diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index a8509d091..4eca15bf9 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -169,6 +169,7 @@ void ConfigGadgetWidget::onAutopilotConnect() {
 
 void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
 {
+    Q_UNUSED(i);
     *proceed=true;
     ConfigTaskWidget * wid=qobject_cast<ConfigTaskWidget *>(ftw->currentWidget());
     if(!wid)
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 038c411ed..6982ef91d 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -46,9 +46,7 @@
 #define STICK_MIN_MOVE -8
 #define STICK_MAX_MOVE 8
 
-QList<inputChannelForm*> inputList;
-
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardWelcome),loop(NULL),skipflag(false),transmitterType(heli)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@@ -58,9 +56,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     setupButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
-    inputList.clear();
-
-    int index=0;
+    unsigned int index=0;
     foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
     {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
@@ -72,11 +68,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inp->ui->channelMin,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inp->ui->channelNeutral,index);
         addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inp->ui->channelMax,index);
-        inputList.append(inp);
         ++index;
     }
 
-    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToNormalWizard()));
+    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
     connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
 
     connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
@@ -228,6 +223,25 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
     animate=new QTimer(this);
     connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
+
+    heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
+                        ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+
+    acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
 }
 void ConfigInputWidget::resetTxControls()
 {
@@ -258,16 +272,6 @@ void ConfigInputWidget::openHelp()
 
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
 }
-void ConfigInputWidget::goToSimpleWizard()
-{
-    isSimple=true;
-    goToWizard();
-}
-void ConfigInputWidget::goToNormalWizard()
-{
-    isSimple=false;
-    goToWizard();
-}
 void ConfigInputWidget::goToWizard()
 {
     QMessageBox msgBox;
@@ -276,7 +280,7 @@ void ConfigInputWidget::goToWizard()
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
-    setupWizardWidget(wizardWelcome);
+    wizardSetUpStep(wizardWelcome);
     m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
 }
 
@@ -285,250 +289,51 @@ void ConfigInputWidget::wzCancel()
     dimOtherControls(false);
     manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
     m_config->stackedWidget->setCurrentIndex(0);
-    foreach (QWidget * wd, extraWidgets)
-    {
-        if(wd)
-            delete wd;
-    }
-    extraWidgets.clear();
-    switch(wizardStep)
-    {
-    case wizardWelcome:
-        break;
-    case wizardChooseMode:
-    case wizardChooseType:
-        break;
-    case wizardIdentifySticks:
-        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        break;
-    case wizardIdentifyCenter:
-        break;
-    case wizardIdentifyLimits:
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-        manualSettingsObj->setData(manualSettingsData);
-        break;
-    case wizardIdentifyInverted:
-        break;
-    case wizardFinish:
-        break;
-    default:
-        break;
-    }
-    wizardStep=wizardWelcome;
+
+    if(wizardStep != wizardNone)
+        wizardTearDownStep(wizardStep);
+    wizardStep=wizardNone;
+
+    // Load settings back from beginning of wizard
+    manualSettingsObj->setData(previousManualSettingsData);
 }
 
 void ConfigInputWidget::wzNext()
 {
-    setupWizardWidget(wizardStep+1);
-}
+    // In identify sticks mode the next button can indicate
+    // channel advance
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
 
-void ConfigInputWidget::wzBack()
-{
-    if(wizardStep == wizardIdentifySticks && currentCommand != 0) {
-        currentCommand --;
-        usedChannels.removeLast();
-        getChannelFromStep(currentCommand);
-    } else
-        setupWizardWidget(wizardStep-1);
-}
-
-void ConfigInputWidget::setupWizardWidget(int step)
-{
-    if(step==wizardWelcome)
-    {
-        m_config->graphicsView->setVisible(false);
-        setTxMovement(nothing);
-        if(wizardStep==wizardChooseMode)
-        {
-            delete extraWidgets.at(0);
-            delete extraWidgets.at(1);
-            extraWidgets.clear();
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardWelcome:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardChooseMode:
+        wizardSetUpStep(wizardChooseType);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifySticks:
+        nextChannel();
+        if(currentChannelNum==-1) { // Gone through all channels
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardIdentifyCenter);
         }
-        manualSettingsData=manualSettingsObj->getData();
-        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-        manualSettingsObj->setData(manualSettingsData);
-        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
-                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
-                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
-        m_config->stackedWidget->setCurrentIndex(1);
-        m_config->wzBack->setEnabled(false);
-        wizardStep=wizardWelcome;
-    }
-    else if(step==wizardChooseMode)
-    {
-        m_config->graphicsView->setVisible(true);
-        setTxMovement(nothing);
-        if(wizardStep==wizardIdentifySticks)
-        {
-            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-            m_config->wzNext->setEnabled(true);
-        }
-        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
-                                     "Mode 1 means your throttle stick is on the right\n"
-                                     "Mode 2 means your throttle stick is on the left\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
-        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
-        mode2->setChecked(true);
-        extraWidgets.clear();
-        extraWidgets.append(mode1);
-        extraWidgets.append(mode2);
-        m_config->checkBoxesLayout->layout()->addWidget(mode1);
-        m_config->checkBoxesLayout->layout()->addWidget(mode2);
-        wizardStep=wizardChooseMode;
-    }
-    else if(step==wizardChooseType)
-    {
-        if(wizardStep==wizardChooseMode)
-        {
-            QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-            if(mode->isChecked())
-                transmitterMode=mode1;
-            else
-                transmitterMode=mode2;
-            delete extraWidgets.at(0);
-            delete extraWidgets.at(1);
-            extraWidgets.clear();
-        }
-
-        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
-                                     "Acro means normal transmitter\n"
-                                     "Heli means there is a collective pitch and throttle input\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
-        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
-        typeAcro->setChecked(true);
-        typeHeli->setChecked(false);
-        extraWidgets.clear();
-        extraWidgets.append(typeAcro);
-        extraWidgets.append(typeHeli);
-        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
-        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
-        wizardStep=wizardChooseType;
-    } else if(step==wizardIdentifySticks && !isSimple) {
-        usedChannels.clear();
-        if(wizardStep==wizardChooseType)
-        {
-            qDebug() << "Chosing type";
-            QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-            if(type->isChecked())
-                transmitterType=acro;
-            else
-                transmitterType=heli;
-            qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
-            delete extraWidgets.at(0);
-            delete extraWidgets.at(1);
-            extraWidgets.clear();
-        }
-        wizardStep=wizardIdentifySticks;
-        currentCommand=0;
-        getChannelFromStep(currentCommand);
-        manualSettingsData=manualSettingsObj->getData();
-        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(false);
-    }
-    else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
-    {
-        setTxMovement(centerAll);
-        if(wizardStep==wizardIdentifySticks)
-            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        else
-        {
-            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-            manualSettingsObj->setData(manualSettingsData);
-            manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
-        }
-        wizardStep=wizardIdentifyCenter;
-        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
-    }
-    else if(step==wizardIdentifyLimits)
-    {
-        dimOtherControls(false);
-        setTxMovement(moveAll);
-        if(wizardStep==wizardIdentifyCenter)
-        {
-            wizardStep=wizardIdentifyLimits;
-            manualCommandData=manualCommandObj->getData();
-            manualSettingsData=manualSettingsObj->getData();
-            for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
-            {
-                manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
-            }
-            manualSettingsObj->setData(manualSettingsData);
-        }
-        if(wizardStep==wizardIdentifyInverted)
-        {
-            foreach(QWidget * wd,extraWidgets)
-            {
-                QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-                if(cb)
-                {
-                    disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-                    delete cb;
-                }
-            }
-        }
-        extraWidgets.clear();
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        wizardStep=wizardIdentifyLimits;
-        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
-        UAVObject::Metadata mdata= manualCommandObj->getMetadata();
-        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
-        mdata.flightTelemetryUpdatePeriod = 150;
-        manualCommandObj->setMetadata(mdata);
-        manualSettingsData=manualSettingsObj->getData();
-        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-        {
-            manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
-            manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-    }
-    else if(step==wizardIdentifyInverted)
-    {
-        dimOtherControls(true);
-        setTxMovement(nothing);
-        if(wizardStep==wizardIdentifyLimits)
-        {
-            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-            manualSettingsObj->setData(manualSettingsData);
-        }
-        extraWidgets.clear();
-        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
-        {
-            if(!name.contains("Access") &&  !name.contains("Flight"))
-            {
-                QCheckBox * cb=new QCheckBox(name,this);
-                extraWidgets.append(cb);
-                m_config->checkBoxesLayout->layout()->addWidget(cb);
-                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-            }
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        wizardStep=wizardIdentifyInverted;
-        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
-    }
-    else if(step==wizardFinish)
-    {
-        foreach(QWidget * wd,extraWidgets)
-        {
-            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-            if(cb)
-            {
-                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-                delete cb;
-            }
-        }
-        wizardStep=wizardFinish;
-        extraWidgets.clear();
-        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
-                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
-
-    }
-
-    else if(step==wizardFinish+1)
-    {
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardFinish);
+        break;
+    case wizardFinish:
         setTxMovement(nothing);
         manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@@ -545,46 +350,560 @@ void ConfigInputWidget::setupWizardWidget(int step)
         }
         manualSettingsObj->setData(manualSettingsData);
         m_config->stackedWidget->setCurrentIndex(0);
-        wizardStep=wizardWelcome;
+        wizardStep=wizardNone;
+        break;
+    default:
+        Q_ASSERT(0);
     }
+}
 
+void ConfigInputWidget::wzBack()
+{
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
+
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardChooseMode:
+        wizardSetUpStep(wizardWelcome);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardIdentifySticks:
+        prevChannel();
+        if(currentChannelNum == -1) {
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardChooseType);
+        }
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyCenter);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardFinish:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
+{
+    switch(step) {
+    case wizardWelcome:
+        m_config->graphicsView->setVisible(false);
+        setTxMovement(nothing);
+        manualSettingsData=manualSettingsObj->getData();
+        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+        previousManualSettingsData = manualSettingsData;
+        manualSettingsObj->setData(manualSettingsData);
+        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
+                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
+                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
+                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
+        m_config->stackedWidget->setCurrentIndex(1);
+        m_config->wzBack->setEnabled(false);
+        break;
+    case wizardChooseMode:
+    {
+        m_config->graphicsView->setVisible(true);
+        setTxMovement(nothing);
+        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
+                                     "Mode 1 means your throttle stick is on the right\n"
+                                     "Mode 2 means your throttle stick is on the left\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
+        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
+        mode2->setChecked(true);
+        extraWidgets.clear();
+        extraWidgets.append(mode1);
+        extraWidgets.append(mode2);
+        m_config->checkBoxesLayout->layout()->addWidget(mode1);
+        m_config->checkBoxesLayout->layout()->addWidget(mode2);
+    }
+        break;
+    case wizardChooseType:
+    {
+        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
+                                     "Acro means normal transmitter\n"
+                                     "Heli means there is a collective pitch and throttle input\n"
+                                     "If you are using a heli transmitter please engage throttle hold now please.\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
+        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
+        typeAcro->setChecked(true);
+        typeHeli->setChecked(false);
+        extraWidgets.clear();
+        extraWidgets.append(typeAcro);
+        extraWidgets.append(typeHeli);
+        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
+        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
+        wizardStep=wizardChooseType;
+    }
+        break;
+    case wizardIdentifySticks:
+        usedChannels.clear();
+        currentChannelNum=-1;
+        nextChannel();
+        manualSettingsData=manualSettingsObj->getData();
+        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(false);
+        break;
+    case wizardIdentifyCenter:
+        setTxMovement(centerAll);
+        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
+        break;
+    case wizardIdentifyLimits:
+    {
+        dimOtherControls(false);
+        setTxMovement(moveAll);
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
+        fastMdata();
+        manualSettingsData=manualSettingsObj->getData();
+        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+        {
+            manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
+            manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+    }
+        break;
+    case wizardIdentifyInverted:
+        dimOtherControls(true);
+        setTxMovement(nothing);
+        extraWidgets.clear();
+        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
+        {
+            if(!name.contains("Access") &&  !name.contains("Flight"))
+            {
+                QCheckBox * cb=new QCheckBox(name,this);
+                extraWidgets.append(cb);
+                m_config->checkBoxesLayout->layout()->addWidget(cb);
+                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+            }
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
+        fastMdata();
+        break;
+    case wizardFinish:
+        foreach(QWidget * wd,extraWidgets)
+        {
+            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+            if(cb)
+            {
+                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+                delete cb;
+            }
+        }
+        extraWidgets.clear();
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
+                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
+        fastMdata();
+
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
+                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
+        {
+            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
+                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+    wizardStep = step;
+}
+
+void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
+{
+    QRadioButton * mode, * type;
+    Q_ASSERT(step == wizardStep);
+    switch(step) {
+    case wizardWelcome:
+        break;
+    case wizardChooseMode:
+        mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(mode->isChecked())
+            transmitterMode=mode1;
+        else
+            transmitterMode=mode2;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardChooseType:
+        type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(type->isChecked())
+            transmitterType=acro;
+        else
+            transmitterType=heli;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardIdentifySticks:
+        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(true);
+        break;
+    case wizardIdentifyCenter:
+        manualCommandData=manualCommandObj->getData();
+        manualSettingsData=manualSettingsObj->getData();
+        for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
+        {
+            manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        break;
+    case wizardIdentifyLimits:
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        manualSettingsObj->setData(manualSettingsData);
+        restoreMdata();
+        break;
+    case wizardIdentifyInverted:
+        foreach(QWidget * wd,extraWidgets)
+        {
+            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+            if(cb)
+            {
+                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+                delete cb;
+            }
+        }
+        extraWidgets.clear();
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    case wizardFinish:
+        setTxMovement(nothing);
+        m_config->stackedWidget->setCurrentIndex(0);
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    default:
+        Q_ASSERT(0);
+    }
 }
 
 /**
-  * Unfortunately order of channel should be different in different conditions
+  * Set manual control command to fast updates
   */
-int ConfigInputWidget::getChannelFromStep(int currentStep)
+void ConfigInputWidget::fastMdata()
 {
-    int channelToSet;
-    if(transmitterType == heli) {
-        // For heli swap order of collective to beginning
-        qDebug() << "Transmitter type: " << heli << " channelToSet: " << currentStep;
-        if(currentStep == 0)
-            channelToSet = ManualControlSettings::CHANNELGROUPS_COLLECTIVE;
-        else if(currentStep <= ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
-            channelToSet = currentStep - 1;
-        else channelToSet = currentStep;
-        qDebug() << "Channel to set: " << channelToSet;
-    } else
-        channelToSet = currentStep;
+    manualControlMdata = manualCommandObj->getMetadata();
+    UAVObject::Metadata mdata = manualControlMdata;
+    mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    mdata.flightTelemetryUpdatePeriod = 150;
+    manualCommandObj->setMetadata(mdata);
+}
 
-    Q_ASSERT(channelToSet >= 0 && channelToSet < ManualControlSettings::CHANNELGROUPS_NUMELEM);
+/**
+  * Restore previous update settings for manual control data
+  */
+void ConfigInputWidget::restoreMdata()
+{
+    manualCommandObj->setMetadata(manualControlMdata);
+}
 
-    if(channelToSet == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
+//void ConfigInputWidget::setupWizardWidget(int step)
+//{
+//    if(step==wizardWelcome)
+//    {
+//        m_config->graphicsView->setVisible(false);
+//        setTxMovement(nothing);
+//        if(wizardStep==wizardChooseMode)
+//        {
+//            delete extraWidgets.at(0);
+//            delete extraWidgets.at(1);
+//            extraWidgets.clear();
+//        }
+//        manualSettingsData=manualSettingsObj->getData();
+//        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+//        manualSettingsObj->setData(manualSettingsData);
+//        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
+//                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
+//                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
+//                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
+//        m_config->stackedWidget->setCurrentIndex(1);
+//        m_config->wzBack->setEnabled(false);
+//        wizardStep=wizardWelcome;
+//    }
+//    else if(step==wizardChooseMode)
+//    {
+//        m_config->graphicsView->setVisible(true);
+//        setTxMovement(nothing);
+//        if(wizardStep==wizardIdentifySticks)
+//        {
+//            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+//            m_config->wzNext->setEnabled(true);
+//        }
+//        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
+//                                     "Mode 1 means your throttle stick is on the right\n"
+//                                     "Mode 2 means your throttle stick is on the left\n"));
+//        m_config->wzBack->setEnabled(true);
+//        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
+//        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
+//        mode2->setChecked(true);
+//        extraWidgets.clear();
+//        extraWidgets.append(mode1);
+//        extraWidgets.append(mode2);
+//        m_config->checkBoxesLayout->layout()->addWidget(mode1);
+//        m_config->checkBoxesLayout->layout()->addWidget(mode2);
+//        wizardStep=wizardChooseMode;
+//    }
+//    else if(step==wizardChooseType)
+//    {
+//        if(wizardStep==wizardChooseMode)
+//        {
+//            QRadioButton * mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+//            if(mode->isChecked())
+//                transmitterMode=mode1;
+//            else
+//                transmitterMode=mode2;
+//            delete extraWidgets.at(0);
+//            delete extraWidgets.at(1);
+//            extraWidgets.clear();
+//        }
+
+//        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
+//                                     "Acro means normal transmitter\n"
+//                                     "Heli means there is a collective pitch and throttle input\n"));
+//        m_config->wzBack->setEnabled(true);
+//        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
+//        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
+//        typeAcro->setChecked(true);
+//        typeHeli->setChecked(false);
+//        extraWidgets.clear();
+//        extraWidgets.append(typeAcro);
+//        extraWidgets.append(typeHeli);
+//        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
+//        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
+//        wizardStep=wizardChooseType;
+//    } else if(step==wizardIdentifySticks && !isSimple) {
+//        usedChannels.clear();
+//        if(wizardStep==wizardChooseType)
+//        {
+//            qDebug() << "Chosing type";
+//            QRadioButton * type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+//            if(type->isChecked())
+//                transmitterType=acro;
+//            else
+//                transmitterType=heli;
+//            qDebug() << "Checked: " << type->isChecked() << " " << "type is" << transmitterType;
+//            delete extraWidgets.at(0);
+//            delete extraWidgets.at(1);
+//            extraWidgets.clear();
+//        }
+//        wizardStep=wizardIdentifySticks;
+//        currentCommand=0;
+//        getChannelFromStep(currentCommand);
+//        manualSettingsData=manualSettingsObj->getData();
+//        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+//        m_config->wzNext->setEnabled(false);
+//    }
+//    else if(step==wizardIdentifyCenter || (isSimple && step==wizardIdentifySticks))
+//    {
+//        setTxMovement(centerAll);
+//        if(wizardStep==wizardIdentifySticks)
+//            disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+//        else
+//        {
+//            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+//            manualSettingsObj->setData(manualSettingsData);
+//            manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+//        }
+//        wizardStep=wizardIdentifyCenter;
+//        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
+//    }
+//    else if(step==wizardIdentifyLimits)
+//    {
+//        dimOtherControls(false);
+//        setTxMovement(moveAll);
+//        if(wizardStep==wizardIdentifyCenter)
+//        {
+//            wizardStep=wizardIdentifyLimits;
+//            manualCommandData=manualCommandObj->getData();
+//            manualSettingsData=manualSettingsObj->getData();
+//            for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
+//            {
+//                manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
+//            }
+//            manualSettingsObj->setData(manualSettingsData);
+//        }
+//        if(wizardStep==wizardIdentifyInverted)
+//        {
+//            foreach(QWidget * wd,extraWidgets)
+//            {
+//                QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+//                if(cb)
+//                {
+//                    disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+//                    delete cb;
+//                }
+//            }
+//        }
+//        extraWidgets.clear();
+//        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+//        wizardStep=wizardIdentifyLimits;
+//        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
+//        UAVObject::Metadata mdata= manualCommandObj->getMetadata();
+//        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+//        mdata.flightTelemetryUpdatePeriod = 150;
+//        manualCommandObj->setMetadata(mdata);
+//        manualSettingsData=manualSettingsObj->getData();
+//        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+//        {
+//            manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
+//            manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+//        }
+//        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+//    }
+//    else if(step==wizardIdentifyInverted)
+//    {
+//        dimOtherControls(true);
+//        setTxMovement(nothing);
+//        if(wizardStep==wizardIdentifyLimits)
+//        {
+//            disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+//            manualSettingsObj->setData(manualSettingsData);
+//        }
+//        extraWidgets.clear();
+//        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
+//        {
+//            if(!name.contains("Access") &&  !name.contains("Flight"))
+//            {
+//                QCheckBox * cb=new QCheckBox(name,this);
+//                extraWidgets.append(cb);
+//                m_config->checkBoxesLayout->layout()->addWidget(cb);
+//                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+//            }
+//        }
+//        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+//        wizardStep=wizardIdentifyInverted;
+//        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
+//    }
+//    else if(step==wizardFinish)
+//    {
+//        foreach(QWidget * wd,extraWidgets)
+//        {
+//            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+//            if(cb)
+//            {
+//                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+//                delete cb;
+//            }
+//        }
+//        wizardStep=wizardFinish;
+//        extraWidgets.clear();
+//        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
+//                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
+
+//    }
+
+//    else if(step==wizardFinish+1)
+//    {
+//        setTxMovement(nothing);
+//        manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+//        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+//        manualSettingsData=manualSettingsObj->getData();
+//        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+//                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+//                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+//                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+//        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
+//                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
+//        {
+//            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
+//                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
+//        }
+//        manualSettingsObj->setData(manualSettingsData);
+//        m_config->stackedWidget->setCurrentIndex(0);
+//        wizardStep=wizardWelcome;
+//    }
+
+//}
+
+/**
+  * Set the display to indicate which channel the person should move
+  */
+void ConfigInputWidget::setChannel(int newChan)
+{
+    if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
         m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
+    else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
+        m_config->wzText->setText(QString(tr("Please flick the flight mode switch.  For switches you may have to repeat this rapidly.")));
     else
         m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
-                                     "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(channelToSet)));
+                                 "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
 
-    return channelToSet;
+    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory"))
+        m_config->wzNext->setEnabled(true);
+
+    setMoveFromCommand(newChan);
+
+    currentChannelNum = newChan;
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * next channel based on heli or acro mode
+  */
+void ConfigInputWidget::nextChannel()
+{
+    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
+
+    if(currentChannelNum == -1) {
+        setChannel(order[0]);
+        return;
+    }
+    for (int i = 0; i < order.length() - 1; i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i+1]);
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * previous channel based on heli or acro mode
+  */
+void ConfigInputWidget::prevChannel()
+{
+    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
+
+    // No previous from unset channel or next state
+    if(currentChannelNum == -1)
+        return;
+
+    for (int i = 1; i < order.length(); i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i-1]);
+            usedChannels.removeLast();
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
 }
 
 void ConfigInputWidget::identifyControls()
 {
     static int debounce=0;
 
-    int channelToSet = getChannelFromStep(currentCommand);
-
     receiverActivityData=receiverActivityObj->getData();
     if(receiverActivityData.ActiveChannel==255)
         return;
@@ -602,26 +921,18 @@ void ConfigInputWidget::identifyControls()
             debounce=0;
             usedChannels.append(lastChannel);
             manualSettingsData=manualSettingsObj->getData();
-            manualSettingsData.ChannelGroups[channelToSet]=currentChannel.group;
-            manualSettingsData.ChannelNumber[channelToSet]=currentChannel.number;
+            manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
+            manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
             manualSettingsObj->setData(manualSettingsData);
         }
         else
             return;
     }
-    ++currentCommand;
-    channelToSet = getChannelFromStep(currentCommand);
-    setMoveFromCommand(channelToSet);
-    if(currentCommand>ManualControlSettings::CHANNELGROUPS_NUMELEM-1)
-    {
-        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(true);
-    }
-    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Accessory") ||
-       manualSettingsObj->getField("ChannelGroups")->getElementNames().at(currentCommand).contains("Collective"))
-    {
-        m_config->wzNext->setEnabled(true);
-    }
+
+    m_config->wzText->clear();
+    setTxMovement(nothing);
+
+    QTimer::singleShot(300, this, SLOT(wzNext()));
 }
 
 void ConfigInputWidget::identifyLimits()
@@ -1080,17 +1391,14 @@ void ConfigInputWidget::simpleCalibration(bool enable)
             manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
         }
 
-        UAVObject::Metadata mdata= manualCommandObj->getMetadata();
-        mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
-        mdata.flightTelemetryUpdatePeriod = 150;
-        manualCommandObj->setMetadata(mdata);
+        fastMdata();
 
         connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
     } else {
         manualCommandData = manualCommandObj->getData();
         manualSettingsData = manualSettingsObj->getData();
 
-        manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+        restoreMdata();
 
         for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
             manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index fd6b14001..b8dc664ea 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -52,7 +52,7 @@ class ConfigInputWidget: public ConfigTaskWidget
 public:
         ConfigInputWidget(QWidget *parent = 0);
         ~ConfigInputWidget();
-        enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish};
+        enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
         enum txMode{mode1,mode2};
         enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
         enum txMovementType{vertical,horizontal,jump,mix};
@@ -67,7 +67,6 @@ private:
         void setTxMovement(txMovements movement);
         Ui_InputWidget *m_config;
         wizardSteps wizardStep;
-        void setupWizardWidget(int step);
         QList<QWidget*> extraWidgets;
         txMode transmitterMode;
         txType transmitterType;
@@ -85,12 +84,16 @@ private:
         QEventLoop * loop;
         bool skipflag;
 
-        uint currentCommand;
+        int currentChannelNum;
+        QList<int> heliChannelOrder;
+        QList<int> acroChannelOrder;
 
         ManualControlCommand * manualCommandObj;
         ManualControlCommand::DataFields manualCommandData;
+        UAVObject::Metadata manualControlMdata;
         ManualControlSettings * manualSettingsObj;
         ManualControlSettings::DataFields manualSettingsData;
+        ManualControlSettings::DataFields previousManualSettingsData;
         ReceiverActivity * receiverActivityObj;
         ReceiverActivity::DataFields receiverActivityData;
 
@@ -121,7 +124,16 @@ private:
         void setMoveFromCommand(int command);
         bool isSimple;
         void goToWizard();
-        int getChannelFromStep(int);
+
+        void fastMdata();
+        void restoreMdata();
+
+        void setChannel(int);
+        void nextChannel();
+        void prevChannel();
+
+        void wizardSetUpStep(enum wizardSteps);
+        void wizardTearDownStep(enum wizardSteps);
 private slots:
         void wzNext();
         void wzBack();