diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index c2d2db6e4..e70184c17 100755
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -128,8 +128,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>850</width>
-            <height>508</height>
+            <width>852</width>
+            <height>518</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -215,7 +215,7 @@
               <enum>QFrame::NoFrame</enum>
              </property>
              <property name="currentIndex">
-              <number>1</number>
+              <number>4</number>
              </property>
              <widget class="QWidget" name="fixedWing">
               <property name="enabled">
@@ -703,7 +703,7 @@ margin:1px;</string>
                 <number>0</number>
                </property>
                <property name="verticalSpacing">
-                <number>-1</number>
+                <number>6</number>
                </property>
                <item row="0" column="0">
                 <widget class="QGroupBox" name="groupBox_10">
@@ -1555,8 +1555,8 @@ margin:1px;</string>
                    <rect>
                     <x>0</x>
                     <y>0</y>
-                    <width>800</width>
-                    <height>386</height>
+                    <width>808</width>
+                    <height>397</height>
                    </rect>
                   </property>
                   <layout class="QVBoxLayout" name="verticalLayout_11">
@@ -2158,6 +2158,9 @@ margin:1px;</string>
                    <property name="alternatingRowColors">
                     <bool>true</bool>
                    </property>
+                   <property name="columnCount">
+                    <number>12</number>
+                   </property>
                    <attribute name="horizontalHeaderDefaultSectionSize">
                     <number>50</number>
                    </attribute>
@@ -2244,6 +2247,16 @@ margin:1px;</string>
                      <string>Ch 10</string>
                     </property>
                    </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 11</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 12</string>
+                    </property>
+                   </column>
                    <item row="0" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2324,6 +2337,24 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+
+                   <item row="0" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+
                    <item row="1" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2404,6 +2435,23 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+                   <item row="1" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+
                    <item row="2" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2484,6 +2532,23 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+
+                   <item row="2" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
                    <item row="3" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2564,6 +2629,24 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+
+                   <item row="3" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+
                    <item row="4" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2644,6 +2727,23 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+
+                   <item row="4" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
                    <item row="5" column="0">
                     <property name="text">
                      <string>-</string>
@@ -2724,6 +2824,24 @@ margin:1px;</string>
                      <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                     </property>
                    </item>
+
+                   <item row="5" column="10">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="11">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+
                   </widget>
                  </item>
                 </layout>
@@ -2832,8 +2950,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>287</width>
-            <height>326</height>
+            <width>852</width>
+            <height>518</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3216,15 +3334,15 @@ p, li { white-space: pre-wrap; }
               <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;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
-&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
index 5f47d0548..68d930305 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@@ -31,6 +31,7 @@
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
+#include "actuatorcommand.h"
 
 
 typedef struct {
@@ -144,7 +145,7 @@ class VehicleConfig: public ConfigTaskWidget
         QStringList mixerVectors;
         QStringList mixerTypeDescriptions;
 
-        static const quint32 CHANNEL_NUMELEM = 10;
+		static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;
 
     private:
 
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 99cfebdb4..dd290073a 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -648,8 +648,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
         m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
     }
 
-    // Update the mixer table:
-    for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
+	// Update the mixer table:
+	for (int channel=0; channel < m_aircraft->customMixerTable->columnCount(); channel++) {
         UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
         if (field)
         {
diff --git a/shared/uavobjectdefinition/actuatorcommand.xml b/shared/uavobjectdefinition/actuatorcommand.xml
index 17a7b7af5..7f8ce055e 100644
--- a/shared/uavobjectdefinition/actuatorcommand.xml
+++ b/shared/uavobjectdefinition/actuatorcommand.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="ActuatorCommand" singleinstance="true" settings="false">
         <description>Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule</description>
-        <field name="Channel" units="us" type="int16" elements="10"/>
+        <field name="Channel" units="us" type="int16" elements="12"/>
         <field name="UpdateTime" units="ms" type="uint16" elements="1"/>
         <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
         <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>
diff --git a/shared/uavobjectdefinition/actuatorsettings.xml b/shared/uavobjectdefinition/actuatorsettings.xml
index 3ac0f91cd..98681555e 100644
--- a/shared/uavobjectdefinition/actuatorsettings.xml
+++ b/shared/uavobjectdefinition/actuatorsettings.xml
@@ -2,11 +2,11 @@
     <object name="ActuatorSettings" singleinstance="true" settings="true">
         <description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
         <field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
-        <field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelMin" units="us" type="int16" elements="10" defaultvalue="1000"/>
-        <field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
-        <field name="ChannelAddr" units="" type="uint8" elements="10" defaultvalue="0,1,2,3,4,5,6,7,8,9"/>
+        <field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
+        <field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
+        <field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>
+        <field name="ChannelType" units="" type="enum" elements="12" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
+        <field name="ChannelAddr" units="" type="uint8" elements="12" defaultvalue="0,1,2,3,4,5,6,7,8,9,10,11"/>
         <field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index f5a114f95..55bf96a9a 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -75,6 +75,12 @@
 	<field name="Mixer10Type"   cloneof="Mixer1Type"/>
 	<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
 
+        <field name="Mixer11Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer11Vector" cloneof="Mixer1Vector"/>
+        
+        <field name="Mixer12Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer12Vector" cloneof="Mixer1Vector"/>
+        
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/mixerstatus.xml b/shared/uavobjectdefinition/mixerstatus.xml
index bc52265e3..3d1e4e68b 100644
--- a/shared/uavobjectdefinition/mixerstatus.xml
+++ b/shared/uavobjectdefinition/mixerstatus.xml
@@ -11,6 +11,8 @@
         <field name="Mixer8" units="" type="float" elements="1"/>
         <field name="Mixer9" units="" type="float" elements="1"/>
         <field name="Mixer10" units="" type="float" elements="1"/>
+        <field name="Mixer11" units="" type="float" elements="1"/>
+        <field name="Mixer12" units="" type="float" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>