diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index aa2f892c7..3be59f710 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -122,8 +122,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>676</width>
-            <height>674</height>
+            <width>674</width>
+            <height>677</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -655,6 +655,9 @@ Leave at 50Hz for fixed wing.</string>
              <layout class="QVBoxLayout" name="verticalLayout">
               <item>
                <layout class="QVBoxLayout" name="channelLayout">
+                <property name="spacing">
+                 <number>6</number>
+                </property>
                 <property name="sizeConstraint">
                  <enum>QLayout::SetDefaultConstraint</enum>
                 </property>
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
index a69a88bf9..259655158 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
@@ -29,49 +29,42 @@
 #include "configoutputwidget.h"
 
 OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const bool showLegend) :
-    ConfigTaskWidget(parent),
-    ui(),
-    m_index(index),
-    m_inChannelTest(false)
+    ConfigTaskWidget(parent), ui(), m_index(index), m_inChannelTest(false)
 {
     ui.setupUi(this);
     if (!showLegend) {
-        // Remove legend
-        QGridLayout *grid_layout = dynamic_cast<QGridLayout *>(layout());
-        Q_ASSERT(grid_layout);
-        for (int col = 0; col < grid_layout->columnCount(); col++) { // remove every item in first row
-            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
+        QLayout *legendLayout = layout()->itemAt(0)->layout();
+        Q_ASSERT(legendLayout);
+        // remove every item
+        while (legendLayout->count()) {
+            QLayoutItem *item = legendLayout->takeAt(0);
             if (!item) {
                 continue;
             }
             // get widget from layout item
-            QWidget *legend_widget = item->widget();
-            if (!legend_widget) {
+            QWidget *widget = item->widget();
+            if (widget) {
+                delete widget;
                 continue;
             }
-            // delete widget
-            grid_layout->removeWidget(legend_widget);
-            delete legend_widget;
         }
+        // and finally remove and delete the legend layout
+        layout()->removeItem(legendLayout);
+        delete legendLayout;
     }
 
     // The convention for OP is Channel 1 to Channel 10.
     ui.actuatorNumber->setText(QString("%1:").arg(m_index + 1));
 
     // Register for ActuatorSettings changes:
-    connect(ui.actuatorMin, SIGNAL(editingFinished()),
-            this, SLOT(setChannelRange()));
-    connect(ui.actuatorMax, SIGNAL(editingFinished()),
-            this, SLOT(setChannelRange()));
-    connect(ui.actuatorRev, SIGNAL(toggled(bool)),
-            this, SLOT(reverseChannel(bool)));
+    connect(ui.actuatorMin, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
+    connect(ui.actuatorMax, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
+    connect(ui.actuatorRev, SIGNAL(toggled(bool)), this, SLOT(reverseChannel(bool)));
     // Now connect the channel out sliders to our signal to send updates in test mode
-    connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)),
-            this, SLOT(sendChannelTest(int)));
+    connect(ui.actuatorNeutral, SIGNAL(valueChanged(int)), this, SLOT(sendChannelTest(int)));
 
     ui.actuatorLink->setChecked(false);
-    connect(ui.actuatorLink, SIGNAL(toggled(bool)),
-            this, SLOT(linkToggled(bool)));
+    connect(ui.actuatorLink, SIGNAL(toggled(bool)), this, SLOT(linkToggled(bool)));
 
     disableMouseWheelEvents();
 }
@@ -194,19 +187,6 @@ void OutputChannelForm::neutral(int value)
 void OutputChannelForm::setAssignment(const QString &assignment)
 {
     ui.actuatorName->setText(assignment);
-    QFontMetrics metrics(ui.actuatorName->font());
-    int width = metrics.width(assignment) + 1;
-    foreach(OutputChannelForm * form, parent()->findChildren<OutputChannelForm *>()) {
-        if (form == this) {
-            continue;
-        }
-        if (form->ui.actuatorName->minimumSize().width() < width) {
-            form->ui.actuatorName->setMinimumSize(width, 0);
-        } else {
-            width = form->ui.actuatorName->minimumSize().width();
-        }
-    }
-    ui.actuatorName->setMinimumSize(width, 0);
 }
 
 /**
@@ -220,7 +200,7 @@ void OutputChannelForm::setChannelRange()
 {
     int oldMini = ui.actuatorNeutral->minimum();
 
-// int oldMaxi = ui.actuatorNeutral->maximum();
+    // int oldMaxi = ui.actuatorNeutral->maximum();
 
     if (ui.actuatorMin->value() < ui.actuatorMax->value()) {
         ui.actuatorNeutral->setRange(ui.actuatorMin->value(), ui.actuatorMax->value());
@@ -234,8 +214,9 @@ void OutputChannelForm::setChannelRange()
         ui.actuatorNeutral->setValue(ui.actuatorNeutral->minimum());
     }
 
-// if (ui.actuatorNeutral->value() == oldMaxi)
-// ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());  // this can be dangerous if it happens to be controlling a motor at the time!
+    // if (ui.actuatorNeutral->value() == oldMaxi)
+    // this can be dangerous if it happens to be controlling a motor at the time!
+    // ui.actuatorNeutral->setValue(ui.actuatorNeutral->maximum());
 }
 
 /**
@@ -252,8 +233,7 @@ void OutputChannelForm::reverseChannel(bool state)
         return;
     }
 
-    // Now, swap the min & max values (only on the spinboxes, the slider
-    // does not change!
+    // Now, swap the min & max values (only on the spinboxes, the slider does not change!)
     int temp = ui.actuatorMax->value();
     ui.actuatorMax->setValue(ui.actuatorMin->value());
     ui.actuatorMin->setValue(temp);
@@ -286,12 +266,14 @@ void OutputChannelForm::sendChannelTest(int value)
     }
 
     if (ui.actuatorRev->isChecked()) {
-        value = ui.actuatorMin->value() - value + ui.actuatorMax->value(); // the channel is reversed
+        // the channel is reversed
+        value = ui.actuatorMin->value() - value + ui.actuatorMax->value();
     }
     // update the label
     ui.actuatorValue->setText(QString::number(value));
 
-    if (ui.actuatorLink->checkState() && parent()) { // the channel is linked to other channels
+    if (ui.actuatorLink->checkState() && parent()) {
+        // the channel is linked to other channels
         QList<OutputChannelForm *> outputChannelForms = parent()->findChildren<OutputChannelForm *>();
         // set the linked channels of the parent widget to the same value
         foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
@@ -320,7 +302,8 @@ void OutputChannelForm::sendChannelTest(int value)
     }
 
     if (!m_inChannelTest) {
-        return; // we are not in Test Output mode
+        // we are not in Test Output mode
+        return;
     }
     emit channelChanged(index(), value);
 }
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
index abe5d04dd..9e0c7fa1b 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
@@ -6,554 +6,747 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>825</width>
-    <height>58</height>
+    <width>772</width>
+    <height>57</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
    <property name="topMargin">
-    <number>1</number>
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
    </property>
    <property name="bottomMargin">
-    <number>1</number>
+    <number>0</number>
    </property>
-   <property name="horizontalSpacing">
-    <number>12</number>
-   </property>
-   <item row="0" column="11">
-    <widget class="QLabel" name="legend5">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+   <item>
+    <layout class="QHBoxLayout" name="legendLayout">
+     <property name="spacing">
+      <number>12</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>45</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+     <item>
+      <widget class="QLabel" name="legend6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>20</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="layoutDirection">
+        <enum>Qt::LeftToRight</enum>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Link</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="8">
-    <widget class="QSpinBox" name="actuatorMax">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="toolTip">
-      <string>Maximum PWM value, beware of not overdriving your servo.</string>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="4" colspan="2">
-    <widget class="QLabel" name="legend2">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>#</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend0">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>110</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Neutral (slowest for motor)</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="legend6">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="layoutDirection">
-      <enum>Qt::LeftToRight</enum>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>Assignment</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend1">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>55</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>#</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <property name="margin">
-      <number>0</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="6">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Minimum</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="1">
-    <widget class="QLabel" name="legend0">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>Min</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend2">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Assignment</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="2">
-    <widget class="QSpinBox" name="actuatorMin">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="toolTip">
-      <string>Minimum PWM value, beware of not overdriving your servo.</string>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="4">
-    <widget class="QSlider" name="actuatorNeutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <widget class="QLabel" name="legend3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>Neutral (slowest for motor)</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_4">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend3">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>55</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QLabel" name="actuatorNumber">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>20</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="toolTip">
-      <string>Channel Number</string>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="3">
-    <spacer name="horizontalSpacer">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Minimum</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="1" column="1">
-    <widget class="QLabel" name="actuatorName">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>110</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="9">
-    <widget class="QLabel" name="legend4">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>Max</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend4">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>75</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Reversed</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="5">
-    <widget class="QLabel" name="actuatorValue">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="toolTip">
-      <string>Current value of slider.</string>
-     </property>
-     <property name="text">
-      <string>0000</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="2">
-    <widget class="QLabel" name="legend1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+       </property>
+       <property name="text">
+        <string>Reversed</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="legend5">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>45</width>
+         <height>20</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>-1</pointsize>
+         <weight>75</weight>
+         <italic>false</italic>
+         <bold>true</bold>
+        </font>
+       </property>
+       <property name="styleSheet">
+        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
-font:bold;
+font: bold 12px;
 margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Min</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
+       </property>
+       <property name="text">
+        <string>Link</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
-   <item row="1" column="9">
-    <widget class="QFrame" name="frame">
-     <property name="minimumSize">
-      <size>
-       <width>75</width>
-       <height>0</height>
-      </size>
+   <item>
+    <layout class="QHBoxLayout" name="lineLayout">
+     <property name="spacing">
+      <number>12</number>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <property name="leftMargin">
-       <number>0</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <property name="spacing">
-       <number>0</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QCheckBox" name="actuatorRev">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+     <item>
+      <widget class="QLabel" name="actuatorNumber">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>20</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>20</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Channel Number</string>
+       </property>
+       <property name="text">
+        <string>0:</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLabel" name="actuatorName">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>110</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>110</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>-</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QSpinBox" name="actuatorMin">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>55</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>55</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="focusPolicy">
+        <enum>Qt::StrongFocus</enum>
+       </property>
+       <property name="toolTip">
+        <string>Minimum PWM value, beware of not overdriving your servo.</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+       <property name="value">
+        <number>0</number>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QFrame" name="frame">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::NoFrame</enum>
+       </property>
+       <property name="frameShadow">
+        <enum>QFrame::Raised</enum>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_3">
+        <property name="leftMargin">
+         <number>0</number>
         </property>
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
+        <property name="topMargin">
+         <number>0</number>
         </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
+        <property name="rightMargin">
+         <number>0</number>
         </property>
-        <property name="toolTip">
-         <string>Check to invert the channel.</string>
+        <property name="bottomMargin">
+         <number>0</number>
         </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="11">
-    <widget class="QFrame" name="frame_1">
-     <property name="minimumSize">
-      <size>
-       <width>45</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_3">
-      <property name="leftMargin">
-       <number>0</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <property name="spacing">
-       <number>0</number>
-      </property>
-      <item row="0" column="0" alignment="Qt::AlignHCenter">
-       <widget class="QCheckBox" name="actuatorLink">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+        <item>
+         <widget class="QSlider" name="actuatorNeutral">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>50</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="focusPolicy">
+           <enum>Qt::StrongFocus</enum>
+          </property>
+          <property name="maximum">
+           <number>9999</number>
+          </property>
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="actuatorValue">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>24</width>
+            <height>25</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>24</width>
+            <height>16777215</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Current value of slider.</string>
+          </property>
+          <property name="text">
+           <string>0000</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QSpinBox" name="actuatorMax">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>55</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>55</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="focusPolicy">
+        <enum>Qt::StrongFocus</enum>
+       </property>
+       <property name="toolTip">
+        <string>Maximum PWM value, beware of not overdriving your servo.</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+       <property name="maximum">
+        <number>9999</number>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QFrame" name="frame_1">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>75</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::NoFrame</enum>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <property name="spacing">
+         <number>0</number>
         </property>
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
+        <property name="leftMargin">
+         <number>0</number>
         </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
+        <property name="topMargin">
+         <number>0</number>
         </property>
-        <property name="toolTip">
-         <string>Output mode</string>
+        <property name="rightMargin">
+         <number>0</number>
         </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <item alignment="Qt::AlignHCenter">
+         <widget class="QCheckBox" name="actuatorRev">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="focusPolicy">
+           <enum>Qt::StrongFocus</enum>
+          </property>
+          <property name="toolTip">
+           <string>Check to invert the channel.</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <widget class="QFrame" name="frame_2">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>45</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="frameShape">
+        <enum>QFrame::NoFrame</enum>
+       </property>
+       <property name="frameShadow">
+        <enum>QFrame::Plain</enum>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>0</number>
+        </property>
+        <property name="leftMargin">
+         <number>0</number>
+        </property>
+        <property name="topMargin">
+         <number>0</number>
+        </property>
+        <property name="rightMargin">
+         <number>0</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <item alignment="Qt::AlignHCenter">
+         <widget class="QCheckBox" name="actuatorLink">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="focusPolicy">
+           <enum>Qt::StrongFocus</enum>
+          </property>
+          <property name="toolTip">
+           <string>Output mode</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
  <tabstops>
   <tabstop>actuatorMin</tabstop>
-  <tabstop>actuatorNeutral</tabstop>
   <tabstop>actuatorMax</tabstop>
  </tabstops>
  <resources/>