diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.cpp
index 452adaf02..713270d83 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.cpp
@@ -35,6 +35,7 @@ FlashPage::FlashPage(SetupWizard *wizard, QWidget *parent) :
     ui(new Ui::FlashPage)
 {
     ui->setupUi(this);
+    connect(ui->applyButton, SIGNAL(clicked()), wizard, SLOT(writeConfiguration()));
 }
 
 FlashPage::~FlashPage()
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.ui
index a354302b8..37929e802 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/flashpage.ui
@@ -45,9 +45,9 @@ p, li { white-space: pre-wrap; }
    <property name="geometry">
     <rect>
      <x>20</x>
-     <y>240</y>
+     <y>230</y>
      <width>561</width>
-     <height>141</height>
+     <height>151</height>
     </rect>
    </property>
    <property name="sizePolicy">
@@ -62,6 +62,19 @@ p, li { white-space: pre-wrap; }
    <property name="alignment">
     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
    </property>
+   <widget class="QPushButton" name="applyButton">
+    <property name="geometry">
+     <rect>
+      <x>440</x>
+      <y>30</y>
+      <width>100</width>
+      <height>100</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Apply</string>
+    </property>
+   </widget>
   </widget>
  </widget>
  <resources/>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
index 56ffa5fb0..9963422ea 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
@@ -57,16 +57,23 @@ MultiPage::~MultiPage()
 
 void MultiPage::initializePage()
 {
+    updateAvailableTypes();
     updateImageAndDescription();
 }
 
+bool MultiPage::validatePage()
+{
+    SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
+    getWizard()->setVehicleSubType(type);
+}
+
 void MultiPage::setupMultiTypesCombo()
 {
     ui->typeCombo->addItem("Tricopter", SetupWizard::MULTI_ROTOR_TRI_Y);
     ui->typeCombo->addItem("Quadcopter X", SetupWizard::MULTI_ROTOR_QUAD_X);
     ui->typeCombo->addItem("Quadcopter +", SetupWizard::MULTI_ROTOR_QUAD_PLUS);
     ui->typeCombo->addItem("Hexacopter", SetupWizard::MULTI_ROTOR_HEXA);
-    ui->typeCombo->addItem("Hexacopter Coax", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
+    ui->typeCombo->addItem("Hexacopter Coax (Y6)", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
     ui->typeCombo->addItem("Hexacopter H", SetupWizard::MULTI_ROTOR_HEXA_H);
     ui->typeCombo->addItem("Octocopter", SetupWizard::MULTI_ROTOR_OCTO);
     ui->typeCombo->addItem("Octocopter Coax X", SetupWizard::MULTI_ROTOR_OCTO_COAX_X);
@@ -74,9 +81,18 @@ void MultiPage::setupMultiTypesCombo()
     ui->typeCombo->addItem("Octocopter V", SetupWizard::MULTI_ROTOR_OCTO_V);
 }
 
+void MultiPage::updateAvailableTypes()
+{
+    QVariant enable = (getWizard()->getInputType() == SetupWizard::INPUT_PWM) ? QVariant(0) : QVariant(1 | 32);
+    ui->typeCombo->model()->setData(ui->typeCombo->model()->index(6, 0), enable, Qt::UserRole - 1);
+    ui->typeCombo->model()->setData(ui->typeCombo->model()->index(7, 0), enable, Qt::UserRole - 1);
+    ui->typeCombo->model()->setData(ui->typeCombo->model()->index(8, 0), enable, Qt::UserRole - 1);
+    ui->typeCombo->model()->setData(ui->typeCombo->model()->index(9, 0), enable, Qt::UserRole - 1);
+}
+
 void MultiPage::updateImageAndDescription()
 {
-    SetupWizard::MULTI_ROTOR_SUB_TYPE type = (SetupWizard::MULTI_ROTOR_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
+    SetupWizard::VEHICLE_SUB_TYPE type = (SetupWizard::VEHICLE_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
     QString elementId = "";
     QString description = "Descriptive text with information about ";
     description.append(ui->typeCombo->currentText());
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
index bc9f822ad..0ffa84a36 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
@@ -46,11 +46,14 @@ public:
     ~MultiPage();
 
     void initializePage();
+    bool validatePage();
+
     
 private:
     Ui::MultiPage *ui;
     void setupMultiTypesCombo();
     QGraphicsSvgItem *multiPic;
+    void updateAvailableTypes();
 
 private slots:
     void updateImageAndDescription();
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index f68c942ef..313623248 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -40,6 +40,11 @@
 #include "pages/summarypage.h"
 #include "pages/flashpage.h"
 #include "pages/notyetimplementedpage.h"
+#include "extensionsystem/pluginmanager.h"
+#include "hwsettings.h"
+#include "actuatorsettings.h"
+#include "attitudesettings.h"
+
 
 SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent),
     m_controllerSelectionMode(CONTROLLER_SELECTION_UNKNOWN), m_controllerType(CONTROLLER_UNKNOWN),
@@ -47,6 +52,7 @@ SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent),
     m_levellingPerformed(false), m_connectionManager(0)
 {
     setWindowTitle("OpenPilot Setup Wizard");
+    setOption(QWizard::IndependentPages, false);
     createPages();
 }
 
@@ -60,7 +66,7 @@ int SetupWizard::nextId() const
             {
                 case CONTROLLER_CC:
                 case CONTROLLER_CC3D:
-                    return PAGE_VEHICLES;
+                    return PAGE_INPUT;
                 case CONTROLLER_REVO:
                 case CONTROLLER_PIPX:
                 default:
@@ -83,9 +89,9 @@ int SetupWizard::nextId() const
             }
         }
         case PAGE_MULTI:
-            return PAGE_INPUT;
-        case PAGE_INPUT:
             return PAGE_OUTPUT;
+        case PAGE_INPUT:
+            return PAGE_VEHICLES;
         case PAGE_OUTPUT:
         {
             if(getControllerSelectionMode() == CONTROLLER_SELECTION_AUTOMATIC) {
@@ -196,6 +202,197 @@ QString SetupWizard::getSummaryText()
     return summary;
 }
 
+void SetupWizard::applyConfiguration()
+{
+    UAVObjectManager* uavoMgr = getUAVObjectManager();
+    applyHardwareConfiguration(uavoMgr);
+    applyVehicleConfiguration(uavoMgr);
+    applyOutputConfiguration(uavoMgr);
+    applyLevellingConfiguration(uavoMgr);
+}
+
+UAVObjectManager* SetupWizard::getUAVObjectManager()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager * uavObjectManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(uavObjectManager);
+    return uavObjectManager;
+}
+
+void SetupWizard::applyHardwareConfiguration(UAVObjectManager* uavoMgr)
+{
+    HwSettings* hwSettings = HwSettings::GetInstance(uavoMgr);
+
+    switch(getControllerType())
+    {
+        case CONTROLLER_CC:
+        case CONTROLLER_CC3D:
+            // Reset all ports
+            hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_DISABLED);
+            hwSettings->setCC_FlexiPort(HwSettings::CC_FLEXIPORT_DISABLED);
+            hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_DISABLED);
+            switch(getInputType())
+            {
+                case INPUT_PWM:
+                    hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_PWM);
+                    break;
+                case INPUT_PPM:
+                    hwSettings->setCC_RcvrPort(HwSettings::CC_RCVRPORT_PPM);
+                    break;
+                case INPUT_SBUS:
+                    hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_SBUS);
+                    break;
+                case INPUT_DSM:
+                    // TODO: Handle all of the DSM types ?? Which is most common?
+                    hwSettings->setCC_MainPort(HwSettings::CC_MAINPORT_DSM2);
+                    break;
+            }
+            break;
+        case CONTROLLER_REVO:
+            // TODO: Implement Revo settings
+            break;
+    }
+}
+
+void SetupWizard::applyVehicleConfiguration(UAVObjectManager *uavoMgr)
+{
+
+    switch(getVehicleType())
+    {
+        case VEHICLE_MULTI:
+        {
+            switch(getVehicleSubType())
+            {
+                case SetupWizard::MULTI_ROTOR_TRI_Y:
+                    setupTriCopter(uavoMgr);
+                    break;
+                case SetupWizard::MULTI_ROTOR_QUAD_X:
+                case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
+                    setupQuadCopter(uavoMgr);
+                    break;
+                case SetupWizard::MULTI_ROTOR_HEXA:
+                case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
+                case SetupWizard::MULTI_ROTOR_HEXA_H:
+                    setupHexaCopter(uavoMgr);
+                    break;
+                case SetupWizard::MULTI_ROTOR_OCTO:
+                case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
+                case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
+                case SetupWizard::MULTI_ROTOR_OCTO_V:
+                    setupOctoCopter(uavoMgr);
+                    break;
+            }
+            break;
+        }
+        case VEHICLE_FIXEDWING:
+        case VEHICLE_HELI:
+        case VEHICLE_SURFACE:
+            // TODO: Implement settings for other vehicle types?
+            break;
+    }
+}
+
+void SetupWizard::applyOutputConfiguration(UAVObjectManager *uavoMgr)
+{
+    ActuatorSettings* actSettings = ActuatorSettings::GetInstance(uavoMgr);
+    switch(getVehicleType())
+    {
+        case VEHICLE_MULTI:
+        {
+            actSettings->setChannelUpdateFreq(0, DEFAULT_ESC_FREQUENCE);
+            actSettings->setChannelUpdateFreq(1, DEFAULT_ESC_FREQUENCE);
+            actSettings->setChannelUpdateFreq(2, DEFAULT_ESC_FREQUENCE);
+            actSettings->setChannelUpdateFreq(3, DEFAULT_ESC_FREQUENCE);
+
+            qint16 updateFrequence = DEFAULT_ESC_FREQUENCE;
+            switch(getESCType())
+            {
+                case ESC_DEFAULT:
+                    updateFrequence = DEFAULT_ESC_FREQUENCE;
+                    break;
+                case ESC_RAPID:
+                    updateFrequence = RAPID_ESC_FREQUENCE;
+                    break;
+            }
+
+            switch(getVehicleSubType())
+            {
+                case SetupWizard::MULTI_ROTOR_TRI_Y:
+                    actSettings->setChannelUpdateFreq(0, updateFrequence);
+                    break;
+                case SetupWizard::MULTI_ROTOR_QUAD_X:
+                case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
+                    actSettings->setChannelUpdateFreq(0, updateFrequence);
+                    actSettings->setChannelUpdateFreq(1, updateFrequence);
+                    break;
+                case SetupWizard::MULTI_ROTOR_HEXA:
+                case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
+                case SetupWizard::MULTI_ROTOR_HEXA_H:
+                case SetupWizard::MULTI_ROTOR_OCTO:
+                case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
+                case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
+                case SetupWizard::MULTI_ROTOR_OCTO_V:
+                    actSettings->setChannelUpdateFreq(0, updateFrequence);
+                    actSettings->setChannelUpdateFreq(1, updateFrequence);
+                    actSettings->setChannelUpdateFreq(2, updateFrequence);
+                    actSettings->setChannelUpdateFreq(3, updateFrequence);
+                    break;
+            }
+            break;
+        }
+        case VEHICLE_FIXEDWING:
+        case VEHICLE_HELI:
+        case VEHICLE_SURFACE:
+            // TODO: Implement settings for other vehicle types?
+            break;
+    }
+}
+
+void SetupWizard::applyLevellingConfiguration(UAVObjectManager *uavoMgr)
+{
+    if(isLevellingPerformed())
+    {
+        accelGyroBias bias = getLevellingBias();
+        AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(uavoMgr)->getData();
+        attitudeSettingsData.AccelBias[0] += bias.m_accelerometerXBias;
+        attitudeSettingsData.AccelBias[1] += bias.m_accelerometerYBias;
+        attitudeSettingsData.AccelBias[2] += bias.m_accelerometerZBias;
+        attitudeSettingsData.GyroBias[0] = -bias.m_gyroXBias;
+        attitudeSettingsData.GyroBias[1] = -bias.m_gyroYBias;
+        attitudeSettingsData.GyroBias[2] = -bias.m_gyroZBias;
+        AttitudeSettings::GetInstance(uavoMgr)->setData(attitudeSettingsData);
+    }
+}
+
+void SetupWizard::setupTriCopter(UAVObjectManager *uavoMgr)
+{
+
+}
+
+void SetupWizard::setupQuadCopter(UAVObjectManager *uavoMgr)
+{
+}
+
+void SetupWizard::setupHexaCopter(UAVObjectManager *uavoMgr)
+{
+}
+
+void SetupWizard::setupOctoCopter(UAVObjectManager *uavoMgr)
+{
+}
+
+void SetupWizard::exportConfiguration()
+{
+    applyConfiguration();
+    // Call export configuration function...
+}
+
+void SetupWizard::writeConfiguration()
+{
+    applyConfiguration();
+    // Call Save UAVOs to controller
+}
+
 void SetupWizard::createPages()
 {
     setPage(PAGE_START, new StartPage(this));
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index b88f5e4c9..55246afa0 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -32,6 +32,8 @@
 #include "levellingutil.h"
 #include <coreplugin/icore.h>
 #include <coreplugin/connectionmanager.h>
+#include "uavobjectmanager.h"
+
 
 class SetupWizard : public QWizard
 {
@@ -43,9 +45,10 @@ public:
     enum CONTROLLER_SELECTION_MODE {CONTROLLER_SELECTION_AUTOMATIC, CONTROLLER_SELECTION_MANUAL, CONTROLLER_SELECTION_UNKNOWN};
     enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
     enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
-    enum MULTI_ROTOR_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
+    enum VEHICLE_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
                                MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
-                               MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS};
+                               MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS, FIXED_WING_AILERON,
+                               FIXED_WING_VTAIL, HELI_CCPM};
     enum ESC_TYPE {ESC_DEFAULT, ESC_RAPID, ESC_UNKNOWN};
     enum INPUT_TYPE {INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_UNKNOWN};
 
@@ -58,6 +61,9 @@ public:
     void setVehicleType(SetupWizard::VEHICLE_TYPE type) { m_vehicleType = type; }
     SetupWizard::VEHICLE_TYPE getVehicleType() const { return m_vehicleType; }
 
+    void setVehicleSubType(SetupWizard::VEHICLE_SUB_TYPE type) { m_vehicleSubType = type; }
+    SetupWizard::VEHICLE_SUB_TYPE getVehicleSubType() const { return m_vehicleSubType; }
+
     void setInputType(SetupWizard::INPUT_TYPE type) { m_inputType = type; }
     SetupWizard::INPUT_TYPE getInputType() const { return m_inputType; }
 
@@ -78,8 +84,14 @@ public:
         }
         return m_connectionManager;
     }
+public slots:
+    void exportConfiguration();
+    void writeConfiguration();
 
 private:
+    static const qint16 DEFAULT_ESC_FREQUENCE = 50;
+    static const qint16 RAPID_ESC_FREQUENCE = 50;
+
     enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
           PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_LEVELLING,
           PAGE_FLASH, PAGE_SUMMARY, PAGE_NOTYETIMPLEMENTED, PAGE_END};
@@ -88,6 +100,7 @@ private:
     CONTROLLER_SELECTION_MODE m_controllerSelectionMode;
     CONTROLLER_TYPE m_controllerType;
     VEHICLE_TYPE m_vehicleType;
+    VEHICLE_SUB_TYPE m_vehicleSubType;
     INPUT_TYPE m_inputType;
     ESC_TYPE m_escType;
     bool m_levellingPerformed;
@@ -95,6 +108,18 @@ private:
 
     Core::ConnectionManager *m_connectionManager;
 
+    UAVObjectManager *getUAVObjectManager();
+
+    void applyConfiguration();
+    void applyHardwareConfiguration(UAVObjectManager *uavoMgr);
+    void applyVehicleConfiguration(UAVObjectManager *uavoMgr);
+    void applyOutputConfiguration(UAVObjectManager *uavoMgr);
+    void applyLevellingConfiguration(UAVObjectManager *uavoMgr);
+
+    void setupTriCopter(UAVObjectManager *uavoMgr);
+    void setupQuadCopter(UAVObjectManager *uavoMgr);
+    void setupHexaCopter(UAVObjectManager *uavoMgr);
+    void setupOctoCopter(UAVObjectManager *uavoMgr);
 };
 
 #endif // SETUPWIZARD_H