseMode,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
+        enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
         enum txMode{mode1,mode2};
         enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
         enum txMovementType{vertical,horizontal,jump,mix};
+        enum txType {acro, heli};
 public slots:
 
 private:
@@ -68,6 +69,7 @@ private:
         void setupWizardWidget(int step);
         QList<QWidget*> extraWidgets;
         txMode transmitterMode;
+        txType transmitterType;
         struct channelsStruct
         {
             bool operator ==(const channelsStruct& rhs) const
@@ -118,6 +120,7 @@ private:
         void setMoveFromCommand(int command);
         bool isSimple;
         void goToWizard();
+        int getChannelFromStep(int);
 private slots:
         void wzNext();
         void wzBack();
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 636ca9385..2fac45ec9 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -27,7 +27,7 @@
        <item row="0" column="0">
         <widget class="QStackedWidget" name="stackedWidget">
          <property name="currentIndex">
-          <number>0</number>
+          <number>1</number>
          </property>
          <widget class="QWidget" name="advancedPage">
           <layout class="QVBoxLayout" name="verticalLayout_4">
@@ -79,13 +79,6 @@
                <height>70</height>
               </size>
              </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
              <property name="text">
               <string>TextLabel</string>
              </property>