diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 6481259aa..ac6b56300 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -696,7 +696,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         setTxMovement(centerAll);
         wizardUi->pagesStack->setCurrentWidget(wizardUi->identifyCenterPage);
         if (transmitterType == ground) {
-            wizardUi->identifyCenterInstructions->setText(QString(tr("Please center all controls and trims and press Next when ready.")));
+            wizardUi->identifyCenterInstructions->setText(QString(tr("Please center all controls and trims and press Next when ready.\n\n"
+                                                                    "For a ground vehicle, this center position will be used as neutral value of each channel.")));
+            connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(identifyCenters()));
         }
         break;
     case wizardIdentifyLimits:
@@ -1041,6 +1043,19 @@ void ConfigInputWidget::identifyLimits()
     }
     manualSettingsObj->setData(manualSettingsData);
 }
+
+void ConfigInputWidget::identifyCenters()
+{
+    if (transmitterType != ground)
+        return;
+
+    manualCommandData = manualCommandObj->getData();
+    manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_THROTTLE] = 
+                manualCommandData.Channel[ManualControlSettings::CHANNELNUMBER_THROTTLE];
+
+    manualSettingsObj->setData(manualSettingsData);
+}
+
 void ConfigInputWidget::setMoveFromCommand(int command)
 {
     // ManualControlSettings::ChannelNumberElem:
@@ -1661,6 +1676,21 @@ void ConfigInputWidget::simpleCalibration(bool enable)
         manualCommandData  = manualCommandObj->getData();
         manualSettingsData = manualSettingsObj->getData();
 
+        QMessageBox msgBox;
+        QPushButton *yesButton = msgBox.addButton(tr("Yes"), QMessageBox::YesRole);
+        QPushButton *noButton = msgBox.addButton(tr("No"), QMessageBox::NoRole);
+        msgBox.setText(tr("<p>Are you configuring a transmitter for your <b>ground vehicle</b> with reversible motor<br>"
+                          "controlled by throttle stick?</p>"
+                          "<p>If so, please make sure you've centered throttle control and press <b>Yes</b> button. Otherwise, press No.</p>"));
+        msgBox.setDefaultButton(noButton);
+        msgBox.exec();
+
+        if (msgBox.clickedButton() == yesButton) {
+            transmitterType = ground;
+            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] = 
+                    manualCommandData.Channel[ManualControlSettings::CHANNELNUMBER_THROTTLE];
+        }
+
         restoreMdataSingle(manualCommandObj, &manualControlMdata);
 
         for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
@@ -1694,17 +1724,16 @@ void ConfigInputWidget::adjustSpecialNeutrals()
         (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] +
          manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]) / 2;
 
+    // A ground vehicle has a reversible motor, the center position of throttle is the neutral setting.
+    // So do not have to set a special neutral value for it.
+    if (transmitterType == ground)
+        return;
+
     // Force throttle to be near min, add 4% from total range to avoid arming issues
     manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
         manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
         ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
           manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
-
-    if (transmitterType == ground) {
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
-            (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] +
-              manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) / 2;
-    }
 }
 
 void ConfigInputWidget::checkThrottleRange()
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index 61e1d2385..b65a389f1 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -193,6 +193,7 @@ private slots:
     void openHelp();
     void identifyControls();
     void identifyLimits();
+    void identifyCenters();
     void moveTxControls();
     void moveSticks();
     void dimOtherControls(bool value);
diff --git a/ground/openpilotgcs/src/plugins/config/input_wizard.ui b/ground/openpilotgcs/src/plugins/config/input_wizard.ui
index 34b3b5945..95b594780 100644
--- a/ground/openpilotgcs/src/plugins/config/input_wizard.ui
+++ b/ground/openpilotgcs/src/plugins/config/input_wizard.ui
@@ -67,7 +67,7 @@ You can press 'back' at any time to return to the previous screen or press 'Canc
        <item>
         <widget class="QRadioButton" name="typeGround">
          <property name="text">
-          <string>Ground vehicle: has at least two channels for throttle and steering (yaw)</string>
+          <string>Surface: has reversible motor controlled by throttle stick</string>
          </property>
         </widget>
        </item>