diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index e1189d79d..662a25a4f 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -150,6 +150,9 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
 
     // Connect the multirotor motor reverse checkbox
     connect(m_aircraft->MultirotorRevMixerCheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
+
+    m_aircraft->multiThrottleCurve->setXAxisLabel(tr("Input"));
+    m_aircraft->multiThrottleCurve->setYAxisLabel(tr("Output"));
     updateEnableControls();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index b6486e5cf..4f8ebe3d2 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -73,7 +73,7 @@ GUIConfigDataUnion VehicleConfig::getConfigData()
     }
 
     // sanity check
-    //Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == (sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
+    // Q_ASSERT(SystemSettings::GUICONFIGDATA_NUMELEM == (sizeof(configData.UAVObject) / sizeof(configData.UAVObject[0])));
 
     return configData;
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 24a4f35d4..9fc95ca3e 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -129,14 +129,15 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->ThrustPIDTarget, SLOT(setEnabled(bool)));
     connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->ThrustPIDAxis, SLOT(setEnabled(bool)));
     connect(ui->enableThrustPIDScalingCheckBox, SIGNAL(toggled(bool)), ui->thrustPIDScalingCurve, SLOT(setEnabled(bool)));
-    ui->thrustPIDScalingCurve->setMixerType(MixerCurve::MIXERCURVE_TPA);
-    ui->thrustPIDScalingCurve->setMin(-1);
-    ui->thrustPIDScalingCurve->setMax(1);
+    ui->thrustPIDScalingCurve->setXAxisLabel(tr("Thrust"));
+    ui->thrustPIDScalingCurve->setYAxisLabel(tr("Scaling factor"));
+    ui->thrustPIDScalingCurve->setMin(-0.5);
+    ui->thrustPIDScalingCurve->setMax(0.5);
 
     addWidget(ui->defaultThrottleCurveButton);
     addWidget(ui->enableThrustPIDScalingCheckBox);
     addWidget(ui->thrustPIDScalingCurve);
-    addWidget(ui->thrustPIDScalingCurve->getCurveWidget());
+    addWidget(ui->thrustPIDScalingCurve);
     connect(this, SIGNAL(widgetContentsChanged(QWidget *)), this, SLOT(processLinkedWidgets(QWidget *)));
 
     connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
@@ -169,6 +170,7 @@ void ConfigStabilizationWidget::updateObjectsFromWidgets()
 void ConfigStabilizationWidget::updateThrottleCurveFromObject()
 {
     UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
+
     Q_ASSERT(stabBank);
     qDebug() << "updatingCurveFromObject" << stabBank->getName();
 
@@ -194,13 +196,14 @@ void ConfigStabilizationWidget::updateThrottleCurveFromObject()
 void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
 {
     UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
+
     Q_ASSERT(stabBank);
     qDebug() << "updatingObjectFromCurve" << stabBank->getName();
 
     UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
     Q_ASSERT(field);
 
-    QList<double> curve = ui->thrustPIDScalingCurve->getCurve();
+    QList<double> curve   = ui->thrustPIDScalingCurve->getCurve();
     for (quint32 i = 0; i < field->getNumElements(); i++) {
         field->setValue(curve.at(i), i);
         qDebug() << field->getName() << field->getElementNames().at(i) << "<=" << curve.at(i);
@@ -213,7 +216,8 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
 
 void ConfigStabilizationWidget::resetThrottleCurveToDefault()
 {
-    UAVDataObject *defaultStabBank = (UAVDataObject*)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
+    UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
+
     Q_ASSERT(defaultStabBank);
     defaultStabBank = defaultStabBank->dirtyClone();
 
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 24bc0f88b..b2cc03a64 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -96,14 +96,6 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         m_mixerUI->CurveMax->setMinimum(-1.0);
         break;
     }
-    case MixerCurve::MIXERCURVE_TPA:
-    {
-        m_mixerUI->SettingsGroup->setTitle("Thrust PID Scale");
-        m_mixerUI->buttonGroup->hide();
-        m_curve->setRange(-1.0, 1.0);
-        m_mixerUI->CurveMin->setMinimum(-1.0);
-        m_mixerUI->CurveMax->setMinimum(-1.0);
-    }
     default:
         break;
     }
@@ -304,6 +296,16 @@ double MixerCurve::setRange(double min, double max)
     return m_curve->setRange(min, max);
 }
 
+void MixerCurve::setXAxisLabel(QString label)
+{
+    m_curve->setXAxisLabel(label);
+}
+
+void MixerCurve::setYAxisLabel(QString label)
+{
+    m_curve->setYAxisLabel(label);
+}
+
 double MixerCurve::getCurveMin()
 {
     return m_mixerUI->CurveMin->value();
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 7343043c9..faa581fcc 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -52,7 +52,7 @@ public:
 
 
     /* Enumeration options for ThrottleCurves */
-    typedef enum { MIXERCURVE_THROTTLE = 0, MIXERCURVE_PITCH = 1, MIXERCURVE_TPA = 2 } MixerCurveType;
+    typedef enum { MIXERCURVE_THROTTLE = 0, MIXERCURVE_PITCH = 1 } MixerCurveType;
 
     void setMixerType(MixerCurveType curveType);
     void initCurve(const QList<double> *points);
@@ -68,6 +68,9 @@ public:
     double getCurveStep();
     double setRange(double min, double max);
 
+    void setXAxisLabel(QString label);
+    void setYAxisLabel(QString label);
+
     MixerCurveWidget *getCurveWidget()
     {
         return m_curve;
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 67368f799..852d16d35 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -136,8 +136,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>860</width>
-            <height>703</height>
+            <width>844</width>
+            <height>726</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -7836,7 +7836,7 @@ border-radius: 5;</string>
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-295</y>
             <width>844</width>
             <height>998</height>
            </rect>
@@ -16192,7 +16192,7 @@ border-radius: 5;</string>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_27">
                  <item row="0" column="1">
-                  <widget class="MixerCurve" name="thrustPIDScalingCurve" native="true">
+                  <widget class="MixerCurveWidget" name="thrustPIDScalingCurve" native="true">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                      <horstretch>0</horstretch>
@@ -16205,6 +16205,11 @@ border-radius: 5;</string>
                      <height>200</height>
                     </size>
                    </property>
+                   <property name="font">
+                    <font>
+                     <pointsize>7</pointsize>
+                    </font>
+                   </property>
                   </widget>
                  </item>
                  <item row="0" column="3" rowspan="3" alignment="Qt::AlignTop">
@@ -27072,9 +27077,9 @@ Useful if you have accidentally changed some settings.</string>
    <container>1</container>
   </customwidget>
   <customwidget>
-   <class>MixerCurve</class>
+   <class>MixerCurveWidget</class>
    <extends>QWidget</extends>
-   <header location="global">mixercurve.h</header>
+   <header location="global">mixercurvewidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 2a2dd2e1d..780d23f7d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -37,32 +37,33 @@
 #include "mixercurvewidget.h"
 
 MixerNode::MixerNode(MixerCurveWidget *graphWidget)
-    : graph(graphWidget)
+    : m_graph(graphWidget)
 {
     setFlag(ItemIsMovable);
     setFlag(ItemSendsGeometryChanges);
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
-    vertical          = false;
-    drawNode          = true;
-    drawText          = true;
+    m_vertical          = false;
+    m_drawNode          = true;
+    m_drawText          = true;
 
-    positiveColor     = "#609FF2";  // blueish?
-    neutralColor      = "#14CE24";  // greenish?
-    negativeColor     = "#EF5F5F";  // redish?
-    disabledColor     = "#dddddd";
-    disabledTextColor = "#aaaaaa";
+    m_alpha             = 0.7;
+    m_positiveColor     = "#609FF2";  // blueish?
+    m_neutralColor      = "#14CE24";  // greenish?
+    m_negativeColor     = "#EF5F5F";  // redish?
+    m_disabledColor     = "#dddddd";
+    m_disabledTextColor = "#aaaaaa";
 }
 
 void MixerNode::addEdge(Edge *edge)
 {
-    edgeList << edge;
+    m_edgeList << edge;
     edge->adjust();
 }
 
 QList<Edge *> MixerNode::edges() const
 {
-    return edgeList;
+    return m_edgeList;
 }
 
 
@@ -83,18 +84,19 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
 {
     QString text = QString().sprintf("%.2f", value());
 
-    painter->setFont(graph->font());
-    if (drawNode) {
+    painter->setFont(m_graph->font());
+    if (m_drawNode) {
         QRadialGradient gradient(-3, -3, 10);
 
         QColor color;
         if (value() < 0) {
-            color = negativeColor;
+            color = m_negativeColor;
         } else if (value() == 0) {
-            color = neutralColor;
+            color = m_neutralColor;
         } else {
-            color = positiveColor;
+            color = m_positiveColor;
         }
+        color.setAlphaF(m_alpha);
 
         if (option->state & QStyle::State_Sunken) {
             gradient.setCenter(3, 3);
@@ -104,23 +106,23 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
             gradient.setColorAt(1, selColor.darker());
             gradient.setColorAt(0, selColor);
         } else {
-            gradient.setColorAt(0, graph->isEnabled() ? color : disabledColor);
-            gradient.setColorAt(1, graph->isEnabled() ? color.darker() : disabledColor);
+            gradient.setColorAt(0, m_graph->isEnabled() ? color : m_disabledColor);
+            gradient.setColorAt(1, m_graph->isEnabled() ? color.darker() : m_disabledColor);
         }
         painter->setBrush(gradient);
-        painter->setPen(graph->isEnabled() ? QPen(Qt::black, 0) : QPen(disabledTextColor));
+        painter->setPen(m_graph->isEnabled() ? QPen(Qt::black, 0) : QPen(m_disabledTextColor));
         painter->drawEllipse(boundingRect());
 
-        if (!image.isNull()) {
-            painter->drawImage(boundingRect().adjusted(1, 1, -1, -1), image);
+        if (!m_image.isNull()) {
+            painter->drawImage(boundingRect().adjusted(1, 1, -1, -1), m_image);
         }
     }
 
-    if (drawText) {
-        if (graph->isEnabled()) {
-            painter->setPen(QPen(drawNode ? Qt::white : Qt::black, 0));
+    if (m_drawText) {
+        if (m_graph->isEnabled()) {
+            painter->setPen(QPen(m_drawNode ? Qt::white : Qt::black, 0));
         } else {
-            painter->setPen(QPen(disabledTextColor));
+            painter->setPen(QPen(m_disabledTextColor));
         }
 
         painter->drawText((value() < 0) ? -10 : -8, 3, text);
@@ -129,27 +131,27 @@ void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
 
 void MixerNode::verticalMove(bool flag)
 {
-    vertical = flag;
+    m_vertical = flag;
 }
 
 double MixerNode::value()
 {
-    double h     = graph->sceneRect().height();
+    double h     = m_graph->sceneRect().height();
     double ratio = (h - pos().y()) / h;
 
-    return ((graph->getMax() - graph->getMin()) * ratio) + graph->getMin();
+    return ((m_graph->getMax() - m_graph->getMin()) * ratio) + m_graph->getMin();
 }
 
 
 QVariant MixerNode::itemChange(GraphicsItemChange change, const QVariant &val)
 {
     QPointF newPos = val.toPointF();
-    double h = graph->sceneRect().height();
+    double h = m_graph->sceneRect().height();
 
     switch (change) {
     case ItemPositionChange:
     {
-        if (!vertical) {
+        if (!m_vertical) {
             break;
         }
 
@@ -169,12 +171,12 @@ QVariant MixerNode::itemChange(GraphicsItemChange change, const QVariant &val)
     }
     case ItemPositionHasChanged:
     {
-        foreach(Edge * edge, edgeList)
+        foreach(Edge * edge, m_edgeList)
         edge->adjust();
 
         update();
 
-        graph->itemMoved(value());
+        m_graph->itemMoved(value());
         break;
     }
     default:
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 27ad9eb11..7923d50b9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -59,27 +59,32 @@ public:
 
     void setPositiveColor(QColor color = "#609FF2")
     {
-        positiveColor = color;
+        m_positiveColor = color;
     }
 
     void setNegativeColor(QColor color = "#EF5F5F")
     {
-        negativeColor = color;
+        m_negativeColor = color;
+    }
+
+    void setAlpha(qreal alpha)
+    {
+        m_alpha = alpha;
     }
 
     void setImage(QImage img)
     {
-        image = img;
+        m_image = img;
     }
 
     void setDrawNode(bool draw)
     {
-        drawNode = draw;
+        m_drawNode = draw;
     }
 
     void setDrawText(bool draw)
     {
-        drawText = draw;
+        m_drawText = draw;
     }
 
     QRectF boundingRect() const;
@@ -95,22 +100,23 @@ protected:
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
 
 private:
-    QList<Edge *> edgeList;
-    QPointF newPos;
-    MixerCurveWidget *graph;
+    QList<Edge *> m_edgeList;
+    QPointF m_newPos;
+    MixerCurveWidget *m_graph;
 
-    QColor positiveColor;
-    QColor neutralColor;
-    QColor negativeColor;
-    QColor disabledColor;
-    QColor disabledTextColor;
+    qreal m_alpha;
+    QColor m_positiveColor;
+    QColor m_neutralColor;
+    QColor m_negativeColor;
+    QColor m_disabledColor;
+    QColor m_disabledTextColor;
 
-    QImage image;
+    QImage m_image;
 
-    bool vertical;
-    bool drawNode;
-    bool drawText;
-    int index;
+    bool m_vertical;
+    bool m_drawNode;
+    bool m_drawText;
+    int m_index;
 };
 
 #endif // MIXERCURVEPOINT_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 37d9f3be5..067498b92 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -36,7 +36,8 @@
 /*
  * Initialize the widget
  */
-MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
+MixerCurveWidget::MixerCurveWidget(QWidget *parent) :
+    QGraphicsView(parent), m_xAxisTextItem(0), m_yAxisTextItem(0)
 {
     // Create a layout, add a QGraphicsView and put the SVG inside.
     // The Mixer Curve widget looks like this:
@@ -54,50 +55,60 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setRenderHint(QPainter::Antialiasing);
 
-    curveMin = 0.0;
-    curveMax = 1.0;
+    m_curveMin = 0.0;
+    m_curveMax = 1.0;
 
     setFrameStyle(QFrame::NoFrame);
     setStyleSheet("background:transparent");
 
     QGraphicsScene *scene  = new QGraphicsScene(this);
     QSvgRenderer *renderer = new QSvgRenderer();
-    plot = new QGraphicsSvgItem();
+    m_plot = new QGraphicsSvgItem();
     renderer->load(QString(":/uavobjectwidgetutils/images/curve-bg.svg"));
-    plot->setSharedRenderer(renderer);
+    m_plot->setSharedRenderer(renderer);
 
-    scene->addItem(plot);
-    plot->setZValue(-1);
+    scene->addItem(m_plot);
+    m_plot->setZValue(-1);
 
-    scene->setSceneRect(plot->boundingRect());
+    scene->setSceneRect(m_plot->boundingRect());
     setScene(scene);
 
+    setupXAxisLabel();
+    setupYAxisLabel();
     initNodes(MixerCurveWidget::NODE_NUMELEM);
 }
 
 MixerCurveWidget::~MixerCurveWidget()
 {
-    while (!nodeList.isEmpty()) {
-        delete nodeList.takeFirst();
+    while (!m_nodeList.isEmpty()) {
+        delete m_nodeList.takeFirst();
     }
 
-    while (!edgeList.isEmpty()) {
-        delete edgeList.takeFirst();
+    while (!m_edgeList.isEmpty()) {
+        delete m_edgeList.takeFirst();
+    }
+    if (m_xAxisTextItem) {
+        delete m_xAxisTextItem;
+        m_xAxisTextItem = NULL;
+    }
+    if (m_yAxisTextItem) {
+        delete m_yAxisTextItem;
+        m_yAxisTextItem = NULL;
     }
 }
 
 void MixerCurveWidget::setPositiveColor(QString color)
 {
-    for (int i = 0; i < nodeList.count(); i++) {
-        MixerNode *node = nodeList.at(i);
+    for (int i = 0; i < m_nodeList.count(); i++) {
+        MixerNode *node = m_nodeList.at(i);
         node->setPositiveColor(color);
     }
 }
 
 void MixerCurveWidget::setNegativeColor(QString color)
 {
-    for (int i = 0; i < nodeList.count(); i++) {
-        MixerNode *node = nodeList.at(i);
+    for (int i = 0; i < m_nodeList.count(); i++) {
+        MixerNode *node = m_nodeList.at(i);
         node->setNegativeColor(color);
     }
 }
@@ -120,8 +131,8 @@ void MixerCurveWidget::initCurve(const QList<double> *points)
 void MixerCurveWidget::initNodes(int numPoints)
 {
     // First of all, clear any existing list
-    if (nodeList.count()) {
-        foreach(MixerNode * node, nodeList) {
+    if (m_nodeList.count()) {
+        foreach(MixerNode * node, m_nodeList) {
             foreach(Edge * edge, node->edges()) {
                 if (edge->sourceNode() == node) {
                     scene()->removeItem(edge);
@@ -132,7 +143,7 @@ void MixerCurveWidget::initNodes(int numPoints)
             delete node;
         }
 
-        nodeList.clear();
+        m_nodeList.clear();
     }
 
     // Create the nodes and edges
@@ -140,7 +151,7 @@ void MixerCurveWidget::initNodes(int numPoints)
     for (int i = 0; i < numPoints; i++) {
         MixerNode *node = new MixerNode(this);
 
-        nodeList.append(node);
+        m_nodeList.append(node);
         scene()->addItem(node);
 
         node->setPos(0, 0);
@@ -153,6 +164,32 @@ void MixerCurveWidget::initNodes(int numPoints)
     }
 }
 
+void MixerCurveWidget::setupXAxisLabel()
+{
+    if (!m_xAxisString.isEmpty()) {
+        if (m_xAxisTextItem) {
+            m_xAxisTextItem->setPlainText(m_xAxisString);
+        } else {
+            m_xAxisTextItem = new QGraphicsTextItem(m_xAxisString, m_plot);
+            scene()->addItem(m_xAxisTextItem);
+        }
+    }
+}
+
+void MixerCurveWidget::setupYAxisLabel()
+{
+    if (!m_yAxisString.isEmpty()) {
+        if (m_yAxisTextItem) {
+            m_yAxisTextItem->setPlainText(m_yAxisString);
+        } else {
+            m_yAxisTextItem = new QGraphicsTextItem(m_yAxisString, m_plot);
+            // m_yAxisTextItem->setTransformOriginPoint(m_yAxisTextItem->boundingRect().height(), m_yAxisTextItem->boundingRect().left());
+            m_yAxisTextItem->setRotation(270);
+            scene()->addItem(m_yAxisTextItem);
+        }
+    }
+}
+
 /**
    Returns the current curve settings
  */
@@ -160,7 +197,7 @@ QList<double> MixerCurveWidget::getCurve()
 {
     QList<double> list;
 
-    foreach(MixerNode * node, nodeList) {
+    foreach(MixerNode * node, m_nodeList) {
         list.append(node->value());
     }
 
@@ -185,55 +222,51 @@ void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double mi
  */
 void MixerCurveWidget::setCurve(const QList<double> *points)
 {
-    curveUpdating = true;
+    m_curveUpdating = true;
 
     int ptCnt = points->count();
-    if (nodeList.count() != ptCnt) {
+    if (m_nodeList.count() != ptCnt) {
         initNodes(ptCnt);
     }
 
-    double range = curveMax - curveMin;
+    double range = m_curveMax - m_curveMin;
 
-    qreal w = plot->boundingRect().width() / (ptCnt - 1);
-    qreal h = plot->boundingRect().height();
+    qreal w = m_plot->boundingRect().width() / (ptCnt - 1);
+    qreal h = m_plot->boundingRect().height();
     for (int i = 0; i < ptCnt; i++) {
-        double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
+        double val = (points->at(i) < m_curveMin) ? m_curveMin : (points->at(i) > m_curveMax) ? m_curveMax : points->at(i);
 
         val += range;
-        val -= (curveMin + range);
+        val -= (m_curveMin + range);
         val /= range;
 
-        MixerNode *node = nodeList.at(i);
+        MixerNode *node = m_nodeList.at(i);
         node->setPos(w * i, h - (val * h));
         node->verticalMove(true);
 
         node->update();
     }
-    curveUpdating = false;
+    m_curveUpdating = false;
 
     update();
 
     emit curveUpdated();
 }
 
-
 void MixerCurveWidget::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event)
-    // Thit fitInView method should only be called now, once the
-    // widget is shown, otherwise it cannot compute its values and
-    // the result is usually a ahrsbargraph that is way too small.
-
-    QRectF rect = plot->boundingRect();
-    fitInView(rect.adjusted(-12, -12, 12, 12), Qt::KeepAspectRatio);
+    positionAxisLabels();
+    setSceneRect(scene()->itemsBoundingRect());
+    fitInView(scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::resizeEvent(QResizeEvent *event)
 {
     Q_UNUSED(event);
-
-    QRectF rect = plot->boundingRect();
-    fitInView(rect.adjusted(-12, -12, 12, 12), Qt::KeepAspectRatio);
+    positionAxisLabels();
+    setSceneRect(scene()->itemsBoundingRect());
+    fitInView(scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::changeEvent(QEvent *event)
@@ -241,50 +274,77 @@ void MixerCurveWidget::changeEvent(QEvent *event)
     QGraphicsView::changeEvent(event);
 
     if (event->type() == QEvent::EnabledChange) {
-        foreach(MixerNode * node, nodeList) {
+        foreach(MixerNode * node, m_nodeList) {
             node->update();
         }
     }
 }
 
+void MixerCurveWidget::positionAxisLabels()
+{
+    QRectF rect = m_plot->boundingRect();
+
+    if (m_xAxisTextItem) {
+        m_xAxisTextItem->setPos(rect.right() -
+                                m_xAxisTextItem->boundingRect().width(), rect.bottom() - 4);
+    }
+
+    if (m_yAxisTextItem) {
+        m_yAxisTextItem->setPos(rect.left() -
+                                m_yAxisTextItem->boundingRect().height(), m_yAxisTextItem->boundingRect().width());
+    }
+}
+
 void MixerCurveWidget::itemMoved(double itemValue)
 {
     Q_UNUSED(itemValue);
 
-    if (!curveUpdating) {
+    if (!m_curveUpdating) {
         emit curveUpdated();
     }
 }
 
 void MixerCurveWidget::setMin(double value)
 {
-    if (curveMin != value) {
+    if (m_curveMin != value) {
         emit curveMinChanged(value);
     }
 
-    curveMin = value;
+    m_curveMin = value;
 }
 
 void MixerCurveWidget::setMax(double value)
 {
-    if (curveMax != value) {
+    if (m_curveMax != value) {
         emit curveMaxChanged(value);
     }
 
-    curveMax = value;
+    m_curveMax = value;
 }
 
 double MixerCurveWidget::getMin()
 {
-    return curveMin;
+    return m_curveMin;
 }
 double MixerCurveWidget::getMax()
 {
-    return curveMax;
+    return m_curveMax;
 }
 double MixerCurveWidget::setRange(double min, double max)
 {
-    curveMin = min;
-    curveMax = max;
-    return curveMax - curveMin;
+    m_curveMin = min;
+    m_curveMax = max;
+    return m_curveMax - m_curveMin;
+}
+
+void MixerCurveWidget::setXAxisLabel(QString label)
+{
+    m_xAxisString = label;
+    setupXAxisLabel();
+}
+
+void MixerCurveWidget::setYAxisLabel(QString label)
+{
+    m_yAxisString = label;
+    setupYAxisLabel();
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 8cc64d8b5..24ff448a7 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -41,6 +41,8 @@ class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView {
     Q_OBJECT
 
 public:
+    static const int NODE_NUMELEM = 5;
+
     MixerCurveWidget(QWidget *parent = 0);
     ~MixerCurveWidget();
 
@@ -57,34 +59,44 @@ public:
     double getMax();
     double setRange(double min, double max);
 
-    static const int NODE_NUMELEM = 5;
+public slots:
+    void setXAxisLabel(QString label);
+    void setYAxisLabel(QString label);
 
 signals:
     void curveUpdated();
     void curveMinChanged(double value);
     void curveMaxChanged(double value);
 
-private slots:
-
-private:
-    QGraphicsSvgItem *plot;
-
-    QList<Edge *> edgeList;
-    QList<MixerNode *> nodeList;
-
-    double curveMin;
-    double curveMax;
-    bool curveUpdating;
-
-    void  initNodes(int numPoints);
-    void setPositiveColor(QString color);
-    void setNegativeColor(QString color);
-
-    void  resizeCommands();
-
 protected:
     void showEvent(QShowEvent *event);
     void resizeEvent(QResizeEvent *event);
     void changeEvent(QEvent *event);
+
+private slots:
+    void positionAxisLabels();
+
+private:
+    QGraphicsSvgItem *m_plot;
+    QGraphicsTextItem *m_xAxisTextItem;
+    QGraphicsTextItem *m_yAxisTextItem;
+
+    QList<Edge *> m_edgeList;
+    QList<MixerNode *> m_nodeList;
+
+    QString m_xAxisString;
+    QString m_yAxisString;
+
+    double m_curveMin;
+    double m_curveMax;
+    bool m_curveUpdating;
+
+    void initNodes(int numPoints);
+    void setupXAxisLabel();
+    void setupYAxisLabel();
+    void setPositiveColor(QString color);
+    void setNegativeColor(QString color);
+
+    void  resizeCommands();
 };
 #endif /* MIXERCURVEWIDGET_H_ */