diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 88579c78c..5fb4b5b73 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -113,7 +113,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     QString fieldName = QString("InputMode");
     UAVObjectField *field = obj->getField(fieldName);
     m_config->receiverType->addItems(field->getOptions());
-    m_config->receiverType->setDisabled(true); // This option does not work for now, it is a compile-time option.
 
     // Fill in the dropdown menus for the channel RC Input assignement.
     QStringList channelsList;
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index cef9c9abe..320aa2db8 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>626</width>
-    <height>532</height>
+    <width>655</width>
+    <height>554</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,12 +24,34 @@
        <string>RC Input</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout">
-       <item row="0" column="0">
+       <item row="0" column="0" colspan="9">
+        <widget class="QLabel" name="label_4">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>50</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>You must restart your board after changing receiver type.  Also your hardware setings must support it.</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0">
         <widget class="QLabel" name="label_2">
          <property name="font">
           <font>
-           <weight>75</weight>
-           <bold>true</bold>
+           <weight>50</weight>
+           <bold>false</bold>
           </font>
          </property>
          <property name="text">
@@ -40,7 +62,7 @@
          </property>
         </widget>
        </item>
-       <item row="0" column="1" colspan="2">
+       <item row="2" column="1" colspan="2">
         <widget class="QComboBox" name="receiverType">
          <property name="toolTip">
           <string>Select the receiver type here:
@@ -50,7 +72,7 @@
          </property>
         </widget>
        </item>
-       <item row="0" column="4">
+       <item row="2" column="4">
         <layout class="QHBoxLayout" name="horizontalLayout_3">
          <item>
           <widget class="QLabel" name="RCInputConnected">
@@ -80,14 +102,14 @@
          </item>
         </layout>
        </item>
-       <item row="0" column="8">
+       <item row="2" column="8">
         <widget class="QLabel" name="label">
          <property name="text">
           <string>Rev.</string>
          </property>
         </widget>
        </item>
-       <item row="1" column="0">
+       <item row="3" column="0">
         <widget class="QComboBox" name="ch0Assign">
          <property name="iconSize">
           <size>
@@ -100,7 +122,7 @@
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
+       <item row="3" column="1">
         <widget class="QLabel" name="ch0Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -114,7 +136,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="2">
+       <item row="3" column="2">
         <widget class="QLabel" name="ch0Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -132,7 +154,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="4" colspan="3">
+       <item row="3" column="4" colspan="3">
         <widget class="QSlider" name="inSlider0">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -151,7 +173,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="7">
+       <item row="3" column="7">
         <widget class="QLabel" name="ch0Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -166,7 +188,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="1" column="8">
+       <item row="3" column="8">
         <widget class="QCheckBox" name="ch0Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -178,10 +200,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="2" column="0">
+       <item row="4" column="0">
         <widget class="QComboBox" name="ch1Assign"/>
        </item>
-       <item row="2" column="1">
+       <item row="4" column="1">
         <widget class="QLabel" name="ch1Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -195,7 +217,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="2" column="2">
+       <item row="4" column="2">
         <widget class="QLabel" name="ch1Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -213,7 +235,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="2" column="4" colspan="3">
+       <item row="4" column="4" colspan="3">
         <widget class="QSlider" name="inSlider1">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -232,7 +254,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="2" column="7">
+       <item row="4" column="7">
         <widget class="QLabel" name="ch1Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -247,7 +269,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="2" column="8">
+       <item row="4" column="8">
         <widget class="QCheckBox" name="ch1Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -259,10 +281,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="3" column="0">
+       <item row="5" column="0">
         <widget class="QComboBox" name="ch2Assign"/>
        </item>
-       <item row="3" column="1">
+       <item row="5" column="1">
         <widget class="QLabel" name="ch2Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -276,7 +298,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="3" column="2">
+       <item row="5" column="2">
         <widget class="QLabel" name="ch2Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -294,7 +316,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="3" column="4" colspan="3">
+       <item row="5" column="4" colspan="3">
         <widget class="QSlider" name="inSlider2">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -313,7 +335,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="3" column="7">
+       <item row="5" column="7">
         <widget class="QLabel" name="ch2Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -328,7 +350,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="3" column="8">
+       <item row="5" column="8">
         <widget class="QCheckBox" name="ch2Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -340,10 +362,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="4" column="0">
+       <item row="6" column="0">
         <widget class="QComboBox" name="ch3Assign"/>
        </item>
-       <item row="4" column="1">
+       <item row="6" column="1">
         <widget class="QLabel" name="ch3Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -357,7 +379,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="4" column="2">
+       <item row="6" column="2">
         <widget class="QLabel" name="ch3Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -375,7 +397,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="4" column="4" colspan="3">
+       <item row="6" column="4" colspan="3">
         <widget class="QSlider" name="inSlider3">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -394,7 +416,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="4" column="7">
+       <item row="6" column="7">
         <widget class="QLabel" name="ch3Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -409,7 +431,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="4" column="8">
+       <item row="6" column="8">
         <widget class="QCheckBox" name="ch3Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -421,10 +443,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="0">
+       <item row="7" column="0">
         <widget class="QComboBox" name="ch4Assign"/>
        </item>
-       <item row="5" column="1">
+       <item row="7" column="1">
         <widget class="QLabel" name="ch4Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -438,7 +460,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="5" column="2">
+       <item row="7" column="2">
         <widget class="QLabel" name="ch4Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -456,7 +478,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="5" column="4" colspan="3">
+       <item row="7" column="4" colspan="3">
         <widget class="QSlider" name="inSlider4">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -475,7 +497,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="5" column="7">
+       <item row="7" column="7">
         <widget class="QLabel" name="ch4Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -490,7 +512,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="5" column="8">
+       <item row="7" column="8">
         <widget class="QCheckBox" name="ch4Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -502,10 +524,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="6" column="0">
+       <item row="8" column="0">
         <widget class="QComboBox" name="ch5Assign"/>
        </item>
-       <item row="6" column="1">
+       <item row="8" column="1">
         <widget class="QLabel" name="ch5Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -519,7 +541,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="6" column="2">
+       <item row="8" column="2">
         <widget class="QLabel" name="ch5Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -537,7 +559,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="6" column="4" colspan="3">
+       <item row="8" column="4" colspan="3">
         <widget class="QSlider" name="inSlider5">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -556,7 +578,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="6" column="7">
+       <item row="8" column="7">
         <widget class="QLabel" name="ch5Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -571,7 +593,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="6" column="8">
+       <item row="8" column="8">
         <widget class="QCheckBox" name="ch5Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -583,10 +605,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="0">
+       <item row="9" column="0">
         <widget class="QComboBox" name="ch6Assign"/>
        </item>
-       <item row="7" column="1">
+       <item row="9" column="1">
         <widget class="QLabel" name="ch6Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -600,7 +622,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="7" column="2">
+       <item row="9" column="2">
         <widget class="QLabel" name="ch6Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -618,7 +640,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="7" column="4" colspan="3">
+       <item row="9" column="4" colspan="3">
         <widget class="QSlider" name="inSlider6">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -637,7 +659,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="7" column="7">
+       <item row="9" column="7">
         <widget class="QLabel" name="ch6Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -652,7 +674,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="7" column="8">
+       <item row="9" column="8">
         <widget class="QCheckBox" name="ch6Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -664,10 +686,10 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="8" column="0">
+       <item row="10" column="0">
         <widget class="QComboBox" name="ch7Assign"/>
        </item>
-       <item row="8" column="1">
+       <item row="10" column="1">
         <widget class="QLabel" name="ch7Cur">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -681,7 +703,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="8" column="2">
+       <item row="10" column="2">
         <widget class="QLabel" name="ch7Min">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -699,7 +721,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="8" column="4" colspan="3">
+       <item row="10" column="4" colspan="3">
         <widget class="QSlider" name="inSlider7">
          <property name="mouseTracking">
           <bool>true</bool>
@@ -718,7 +740,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="8" column="7">
+       <item row="10" column="7">
         <widget class="QLabel" name="ch7Max">
          <property name="toolTip">
           <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@@ -733,7 +755,7 @@ p, li { white-space: pre-wrap; }
          </property>
         </widget>
        </item>
-       <item row="8" column="8">
+       <item row="10" column="8">
         <widget class="QCheckBox" name="ch7Rev">
          <property name="toolTip">
           <string>Check this to reverse the channel.
@@ -745,34 +767,7 @@ reversal capabilities).</string>
          </property>
         </widget>
        </item>
-       <item row="14" column="0" colspan="9">
-        <widget class="QLabel" name="label_20">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string>BEWARE: make sure your engines are not connected when running calibration!
-</string>
-         </property>
-        </widget>
-       </item>
-       <item row="11" column="0" colspan="9">
-        <widget class="QLabel" name="lblMissingInputs">
-         <property name="font">
-          <font>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-       <item row="9" column="0">
+       <item row="11" column="0">
         <widget class="QCheckBox" name="doRCInputCalibration">
          <property name="font">
           <font>
@@ -792,6 +787,33 @@ Neutral should be put at the bottom of the slider for the throttle.</string>
          </property>
         </widget>
        </item>
+       <item row="13" column="0" colspan="9">
+        <widget class="QLabel" name="lblMissingInputs">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="16" column="0" colspan="9">
+        <widget class="QLabel" name="label_20">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="text">
+          <string>BEWARE: make sure your engines are not connected when running calibration!
+</string>
+         </property>
+        </widget>
+       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab_3">
@@ -1170,6 +1192,19 @@ if you have not done so already.</string>
      </widget>
     </widget>
    </item>
+   <item>
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_5">
      <item>