diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index a8827436c..128f9885b 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -455,8 +455,15 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         manualSettingsData=manualSettingsObj->getData();
         for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
         {
-            manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
-            manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            // Preserve the inverted status
+            if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            } else {
+                // Make this detect as still inverted
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            }
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
@@ -466,13 +473,19 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         dimOtherControls(true);
         setTxMovement(nothing);
         extraWidgets.clear();
-        foreach(QString name,manualSettingsObj->getFields().at(0)->getElementNames())
+
+        for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
         {
+            QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
             if(!name.contains("Access") &&  !name.contains("Flight"))
             {
                 QCheckBox * cb=new QCheckBox(name,this);
+                // Make sure checked status matches current one
+                cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
+
                 extraWidgets.append(cb);
                 m_config->checkBoxesLayout->layout()->addWidget(cb);
+
                 connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
             }
         }
@@ -711,10 +724,19 @@ void ConfigInputWidget::identifyLimits()
     manualCommandData=manualCommandObj->getData();
     for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
     {
-        if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
-            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-        if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
-            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+            // Non inverted channel
+            if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        } else {
+            // Inverted channel
+            if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        }
     }
     manualSettingsObj->setData(manualSettingsData);
 }