diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 3ed9dfe02..60ed1149b 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -42,6 +42,7 @@
 #include <gpsvelocitysensor.h>
 #include <homelocation.h>
 #include <auxmagsensor.h>
+#include <auxmagsettings.h>
 
 #include <gyrostate.h>
 #include <accelstate.h>
@@ -254,7 +255,7 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
 
 static void settingsUpdatedCb(UAVObjEvent *objEv);
 static void sensorUpdatedCb(UAVObjEvent *objEv);
-static void homeLocationUpdatedCb(UAVObjEvent *objEv);
+static void criticalConfigUpdatedCb(UAVObjEvent *objEv);
 static void StateEstimationCb(void);
 
 static inline int32_t maxint32_t(int32_t a, int32_t b)
@@ -289,10 +290,12 @@ int32_t StateEstimationInitialize(void)
     AirspeedStateInitialize();
     PositionStateInitialize();
     VelocityStateInitialize();
+    AuxMagSettingsInitialize();
 
     RevoSettingsConnectCallback(&settingsUpdatedCb);
 
-    HomeLocationConnectCallback(&homeLocationUpdatedCb);
+    HomeLocationConnectCallback(&criticalConfigUpdatedCb);
+    AuxMagSettingsConnectCallback(&criticalConfigUpdatedCb);
 
     GyroSensorConnectCallback(&sensorUpdatedCb);
     AccelSensorConnectCallback(&sensorUpdatedCb);
@@ -538,9 +541,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 }
 
 /**
- * Callback for eventdispatcher when HomeLocation has been updated
+ * Callback for eventdispatcher when HomeLocation or other critical configs (auxmagsettings, ...) has been updated
  */
-static void homeLocationUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+static void criticalConfigUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
     // Ask for a filter init (necessary for LLA filter)
     // Only possible if disarmed
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
index 5a0258da8..1f3d0e2e3 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
@@ -66,6 +66,7 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
     addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed);
 
     addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbRcvrTelemSpeed);
+    addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbRcvrComSpeed);
 
     // Add Gps protocol configuration
     addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
@@ -121,7 +122,8 @@ void ConfigRevoHWWidget::updateObjectsFromWidgets()
 
     // If any port is configured to be GPS port, enable GPS module if it is not enabled.
     // Otherwise disable GPS module.
-    if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+    if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)
+            || isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
         data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
     } else {
         data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
@@ -134,44 +136,40 @@ void ConfigRevoHWWidget::usbVCPPortChanged(int index)
 {
     Q_UNUSED(index);
 
-    bool vcpComBridgeEnabled = m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE;
+    bool vcpComBridgeEnabled = isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_COMBRIDGE);
 
     m_ui->lblUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
     m_ui->cbUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
 
-    if (!vcpComBridgeEnabled && m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
-        m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
     }
-    m_ui->cbFlexi->model()->setData(m_ui->cbFlexi->model()->index(HwSettings::RM_FLEXIPORT_COMBRIDGE, 0),
-                                    !vcpComBridgeEnabled ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+    enableComboBoxOptionItem(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE, vcpComBridgeEnabled);
 
-    if (!vcpComBridgeEnabled && m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
-        m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
     }
-    m_ui->cbMain->model()->setData(m_ui->cbMain->model()->index(HwSettings::RM_MAINPORT_COMBRIDGE, 0),
-                                   !vcpComBridgeEnabled ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+    enableComboBoxOptionItem(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE, vcpComBridgeEnabled);
 
-    if (!vcpComBridgeEnabled && m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_COMBRIDGE) {
-        m_ui->cbRcvr->setCurrentIndex(HwSettings::RM_RCVRPORT_DISABLED);
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
     }
-    m_ui->cbRcvr->model()->setData(m_ui->cbRcvr->model()->index(HwSettings::RM_RCVRPORT_COMBRIDGE, 0),
-                                   !vcpComBridgeEnabled ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+    enableComboBoxOptionItem(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE, vcpComBridgeEnabled);
 
     // _DEBUGCONSOLE modes are mutual exclusive
-    if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
     }
 
     // _USBTELEMETRY modes are mutual exclusive
-    if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
-        if (m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
-            m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
-        }
+    if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)
+            && isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)) {
+        setComboboxSelectedOption(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_DISABLED);
     }
 }
 
@@ -180,10 +178,9 @@ void ConfigRevoHWWidget::usbHIDPortChanged(int index)
     Q_UNUSED(index);
 
     // _USBTELEMETRY modes are mutual exclusive
-    if (m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
-        }
+    if (isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)
+            && isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)) {
+        setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
     }
 }
 
@@ -200,15 +197,15 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
     m_ui->cbFlexiGPSProtocol->setVisible(false);
     m_ui->lbFlexiGPSProtocol->setVisible(false);
 
-    switch (m_ui->cbFlexi->currentIndex()) {
+    switch (getComboboxSelectedOption(m_ui->cbFlexi)) {
     case HwSettings::RM_FLEXIPORT_TELEMETRY:
         m_ui->cbFlexiTelemSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_PPMTELEMETRY
-            || m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_TELEMETRY) {
-            m_ui->cbRcvr->setCurrentIndex(HwSettings::RM_RCVRPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_PPMTELEMETRY)
+            || isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_GPS:
@@ -217,23 +214,26 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
         m_ui->lbFlexiGPSProtocol->setVisible(true);
 
         m_ui->cbFlexiGPSSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_COMBRIDGE:
         m_ui->cbFlexiComSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_DEBUGCONSOLE:
         m_ui->cbFlexiComSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
         }
         break;
     default:
@@ -255,15 +255,15 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
     m_ui->cbMainGPSProtocol->setVisible(false);
     m_ui->lbMainGPSProtocol->setVisible(false);
 
-    switch (m_ui->cbMain->currentIndex()) {
+    switch (getComboboxSelectedOption(m_ui->cbMain)) {
     case HwSettings::RM_MAINPORT_TELEMETRY:
         m_ui->cbMainTelemSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_PPMTELEMETRY
-            || m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_TELEMETRY) {
-            m_ui->cbRcvr->setCurrentIndex(HwSettings::RM_RCVRPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_PPMTELEMETRY)
+            || isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_GPS:
@@ -272,23 +272,26 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
         m_ui->lbMainGPSProtocol->setVisible(true);
 
         m_ui->cbMainGPSSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_COMBRIDGE:
         m_ui->cbMainComSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_DEBUGCONSOLE:
         m_ui->cbMainComSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
         }
         break;
     default:
@@ -300,23 +303,33 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
 void ConfigRevoHWWidget::rcvrPortChanged(int index)
 {
     Q_UNUSED(index);
+    m_ui->lblRcvrSpeed->setVisible(true);
+    m_ui->cbRcvrTelemSpeed->setVisible(false);
+    m_ui->cbRcvrComSpeed->setVisible(false);
 
-    switch (m_ui->cbRcvr->currentIndex()) {
+    switch (getComboboxSelectedOption(m_ui->cbRcvr)) {
     case HwSettings::RM_RCVRPORT_TELEMETRY:
     case HwSettings::RM_RCVRPORT_PPMTELEMETRY:
-        m_ui->lblRcvrSpeed->setVisible(true);
         m_ui->cbRcvrTelemSpeed->setVisible(true);
 
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        break;
+    case HwSettings::RM_RCVRPORT_COMBRIDGE:
+        m_ui->cbRcvrComSpeed->setVisible(true);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
         break;
     default:
         m_ui->lblRcvrSpeed->setVisible(false);
-        m_ui->cbRcvrTelemSpeed->setVisible(false);
         break;
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
index f199499cb..6534e3cbb 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
+++ b/ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
@@ -121,9 +121,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-87</y>
-            <width>789</width>
-            <height>847</height>
+            <y>-148</y>
+            <width>796</width>
+            <height>804</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_3">
@@ -232,130 +232,8 @@
             </spacer>
            </item>
            <item row="2" column="2">
-            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
-             <item row="22" column="1">
-              <widget class="QLabel" name="lbFlexiGPSProtocol">
-               <property name="text">
-                <string>Protocol</string>
-               </property>
-               <property name="textFormat">
-                <enum>Qt::PlainText</enum>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item row="24" column="3">
-              <widget class="QComboBox" name="cbMainGPSProtocol"/>
-             </item>
-             <item row="24" column="1">
-              <widget class="QComboBox" name="cbFlexiGPSProtocol"/>
-             </item>
-             <item row="25" column="2">
-              <spacer name="horizontalSpacer_10">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>80</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="20" column="3">
-              <widget class="QLabel" name="lblMainSpeed">
-               <property name="text">
-                <string>Speed</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item row="14" column="5">
-              <spacer name="verticalSpacer_7">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="17" column="5">
-              <spacer name="verticalSpacer_9">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>13</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="15" column="5">
-              <spacer name="verticalSpacer_5">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>13</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="25" column="3">
-              <spacer name="horizontalSpacer_9">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Minimum</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>120</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="13" column="5">
-              <spacer name="verticalSpacer_8">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>13</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="21" column="3">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
+             <item row="15" column="3">
               <layout class="QVBoxLayout" name="verticalLayout_6">
                <property name="spacing">
                 <number>0</number>
@@ -375,10 +253,10 @@
                </item>
               </layout>
              </item>
-             <item row="3" column="0">
+             <item row="2" column="0">
               <widget class="QComboBox" name="cbRcvr"/>
              </item>
-             <item row="1" column="0">
+             <item row="0" column="0">
               <spacer name="verticalSpacer_4">
                <property name="orientation">
                 <enum>Qt::Vertical</enum>
@@ -394,7 +272,65 @@
                </property>
               </spacer>
              </item>
-             <item row="18" column="0">
+             <item row="14" column="3" alignment="Qt::AlignHCenter">
+              <widget class="QLabel" name="lblMainSpeed">
+               <property name="text">
+                <string>Speed</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="8" column="5">
+              <spacer name="verticalSpacer_7">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="11" column="5">
+              <spacer name="verticalSpacer_9">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="17" column="1">
+              <widget class="QComboBox" name="cbFlexiGPSProtocol"/>
+             </item>
+             <item row="18" column="2">
+              <spacer name="horizontalSpacer_10">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>80</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="12" column="0">
               <spacer name="horizontalSpacer_3">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -410,7 +346,7 @@
                </property>
               </spacer>
              </item>
-             <item row="2" column="0">
+             <item row="1" column="0" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_7">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -426,7 +362,10 @@
                </property>
               </widget>
              </item>
-             <item row="11" column="5">
+             <item row="13" column="3">
+              <widget class="QComboBox" name="cbMain"/>
+             </item>
+             <item row="5" column="5" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_9">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -442,7 +381,7 @@
                </property>
               </widget>
              </item>
-             <item row="20" column="1">
+             <item row="14" column="1" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="lblFlexiSpeed">
                <property name="text">
                 <string>Speed</string>
@@ -452,7 +391,7 @@
                </property>
               </widget>
              </item>
-             <item row="18" column="5">
+             <item row="12" column="5">
               <spacer name="horizontalSpacer_6">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -468,17 +407,81 @@
                </property>
               </spacer>
              </item>
-             <item row="19" column="3">
-              <widget class="QComboBox" name="cbMain"/>
+             <item row="13" column="1">
+              <widget class="QComboBox" name="cbFlexi"/>
              </item>
-             <item row="12" column="5">
+             <item row="6" column="5">
               <widget class="QComboBox" name="cbSonar">
                <property name="enabled">
                 <bool>false</bool>
                </property>
               </widget>
              </item>
-             <item row="25" column="4">
+             <item row="16" column="1" alignment="Qt::AlignHCenter">
+              <widget class="QLabel" name="lbFlexiGPSProtocol">
+               <property name="text">
+                <string>Protocol</string>
+               </property>
+               <property name="textFormat">
+                <enum>Qt::PlainText</enum>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="17" column="3">
+              <widget class="QComboBox" name="cbMainGPSProtocol"/>
+             </item>
+             <item row="9" column="5">
+              <spacer name="verticalSpacer_5">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="18" column="3">
+              <spacer name="horizontalSpacer_9">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="7" column="5">
+              <spacer name="verticalSpacer_8">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="18" column="4">
               <spacer name="horizontalSpacer_8">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -494,7 +497,7 @@
                </property>
               </spacer>
              </item>
-             <item row="16" column="5">
+             <item row="10" column="5">
               <spacer name="verticalSpacer_6">
                <property name="orientation">
                 <enum>Qt::Vertical</enum>
@@ -510,7 +513,7 @@
                </property>
               </spacer>
              </item>
-             <item row="18" column="3">
+             <item row="12" column="3" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_3">
                <property name="text">
                 <string>Main Port</string>
@@ -520,10 +523,7 @@
                </property>
               </widget>
              </item>
-             <item row="19" column="1">
-              <widget class="QComboBox" name="cbFlexi"/>
-             </item>
-             <item row="18" column="1">
+             <item row="12" column="1" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_5">
                <property name="text">
                 <string>Flexi Port</string>
@@ -533,7 +533,7 @@
                </property>
               </widget>
              </item>
-             <item row="1" column="1" rowspan="17" colspan="4" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+             <item row="0" column="1" rowspan="12" colspan="4" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
               <widget class="QLabel" name="label_2">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -564,7 +564,7 @@
                </property>
               </widget>
              </item>
-             <item row="21" column="1">
+             <item row="15" column="1">
               <layout class="QVBoxLayout" name="verticalLayout_5">
                <property name="spacing">
                 <number>0</number>
@@ -584,7 +584,7 @@
                </item>
               </layout>
              </item>
-             <item row="25" column="1">
+             <item row="18" column="1">
               <spacer name="horizontalSpacer_7">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -600,7 +600,7 @@
                </property>
               </spacer>
              </item>
-             <item row="22" column="3">
+             <item row="16" column="3" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="lbMainGPSProtocol">
                <property name="text">
                 <string>Protocol</string>
@@ -610,7 +610,7 @@
                </property>
               </widget>
              </item>
-             <item row="18" column="4">
+             <item row="12" column="4">
               <spacer name="horizontalSpacer_2">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -626,11 +626,14 @@
                </property>
               </spacer>
              </item>
-             <item row="4" column="0">
+             <item row="3" column="0">
               <layout class="QHBoxLayout" name="horizontalLayout_4">
                <item>
                 <layout class="QVBoxLayout" name="verticalLayout_4">
-                 <item>
+                 <property name="spacing">
+                  <number>0</number>
+                 </property>
+                 <item alignment="Qt::AlignHCenter">
                   <widget class="QLabel" name="lblRcvrSpeed">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -649,31 +652,24 @@
                  <item>
                   <widget class="QComboBox" name="cbRcvrTelemSpeed"/>
                  </item>
+                 <item>
+                  <widget class="QComboBox" name="cbRcvrComSpeed"/>
+                 </item>
                 </layout>
                </item>
-               <item>
-                <spacer name="verticalSpacer_11">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>0</width>
-                   <height>50</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
               </layout>
              </item>
-             <item row="15" column="0">
+             <item row="9" column="0">
               <widget class="QComboBox" name="cbUSBVCPSpeed">
                <property name="enabled">
                 <bool>true</bool>
                </property>
               </widget>
              </item>
-             <item row="14" column="0">
+             <item row="7" column="0">
+              <widget class="QComboBox" name="cbUSBVCPFunction"/>
+             </item>
+             <item row="8" column="0" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="lblUSBVCPSpeed">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -689,10 +685,10 @@
                </property>
               </widget>
              </item>
-             <item row="13" column="0">
-              <widget class="QComboBox" name="cbUSBVCPFunction"/>
+             <item row="5" column="0">
+              <widget class="QComboBox" name="cbUSBHIDFunction"/>
              </item>
-             <item row="12" column="0">
+             <item row="6" column="0" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_8">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -708,10 +704,7 @@
                </property>
               </widget>
              </item>
-             <item row="11" column="0">
-              <widget class="QComboBox" name="cbUSBHIDFunction"/>
-             </item>
-             <item row="10" column="0">
+             <item row="4" column="0" alignment="Qt::AlignHCenter">
               <widget class="QLabel" name="label_4">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
diff --git a/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.cpp
index 51f92d04a..32e8199df 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.cpp
@@ -68,6 +68,7 @@ ConfigRevoNanoHWWidget::ConfigRevoNanoHWWidget(QWidget *parent) : ConfigTaskWidg
     addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed);
 
     addWidgetBinding("HwSettings", "TelemetrySpeed", m_ui->cbRcvrTelemSpeed);
+    addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbRcvrComSpeed);
 
     // Add Gps protocol configuration
     addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
@@ -118,7 +119,8 @@ void ConfigRevoNanoHWWidget::updateObjectsFromWidgets()
 
     // If any port is configured to be GPS port, enable GPS module if it is not enabled.
     // Otherwise disable GPS module.
-    if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+    if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)
+            || isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
         data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
     } else {
         data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
@@ -131,38 +133,40 @@ void ConfigRevoNanoHWWidget::usbVCPPortChanged(int index)
 {
     Q_UNUSED(index);
 
-    bool vcpComBridgeEnabled = m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE;
+    bool vcpComBridgeEnabled = isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_COMBRIDGE);
 
     m_ui->lblUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
     m_ui->cbUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
 
-    if (!vcpComBridgeEnabled && m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
-        m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
     }
-    m_ui->cbFlexi->model()->setData(m_ui->cbFlexi->model()->index(HwSettings::RM_FLEXIPORT_COMBRIDGE, 0),
-                                    !vcpComBridgeEnabled ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+    enableComboBoxOptionItem(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE, vcpComBridgeEnabled);
 
-    if (!vcpComBridgeEnabled && m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
-        m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
     }
-    m_ui->cbMain->model()->setData(m_ui->cbMain->model()->index(HwSettings::RM_MAINPORT_COMBRIDGE, 0),
-                                   !vcpComBridgeEnabled ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+    enableComboBoxOptionItem(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE, vcpComBridgeEnabled);
+
+    if (!vcpComBridgeEnabled && isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+        setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
+    }
+    enableComboBoxOptionItem(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE, vcpComBridgeEnabled);
 
     // _DEBUGCONSOLE modes are mutual exclusive
-    if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
     }
 
     // _USBTELEMETRY modes are mutual exclusive
-    if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
-        if (m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
-            m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
-        }
+    if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)
+            && isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)) {
+        setComboboxSelectedOption(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_DISABLED);
     }
 }
 
@@ -171,10 +175,9 @@ void ConfigRevoNanoHWWidget::usbHIDPortChanged(int index)
     Q_UNUSED(index);
 
     // _USBTELEMETRY modes are mutual exclusive
-    if (m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
-        }
+    if (isComboboxOptionSelected(m_ui->cbUSBHIDFunction, HwSettings::USB_HIDPORT_USBTELEMETRY)
+            && isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_USBTELEMETRY)) {
+        setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
     }
 }
 
@@ -191,15 +194,15 @@ void ConfigRevoNanoHWWidget::flexiPortChanged(int index)
     m_ui->cbFlexiGPSProtocol->setVisible(false);
     m_ui->lbFlexiGPSProtocol->setVisible(false);
 
-    switch (m_ui->cbFlexi->currentIndex()) {
+    switch (getComboboxSelectedOption(m_ui->cbFlexi)) {
     case HwSettings::RM_FLEXIPORT_TELEMETRY:
         m_ui->cbFlexiTelemSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_PPMTELEMETRY
-            || m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_TELEMETRY) {
-            m_ui->cbRcvr->setCurrentIndex(HwSettings::RM_RCVRPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_PPMTELEMETRY)
+            || isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_GPS:
@@ -208,23 +211,26 @@ void ConfigRevoNanoHWWidget::flexiPortChanged(int index)
         m_ui->lbFlexiGPSProtocol->setVisible(true);
 
         m_ui->cbFlexiGPSSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_GPS)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_COMBRIDGE:
         m_ui->cbFlexiComSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_FLEXIPORT_DEBUGCONSOLE:
         m_ui->cbFlexiComSpeed->setVisible(true);
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
         }
         break;
     default:
@@ -246,15 +252,15 @@ void ConfigRevoNanoHWWidget::mainPortChanged(int index)
     m_ui->cbMainGPSProtocol->setVisible(false);
     m_ui->lbMainGPSProtocol->setVisible(false);
 
-    switch (m_ui->cbMain->currentIndex()) {
+    switch (getComboboxSelectedOption(m_ui->cbMain)) {
     case HwSettings::RM_MAINPORT_TELEMETRY:
         m_ui->cbMainTelemSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_PPMTELEMETRY
-            || m_ui->cbRcvr->currentIndex() == HwSettings::RM_RCVRPORT_TELEMETRY) {
-            m_ui->cbRcvr->setCurrentIndex(HwSettings::RM_RCVRPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_PPMTELEMETRY)
+            || isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_GPS:
@@ -263,23 +269,26 @@ void ConfigRevoNanoHWWidget::mainPortChanged(int index)
         m_ui->lbMainGPSProtocol->setVisible(true);
 
         m_ui->cbMainGPSSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_GPS)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_COMBRIDGE:
         m_ui->cbMainComSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbRcvr, HwSettings::RM_RCVRPORT_DISABLED);
         }
         break;
     case HwSettings::RM_MAINPORT_DEBUGCONSOLE:
         m_ui->cbMainComSpeed->setVisible(true);
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
-            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DEBUGCONSOLE)) {
+            setComboboxSelectedOption(m_ui->cbUSBVCPFunction, HwSettings::USB_VCPPORT_DISABLED);
         }
         break;
     default:
@@ -292,22 +301,33 @@ void ConfigRevoNanoHWWidget::rcvrPortChanged(int index)
 {
     Q_UNUSED(index);
 
-    switch (m_ui->cbRcvr->currentIndex()) {
+    m_ui->lblRcvrSpeed->setVisible(true);
+    m_ui->cbRcvrTelemSpeed->setVisible(false);
+    m_ui->cbRcvrComSpeed->setVisible(false);
+
+    switch (getComboboxSelectedOption(m_ui->cbRcvr)) {
     case HwSettings::RM_RCVRPORT_TELEMETRY:
     case HwSettings::RM_RCVRPORT_PPMTELEMETRY:
-        m_ui->lblRcvrSpeed->setVisible(true);
         m_ui->cbRcvrTelemSpeed->setVisible(true);
 
-        if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
         }
-        if (m_ui->cbMain->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
-            m_ui->cbMain->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        break;
+    case HwSettings::RM_RCVRPORT_COMBRIDGE:
+        m_ui->cbRcvrComSpeed->setVisible(true);
+        if (isComboboxOptionSelected(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbFlexi, HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_ui->cbMain, HwSettings::RM_MAINPORT_COMBRIDGE)) {
+            setComboboxSelectedOption(m_ui->cbMain, HwSettings::RM_MAINPORT_DISABLED);
         }
         break;
     default:
         m_ui->lblRcvrSpeed->setVisible(false);
-        m_ui->cbRcvrTelemSpeed->setVisible(false);
         break;
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.ui b/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.ui
index c0862ed64..1f7cb0a91 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.ui
+++ b/ground/openpilotgcs/src/plugins/config/configrevonanohwwidget.ui
@@ -232,7 +232,7 @@
             </spacer>
            </item>
            <item row="2" column="2">
-            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
              <item row="4" column="0">
               <widget class="QLabel" name="lblUSBVCPSpeed">
                <property name="sizePolicy">
@@ -302,6 +302,13 @@
                </property>
               </widget>
              </item>
+             <item row="5" column="0">
+              <widget class="QComboBox" name="cbUSBVCPSpeed">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
              <item row="0" column="0">
               <widget class="QLabel" name="label_4">
                <property name="sizePolicy">
@@ -334,19 +341,12 @@
                </property>
               </widget>
              </item>
-             <item row="5" column="0">
-              <widget class="QComboBox" name="cbUSBVCPSpeed">
-               <property name="enabled">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item row="11" column="0" alignment="Qt::AlignTop">
-              <widget class="QComboBox" name="cbRcvrTelemSpeed"/>
-             </item>
              <item row="9" column="0">
               <widget class="QComboBox" name="cbRcvr"/>
              </item>
+             <item row="9" column="2" colspan="2">
+              <widget class="QComboBox" name="cbMain"/>
+             </item>
              <item row="2" column="0">
               <widget class="QLabel" name="label_8">
                <property name="sizePolicy">
@@ -373,8 +373,8 @@
                </property>
               </widget>
              </item>
-             <item row="9" column="2" colspan="2">
-              <widget class="QComboBox" name="cbMain"/>
+             <item row="14" column="2" colspan="2">
+              <widget class="QComboBox" name="cbMainGPSProtocol"/>
              </item>
              <item row="10" column="2" colspan="2">
               <widget class="QLabel" name="lblMainSpeed">
@@ -406,7 +406,10 @@
                </item>
               </layout>
              </item>
-             <item row="12" column="2" colspan="2">
+             <item row="5" column="1" colspan="2">
+              <widget class="QComboBox" name="cbFlexiGPSProtocol"/>
+             </item>
+             <item row="13" column="2" colspan="2">
               <widget class="QLabel" name="lbMainGPSProtocol">
                <property name="text">
                 <string>Protocol</string>
@@ -416,12 +419,6 @@
                </property>
               </widget>
              </item>
-             <item row="13" column="2" colspan="2">
-              <widget class="QComboBox" name="cbMainGPSProtocol"/>
-             </item>
-             <item row="5" column="1" colspan="2">
-              <widget class="QComboBox" name="cbFlexiGPSProtocol"/>
-             </item>
              <item row="4" column="1" colspan="2">
               <widget class="QLabel" name="lbFlexiGPSProtocol">
                <property name="text">
@@ -435,6 +432,9 @@
                </property>
               </widget>
              </item>
+             <item row="1" column="1" colspan="2">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
              <item row="3" column="1" colspan="2">
               <layout class="QVBoxLayout" name="verticalLayout_5">
                <property name="spacing">
@@ -455,6 +455,16 @@
                </item>
               </layout>
              </item>
+             <item row="0" column="1" colspan="2">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>Flexi Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
              <item row="2" column="1" colspan="2">
               <widget class="QLabel" name="lblFlexiSpeed">
                <property name="text">
@@ -465,18 +475,34 @@
                </property>
               </widget>
              </item>
-             <item row="1" column="1" colspan="2">
-              <widget class="QComboBox" name="cbFlexi"/>
-             </item>
-             <item row="0" column="1" colspan="2">
-              <widget class="QLabel" name="label_5">
-               <property name="text">
-                <string>Flexi Port</string>
+             <item row="11" column="0">
+              <layout class="QVBoxLayout" name="verticalLayout_2">
+               <property name="spacing">
+                <number>0</number>
                </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               <property name="topMargin">
+                <number>0</number>
                </property>
-              </widget>
+               <item>
+                <widget class="QComboBox" name="cbRcvrTelemSpeed"/>
+               </item>
+               <item alignment="Qt::AlignTop">
+                <widget class="QComboBox" name="cbRcvrComSpeed"/>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_3">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>40</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
              </item>
             </layout>
            </item>
@@ -683,8 +709,8 @@ Beware of not locking yourself out!</string>
   </layout>
  </widget>
  <resources>
-  <include location="configgadget.qrc"/>
   <include location="../coreplugin/core.qrc"/>
+  <include location="configgadget.qrc"/>
  </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index eed01b3a9..6e246db32 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -209,6 +209,39 @@ ConfigTaskWidget::~ConfigTaskWidget()
     }
 }
 
+bool ConfigTaskWidget::isComboboxOptionSelected(QComboBox *combo, int optionValue)
+{
+    bool ok;
+    int value = combo->currentData().toInt(&ok);
+    return ok ? value == optionValue : false;
+}
+
+int ConfigTaskWidget::getComboboxSelectedOption(QComboBox *combo)
+{
+    bool ok;
+    int index = combo->currentData().toInt(&ok);
+    return ok ? index : -1;
+}
+
+void ConfigTaskWidget::setComboboxSelectedOption(QComboBox *combo, int optionValue)
+{
+    int index = combo->findData(QVariant(optionValue));
+    if (index != -1) {
+        combo->setCurrentIndex(index);
+    }
+}
+
+int ConfigTaskWidget::getComboboxIndexForOption(QComboBox *combo, int optionValue)
+{
+    return combo->findData(QVariant(optionValue));
+}
+
+void ConfigTaskWidget::enableComboBoxOptionItem(QComboBox *combo, int optionValue, bool enable)
+{
+    combo->model()->setData(combo->model()->index(getComboboxIndexForOption(combo, optionValue), 0),
+                                   !enable ? QVariant(0) : QVariant(1 | 32), Qt::UserRole - 1);
+}
+
 void ConfigTaskWidget::saveObjectToSD(UAVObject *obj)
 {
     // saveObjectToSD is now handled by the UAVUtils plugin in one
@@ -858,7 +891,7 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, WidgetBinding *
 
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         if (binding->isInteger()) {
-            return cb->currentIndex();
+            return QVariant(getComboboxSelectedOption(cb));
         }
         return (QString)cb->currentText();
     } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
@@ -889,7 +922,7 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, Wid
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         bool ok = true;
         if (binding->isInteger()) {
-            cb->setCurrentIndex(value.toInt(&ok));
+            setComboboxSelectedOption(cb, value.toInt(&ok));
         } else {
             cb->setCurrentIndex(cb->findText(value.toString()));
         }
@@ -1004,22 +1037,16 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget *widget, UAVObjectField *field,
     }
     if (QComboBox * cb = qobject_cast<QComboBox *>(widget)) {
         cb->clear();
-        QStringList option = field->getOptions();
-        if (hasLimits) {
-            // Only add options to combo box if we have a board id to check limits for.
-            // We could enter this method while there is no board connected and without
-            // this check, we would add all the board dependent options whether they were
-            // valid or not. Ultimately this method will be called again when the connected
-            // signal is handled.
-            if (m_currentBoardId > -1) {
-                foreach(QString str, option) {
-                    if (field->isWithinLimits(str, index, m_currentBoardId)) {
-                        cb->addItem(str);
-                    }
+        QStringList options = field->getOptions();
+
+        for(int optionIndex = 0; optionIndex < options.count(); optionIndex++) {
+            if (hasLimits) {
+                if (m_currentBoardId > -1 && field->isWithinLimits(options.at(optionIndex), index, m_currentBoardId)) {
+                    cb->addItem(options.at(optionIndex), QVariant(optionIndex));
                 }
+            } else {
+                cb->addItem(options.at(optionIndex), QVariant(optionIndex));
             }
-        } else {
-            cb->addItems(option);
         }
     }
     if (!hasLimits) {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
index ada25ec80..7809df602 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
@@ -104,6 +104,13 @@ public:
     ConfigTaskWidget(QWidget *parent = 0);
     virtual ~ConfigTaskWidget();
 
+    // Combobox helper functions
+    static bool isComboboxOptionSelected(QComboBox *combo, int optionValue);
+    static int getComboboxSelectedOption(QComboBox *combo);
+    static void setComboboxSelectedOption(QComboBox *combo, int optionValue);
+    static int getComboboxIndexForOption(QComboBox *combo, int optionValue);
+    static void enableComboBoxOptionItem(QComboBox *combo, int optionValue, bool enable);
+
     void disableMouseWheelEvents();
     bool eventFilter(QObject *obj, QEvent *evt);
 
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index d5d991141..83585105a 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -10,7 +10,7 @@
 
 		<field name="RM_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Telemetry,PPM+Outputs,Outputs,Telemetry,ComBridge"
 			defaultvalue="PWM"
-			limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry;"/>
+                        limits="%0905NE:PPM+PWM:PPM+Telemetry:Telemetry:ComBridge;"/>
 		<field name="RM_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
 		<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM,SRXL,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>