diff --git a/ground/src/plugins/config/ccpm.ui b/ground/src/plugins/config/ccpm.ui
index 4549f571b..d1fb75f6b 100644
--- a/ground/src/plugins/config/ccpm.ui
+++ b/ground/src/plugins/config/ccpm.ui
@@ -56,7 +56,7 @@
     <attribute name="title">
      <string>Basic settings</string>
     </attribute>
-    <widget class="QWidget" name="">
+    <widget class="QWidget" name="layoutWidget">
      <property name="geometry">
       <rect>
        <x>0</x>
@@ -517,7 +517,7 @@
           <property name="alignment">
            <set>Qt::AlignCenter</set>
           </property>
-          <widget class="QWidget" name="">
+          <widget class="QWidget" name="layoutWidget">
            <property name="geometry">
             <rect>
              <x>0</x>
@@ -632,13 +632,6 @@
             </item>
            </layout>
           </widget>
-          <zorder>splitter_2</zorder>
-          <zorder>ccpmCollectivespinBox</zorder>
-          <zorder>ccpmCollectiveSlider</zorder>
-          <zorder>label_15</zorder>
-          <zorder>ccpmCollectivespinBox</zorder>
-          <zorder>label_16</zorder>
-          <zorder></zorder>
          </widget>
         </item>
         <item row="0" column="1">
@@ -664,7 +657,7 @@
           <property name="title">
            <string>REVO</string>
           </property>
-          <widget class="QWidget" name="">
+          <widget class="QWidget" name="layoutWidget">
            <property name="geometry">
             <rect>
              <x>0</x>
@@ -1053,14 +1046,7 @@
             <item>
              <widget class="QLabel" name="label_41">
               <property name="text">
-               <string>Throttle Curve 2</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="pushButton_3">
-              <property name="text">
-               <string>Reset</string>
+               <string>Blade Pitch Curve</string>
               </property>
              </widget>
             </item>
@@ -1104,14 +1090,7 @@
             <item>
              <widget class="QLabel" name="label_39">
               <property name="text">
-               <string>Throttle Curve 1</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <widget class="QPushButton" name="pushButton_2">
-              <property name="text">
-               <string>Reset</string>
+               <string>Throttle Curve</string>
               </property>
              </widget>
             </item>
@@ -1156,8 +1135,14 @@
          <widget class="QTableWidget" name="CurveSettings">
           <property name="minimumSize">
            <size>
-            <width>260</width>
-            <height>323</height>
+            <width>243</width>
+            <height>273</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>243</width>
+            <height>273</height>
            </size>
           </property>
           <property name="font">
@@ -1166,7 +1151,7 @@
            </font>
           </property>
           <property name="verticalScrollBarPolicy">
-           <enum>Qt::ScrollBarAlwaysOn</enum>
+           <enum>Qt::ScrollBarAlwaysOff</enum>
           </property>
           <property name="horizontalScrollBarPolicy">
            <enum>Qt::ScrollBarAlwaysOff</enum>
@@ -1177,6 +1162,18 @@
           <property name="alternatingRowColors">
            <bool>true</bool>
           </property>
+          <attribute name="verticalHeaderDefaultSectionSize">
+           <number>25</number>
+          </attribute>
+          <attribute name="verticalHeaderMinimumSectionSize">
+           <number>25</number>
+          </attribute>
+          <attribute name="verticalHeaderDefaultSectionSize">
+           <number>25</number>
+          </attribute>
+          <attribute name="verticalHeaderMinimumSectionSize">
+           <number>25</number>
+          </attribute>
           <row>
            <property name="text">
             <string>0%</string>
@@ -1824,10 +1821,10 @@
     </widget>
    </widget>
   </widget>
-  <widget class="QWidget" name="">
+  <widget class="QWidget" name="layoutWidget">
    <property name="geometry">
     <rect>
-     <x>170</x>
+     <x>0</x>
      <y>0</y>
      <width>421</width>
      <height>26</height>
@@ -1893,8 +1890,6 @@
   <tabstop>CurveValue3</tabstop>
   <tabstop>CurveToGenerate</tabstop>
   <tabstop>ccpmGenerateCurve</tabstop>
-  <tabstop>pushButton_3</tabstop>
-  <tabstop>pushButton_2</tabstop>
   <tabstop>CurveSettings</tabstop>
   <tabstop>ccpmAdvancedSettingsTable</tabstop>
  </tabstops>
diff --git a/ground/src/plugins/config/configccpmwidget.cpp b/ground/src/plugins/config/configccpmwidget.cpp
index e2c481139..36791ab75 100644
--- a/ground/src/plugins/config/configccpmwidget.cpp
+++ b/ground/src/plugins/config/configccpmwidget.cpp
@@ -129,7 +129,7 @@ ConfigccpmWidget::ConfigccpmWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
 
     QStringList Types;
-    Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "Custom - User Angles" << "Custom - Advanced Settings"  ;
+    Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
     m_ccpm->ccpmType->addItems(Types);
     m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
     requestccpmUpdate();
@@ -181,6 +181,7 @@ void ConfigccpmWidget::UpdateType()
 {
     int TypeInt,SingleServoIndex;
     QString TypeText;
+    double AdjustmentAngle=0;
 
 
     TypeInt = m_ccpm->ccpmType->count() - m_ccpm->ccpmType->currentIndex()-1;
@@ -210,40 +211,80 @@ void ConfigccpmWidget::UpdateType()
     m_ccpm->ccpmRevoSlider->setEnabled(TypeInt>0);
     m_ccpm->ccpmREVOspinBox->setEnabled(TypeInt>0);
 
+    AdjustmentAngle=SingleServoIndex*90;
+
+    m_ccpm->CurveToGenerate->setEnabled(1);
+    m_ccpm->CurveSettings->setColumnHidden(1,0);
+    m_ccpm->widget_2->setVisible(1);
+    m_ccpm->customThrottleCurve2Value->setVisible(1);
+    m_ccpm->label_41->setVisible(1);
 
     //set values for pre defined heli types
         if (TypeText.compare(QString("CCPM 2 Servo 90º"), Qt::CaseInsensitive)==0)
         {
-            m_ccpm->ccpmAngleW->setValue(0);
-            m_ccpm->ccpmAngleX->setValue(90);
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
             m_ccpm->ccpmAngleY->setValue(0);
             m_ccpm->ccpmAngleZ->setValue(0);
             m_ccpm->ccpmAngleY->setEnabled(0);
             m_ccpm->ccpmAngleZ->setEnabled(0);
+            m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
+            m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoYChannel->setEnabled(0);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
+            m_ccpm->ccpmCorrectionAngle->setValue(0);
+
         }
         if (TypeText.compare(QString("CCPM 3 Servo 120º"), Qt::CaseInsensitive)==0)
         {
-            m_ccpm->ccpmAngleW->setValue(0);
-            m_ccpm->ccpmAngleX->setValue(120);
-            m_ccpm->ccpmAngleY->setValue(240);
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 120,360));
+            m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 240,360));
             m_ccpm->ccpmAngleZ->setValue(0);
             m_ccpm->ccpmAngleZ->setEnabled(0);
+            m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
+            m_ccpm->ccpmCorrectionAngle->setValue(0);
+
         }
         if (TypeText.compare(QString("CCPM 3 Servo 140º"), Qt::CaseInsensitive)==0)
         {
-            m_ccpm->ccpmAngleW->setValue(0);
-            m_ccpm->ccpmAngleX->setValue(140);
-            m_ccpm->ccpmAngleY->setValue(220);
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 140,360));
+            m_ccpm->ccpmAngleY->setValue(fmod(AdjustmentAngle + 220,360));
             m_ccpm->ccpmAngleZ->setValue(0);
             m_ccpm->ccpmAngleZ->setEnabled(0);
+            m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
             m_ccpm->ccpmServoZChannel->setEnabled(0);
-            m_ccpm->ccpmCorrectionAngle->setValue(SingleServoIndex*90);
+            m_ccpm->ccpmCorrectionAngle->setValue(0);
+
         }
+        if (TypeText.compare(QString("FP 2 Servo 90º"), Qt::CaseInsensitive)==0)
+        {
+            m_ccpm->ccpmAngleW->setValue(AdjustmentAngle + 0);
+            m_ccpm->ccpmAngleX->setValue(fmod(AdjustmentAngle + 90,360));
+            m_ccpm->ccpmAngleY->setValue(0);
+            m_ccpm->ccpmAngleZ->setValue(0);
+            m_ccpm->ccpmAngleY->setEnabled(0);
+            m_ccpm->ccpmAngleZ->setEnabled(0);
+            m_ccpm->ccpmServoYChannel->setCurrentIndex(8);
+            m_ccpm->ccpmServoZChannel->setCurrentIndex(8);
+            m_ccpm->ccpmServoYChannel->setEnabled(0);
+            m_ccpm->ccpmServoZChannel->setEnabled(0);
+            m_ccpm->ccpmCorrectionAngle->setValue(0);
+
+            m_ccpm->ccpmCollectivespinBox->setEnabled(0);
+            m_ccpm->ccpmCollectiveSlider->setEnabled(0);
+            m_ccpm->ccpmCollectivespinBox->setValue(0);
+            m_ccpm->ccpmCollectiveSlider->setValue(0);
+            m_ccpm->CurveToGenerate->setCurrentIndex(0);
+            m_ccpm->CurveToGenerate->setEnabled(0);
+            m_ccpm->CurveSettings->setColumnHidden(1,1);
+            m_ccpm->widget_2->setVisible(0);
+            m_ccpm->customThrottleCurve2Value->setVisible(0);
+            m_ccpm->label_41->setVisible(0);
+        }
+
 
 
     //update UI
@@ -495,7 +536,7 @@ void ConfigccpmWidget::UpdateMixer()
                 data.Mixer0Vector[4] = 0;//Yaw
 
             */
-            if ((MixerChannelData[i]<8)&&(ThisEnable[i]))
+            if ((MixerChannelData[i]<8)&&((ThisEnable[i])||(i<2)))
             {
                 m_ccpm->ccpmAdvancedSettingsTable->item(i,0)->setText(QString("%1").arg( MixerChannelData[i] ));
                  //config the vector
@@ -554,11 +595,15 @@ void ConfigccpmWidget::UpdateMixer()
   */
 void ConfigccpmWidget::requestccpmUpdate()
 {
+#define MaxAngleError 2
     int MixerDataFromHeli[8][5];
     QString MixerOutputType[8];
-    int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],ServoCurve2[4];
+    int EngineChannel,TailRotorChannel,ServoChannels[4],ServoAngles[4],SortAngles[4],CalcAngles[4],ServoCurve2[4];
     int NumServos=0;
     double Collective=0.0;
+    double a1,a2;
+    int HeadRotation,temp;
+    int isCCPM=0;
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@@ -591,7 +636,8 @@ void ConfigccpmWidget::requestccpmUpdate()
     {
         ServoChannels[j]=8;
         ServoCurve2[j]=0;
-        ServoAngles[j]=350;
+        ServoAngles[j]=0;
+        SortAngles[j]=j;
     }
 
     NumServos=0;
@@ -643,22 +689,21 @@ void ConfigccpmWidget::requestccpmUpdate()
         }
 
     }
-    m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[0]);
-    m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[1]);
-    m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[2]);
-    m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[3]);
 
-    m_ccpm->ccpmAngleW->setValue(ServoAngles[0]);
-    m_ccpm->ccpmAngleX->setValue(ServoAngles[1]);
-    m_ccpm->ccpmAngleY->setValue(ServoAngles[2]);
-    m_ccpm->ccpmAngleZ->setValue(ServoAngles[3]);
+
+
+
+    //just call it user angles for now....
+    m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
 
     if (NumServos>1)
     {
         if((ServoCurve2[0]==0)&&(ServoCurve2[1]==0)&&(ServoCurve2[2]==0)&&(ServoCurve2[3]==0))
         {
             //fixed pitch heli
+            isCCPM=0;
             m_ccpm->ccpmCollectiveSlider->setValue(0);
+            Collective = 0.0;
         }
         if(ServoCurve2[0]==ServoCurve2[1])
         {
@@ -666,13 +711,12 @@ void ConfigccpmWidget::requestccpmUpdate()
             {
                 if ((NumServos<4)||(ServoCurve2[2]==ServoCurve2[3]))
                 {//all the servos have the same ThrottleCurve2 setting so this must be a CCPM config
+                    isCCPM=1;
                     Collective = ((double)ServoCurve2[0]*100.00)/127.00;
                     m_ccpm->ccpmCollectiveSlider->setValue((int)Collective);
                     m_ccpm->ccpmCollectivespinBox->setValue((int)Collective);
 
-                    //just call it user angles for now....
-                    m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - User Angles"));
-                }
+                 }
             }
         }
     }
@@ -681,6 +725,119 @@ void ConfigccpmWidget::requestccpmUpdate()
         m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("Custom - Advanced Settings"));
     }
 
+    HeadRotation=0;
+    //calculate the angles
+    for(j=0;j<NumServos;j++)
+    {
+        //MixerDataFromHeli[i][2]=(127.0*(1-CollectiveConstant)*sin((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Roll
+        //MixerDataFromHeli[i][3]=(127.0*(1-CollectiveConstant)*cos((CorrectionAngle + ThisAngle[i])*Pi/180.00))));//Pitch
+        a1=((double)MixerDataFromHeli[ServoChannels[j]][2]/(1.27*(100.0-Collective)));
+        a2=((double)MixerDataFromHeli[ServoChannels[j]][3]/(1.27*(100.0-Collective)));
+        ServoAngles[j]=fmod(360.0+atan2(a1,a2)/(Pi/180.00),360.0);
+        //check the angles for one being a multiple of 90deg
+        if (fmod(ServoAngles[j],90)<MaxAngleError)
+        {
+            HeadRotation=ServoAngles[j]/90;
+        }
+
+    }
+    //set the head rotation
+    m_ccpm->ccpmSingleServo->setCurrentIndex(HeadRotation);
+
+    //calculate the un rotated angles
+    for(j=0;j<NumServos;j++)
+    {
+      CalcAngles[j] = fmod(360.0+ServoAngles[j]-(double)HeadRotation*90.0,360.0);
+    }
+    //sort the calc angles do the smallest is first...brute force...
+    for(i=0;i<5;i++)
+    for(j=0;j<NumServos-1;j++)
+    {
+      if (CalcAngles[SortAngles[j]] > CalcAngles[SortAngles[j+1]])
+      {//swap the sorted angles
+        temp = SortAngles[j];
+        SortAngles[j]=SortAngles[j+1];
+        SortAngles[j+1]=temp;
+      }
+
+    }
+
+    m_ccpm->ccpmAngleW->setValue(ServoAngles[SortAngles[0]]);
+    m_ccpm->ccpmAngleX->setValue(ServoAngles[SortAngles[1]]);
+    m_ccpm->ccpmAngleY->setValue(ServoAngles[SortAngles[2]]);
+    m_ccpm->ccpmAngleZ->setValue(ServoAngles[SortAngles[3]]);
+
+    m_ccpm->ccpmServoWChannel->setCurrentIndex(ServoChannels[SortAngles[0]]);
+    m_ccpm->ccpmServoXChannel->setCurrentIndex(ServoChannels[SortAngles[1]]);
+    m_ccpm->ccpmServoYChannel->setCurrentIndex(ServoChannels[SortAngles[2]]);
+    m_ccpm->ccpmServoZChannel->setCurrentIndex(ServoChannels[SortAngles[3]]);
+
+
+    //Types << "CCPM 2 Servo 90º" << "CCPM 3 Servo 120º" << "CCPM 3 Servo 140º" << "FP 2 Servo 90º"  << "Custom - User Angles" << "Custom - Advanced Settings"  ;
+
+
+    //check this against known combinations
+    if (NumServos==2)
+    {
+        if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
+            (fabs(CalcAngles[SortAngles[1]]-90)<MaxAngleError))
+        {// two servo 90º
+            if (isCCPM)
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 2 Servo 90º"));
+                UpdateType();
+            }
+            else
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 2 Servo 90º"));
+                UpdateType();
+            }
+
+        }
+    }
+    if (NumServos==3)
+    {
+        if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
+            (fabs(CalcAngles[SortAngles[1]]-120)<MaxAngleError)&&
+            (fabs(CalcAngles[SortAngles[2]]-240)<MaxAngleError))
+        {// three servo 120º
+            if (isCCPM)
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 120º"));
+                UpdateType();
+
+            }
+            else
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 120º"));
+                UpdateType();
+            }
+
+        }
+        else if ((fabs(CalcAngles[SortAngles[0]])<MaxAngleError)&&
+            (fabs(CalcAngles[SortAngles[1]]-140)<MaxAngleError)&&
+            (fabs(CalcAngles[SortAngles[2]]-220)<MaxAngleError))
+        {// three servo 140º
+            if (isCCPM)
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("CCPM 3 Servo 140º"));
+                UpdateType();
+            }
+            else
+            {
+                m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->findText("FP 3 Servo 140º"));
+                UpdateType();
+            }
+
+        }
+
+    }
+    if (NumServos==4)
+    {
+
+    }
+
+
 
 
     //get the settings for the curve from the mixer settings
@@ -723,6 +880,15 @@ void ConfigccpmWidget::sendccpmUpdate()
 
         UpdateMixer();
 
+        //clear the output types
+        for (i=0;i<8;i++)
+        {
+            field = obj->getField(tr( "Mixer%1Type" ).arg( i ));
+            //clear the mixer type
+            field->setValue("Disabled");
+        }
+
+
         //go through the user data and update the mixer matrix
         for (i=0;i<6;i++)
         {