diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index a7e46eb83..e7ca51fd1 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -132,16 +132,11 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
 
     }
 
-    m_ccpm->PitchCurve->setMin(-1);
-
-    resetMixer(m_ccpm->PitchCurve, 5);
-    resetMixer(m_ccpm->ThrottleCurve, 5);
-
-    MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
-    Q_ASSERT(mixerSettings);
-    UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
-    Q_ASSERT(curve2source);
+    //initialize our two mixer curves
+    m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
+    m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
 
+    //initialize channel names
     m_ccpm->ccpmEngineChannel->addItems(channelNames);
     m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
     m_ccpm->ccpmTailChannel->addItems(channelNames);
@@ -474,14 +469,6 @@ void ConfigCcpmWidget::UpdateType()
     
 }
 
-/**
-  Resets a mixer curve
-  */
-void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
-{
-    mixer->initLinearCurve(numElements,(double)1);
-}
-
 void ConfigCcpmWidget::UpdateCurveWidgets()
 {
     int NumCurvePoints,i,Changed;
@@ -501,7 +488,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
         if (ThisValue!=OldCurveValues.at(i))Changed=1;
     }
     // Setup all Throttle1 curves for all types of airframes
-    if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
+    if (Changed==1)
+        m_ccpm->ThrottleCurve->setCurve(&curveValues);
 
     curveValues.clear();
     Changed=0;
@@ -513,7 +501,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
         if (ThisValue!=OldCurveValues.at(i))Changed=1;
     }
     // Setup all Throttle1 curves for all types of airframes
-    if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
+    if (Changed==1)
+        m_ccpm->PitchCurve->setCurve(&curveValues);
 }
 
 void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
@@ -606,50 +595,40 @@ void ConfigCcpmWidget::UpdateCurveSettings()
     m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
     m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
 
+    //set default visible
+    m_ccpm->CurveLabel1->setVisible(true);
+    m_ccpm->CurveValue1->setVisible(true);
+    m_ccpm->CurveLabel2->setVisible(false);
+    m_ccpm->CurveValue2->setVisible(false);
+    m_ccpm->CurveLabel3->setVisible(false);
+    m_ccpm->CurveValue3->setVisible(false);
+    m_ccpm->ccpmGenerateCurve->setVisible(true);
+    m_ccpm->CurveToGenerate->setVisible(true);
+
     if ( CurveType.compare("Flat")==0)
     {
         m_ccpm->CurveLabel1->setText("Value");
-        m_ccpm->CurveLabel1->setVisible(true);
-        m_ccpm->CurveValue1->setVisible(true);
-        m_ccpm->CurveLabel2->setVisible(false);
-        m_ccpm->CurveValue2->setVisible(false);
-        m_ccpm->CurveLabel3->setVisible(false);
-        m_ccpm->CurveValue3->setVisible(false);
-        m_ccpm->ccpmGenerateCurve->setVisible(true);
-        m_ccpm->CurveToGenerate->setVisible(true);
     }
     if ( CurveType.compare("Linear")==0)
     {
         m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel1->setVisible(true);
-        m_ccpm->CurveValue1->setVisible(true);
         m_ccpm->CurveLabel2->setText("Max");
         m_ccpm->CurveLabel2->setVisible(true);
         m_ccpm->CurveValue2->setVisible(true);
-        m_ccpm->CurveLabel3->setVisible(false);
-        m_ccpm->CurveValue3->setVisible(false);
-        m_ccpm->ccpmGenerateCurve->setVisible(true);
-        m_ccpm->CurveToGenerate->setVisible(true);
     }
     if ( CurveType.compare("Step")==0)
     {
         m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel1->setVisible(true);
-        m_ccpm->CurveValue1->setVisible(true);
         m_ccpm->CurveLabel2->setText("Max");
         m_ccpm->CurveLabel2->setVisible(true);
         m_ccpm->CurveValue2->setVisible(true);
         m_ccpm->CurveLabel3->setText("Step at");
         m_ccpm->CurveLabel3->setVisible(true);
         m_ccpm->CurveValue3->setVisible(true);
-        m_ccpm->ccpmGenerateCurve->setVisible(true);
-        m_ccpm->CurveToGenerate->setVisible(true);
     }
     if ( CurveType.compare("Exp")==0)
     {
         m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel1->setVisible(true);
-        m_ccpm->CurveValue1->setVisible(true);
         m_ccpm->CurveLabel2->setText("Max");
         m_ccpm->CurveLabel2->setVisible(true);
         m_ccpm->CurveValue2->setVisible(true);
@@ -660,14 +639,10 @@ void ConfigCcpmWidget::UpdateCurveSettings()
         m_ccpm->CurveValue3->setMaximum(100.0);
         m_ccpm->CurveValue3->setSingleStep(1.0);
         m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
-        m_ccpm->ccpmGenerateCurve->setVisible(true);
-        m_ccpm->CurveToGenerate->setVisible(true);
     }
     if ( CurveType.compare("Log")==0)
     {
         m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel1->setVisible(true);
-        m_ccpm->CurveValue1->setVisible(true);
         m_ccpm->CurveLabel2->setText("Max");
         m_ccpm->CurveLabel2->setVisible(true);
         m_ccpm->CurveValue2->setVisible(true);
@@ -677,22 +652,17 @@ void ConfigCcpmWidget::UpdateCurveSettings()
         m_ccpm->CurveValue3->setMinimum(1.0);
         m_ccpm->CurveValue3->setMaximum(100.0);
         m_ccpm->CurveValue3->setSingleStep(1.0);
-        m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
-        m_ccpm->ccpmGenerateCurve->setVisible(true);
-        m_ccpm->CurveToGenerate->setVisible(true);
+        m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
     }
     if ( CurveType.compare("Custom")==0)
     {
         m_ccpm->CurveLabel1->setVisible(false);
         m_ccpm->CurveValue1->setVisible(false);
-        m_ccpm->CurveLabel2->setVisible(false);
-        m_ccpm->CurveValue2->setVisible(false);
-        m_ccpm->CurveLabel3->setVisible(false);
-        m_ccpm->CurveValue3->setVisible(false);
         m_ccpm->ccpmGenerateCurve->setVisible(false);
         m_ccpm->CurveToGenerate->setVisible(false);
     }
-UpdateCurveWidgets();
+
+    UpdateCurveWidgets();
 
 }
 void ConfigCcpmWidget::GenerateCurve()
@@ -881,7 +851,8 @@ void ConfigCcpmWidget::UpdateMixer()
     float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
     QString Channel;
 
-    throwConfigError(QString("HeliCP"));
+    if (throwConfigError(QString("HeliCP")))
+        return;
 
     GUIConfigDataUnion config = GetConfigData();
 
@@ -1744,13 +1715,16 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
 /**
  This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
  */
-void ConfigCcpmWidget::throwConfigError(QString airframeType)
+bool ConfigCcpmWidget::throwConfigError(QString airframeType)
 {
     Q_UNUSED(airframeType);
 
+    bool error = false;
+
     if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
     {
         m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
+        error = true;
     }
     else
     {
@@ -1759,6 +1733,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
     if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
     {
         m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
+        error = true;
     }
     else
     {
@@ -1767,6 +1742,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
     if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
     {
         m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
+        error = true;
     }
     else
     {
@@ -1775,6 +1751,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
     if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
     {
         m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
+        error = true;
     }
     else
     {
@@ -1793,10 +1770,12 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
     if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
     {
         m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
+        error = true;
     }
     else
     {
         m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
     }
 
+    return error;
 }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
index 3dceadcda..56161c36f 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
@@ -95,7 +95,7 @@ private:
         virtual void setupUI(QString airframeType);
         virtual void refreshWidgetsValues(QString frameType);
         virtual QString updateConfigObjectsFromWidgets();
-        virtual void throwConfigError(QString airframeType);
+        virtual bool throwConfigError(QString airframeType);
 
         void ccpmSwashplateUpdate();
         void ccpmSwashplateRedraw();
@@ -103,7 +103,6 @@ private:
         void GenerateCurve();
         void UpdateMixer();
         void UpdateType();
-        void resetMixer(MixerCurveWidget *mixer, int numElements);
         void UpdateCurveWidgets();
         void updatePitchCurveValue(QList<double>,double);
         void updateThrottleCurveValue(QList<double>,double);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index cbb7f94cf..7ed667828 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -262,15 +262,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 {
     // Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-    
-	// - At least Pitch and either Roll or Yaw
-    if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
-        m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
-        ((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
-		 (m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
-			// TODO: explain the problem in the UI
-//			m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
+    if (throwConfigError(airframeType)) {
 			return false;
 		}
 
@@ -351,14 +343,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
 {
     // Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-
-    // - At least Aileron1 and Aileron 2, and engine
-    if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
-        m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
-        m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
-        // TODO: explain the problem in the UI
-//        m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
+    if (throwConfigError(airframeType)) {
         return false;
     }
 	
@@ -436,14 +421,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
 {
     // Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-    
-	// - At least Pitch1 and Pitch2, and engine
-    if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
-        m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
-        m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
-        // TODO: explain the problem in the UI
-//        m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
+    if (throwConfigError(airframeType)) {
         return false;
     }
 	
@@ -526,7 +504,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
 /**
  This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
  */
-void ConfigFixedWingWidget::throwConfigError(QString airframeType)
+bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
 {
 	//Initialize configuration error flag
 	bool error=false;
@@ -618,4 +596,6 @@ void ConfigFixedWingWidget::throwConfigError(QString airframeType)
 	if (error){
 		m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
 	}
+
+    return error;
 }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
index 8a39715f0..99eab5c06 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
@@ -63,7 +63,7 @@ private slots:
     virtual void setupUI(QString airframeType);
     virtual void refreshWidgetsValues(QString frameType);
     virtual QString updateConfigObjectsFromWidgets();
-    virtual void throwConfigError(QString airframeType);
+    virtual bool throwConfigError(QString airframeType);
 
 
 protected:
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 1fc17cea0..2309ed872 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -289,16 +289,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
 bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
 	// Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-	
-    // - Motor, steering, and balance
-    if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
-        (m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
-		 m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
-	{
+    if (throwConfigError(airframeType)) {
 		return false;
-	}
-	
+	}	
 
 	// Now setup the channels:
     GUIConfigDataUnion config = GetConfigData();
@@ -352,16 +345,11 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
 	// Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-	
-    // - Left and right steering
-    if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
-		m_aircraft->gvSteering1ChannelBox->currentText() == "None") 
-	{
+
+    if (throwConfigError(airframeType)) {
 		return false;
 	}
 
-
     // Now setup the channels:
     GUIConfigDataUnion config = GetConfigData();
     ResetActuators(&config);
@@ -411,14 +399,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 {
     // Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(airframeType);
-	
-    // - At least one motor and one steering servo
-    if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
-		 m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
-        (m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
-		 m_aircraft->gvSteering2ChannelBox->currentText() == "None")) 
-	{
+    if (throwConfigError(airframeType)) {
 		return false;
 	}
 
@@ -468,7 +449,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 /**
  This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
  */
-void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
+bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
 {
 	//Initialize configuration error flag
 	bool error=false;
@@ -558,5 +539,6 @@ void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
 	if (error){
 		m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
 	}
+    return error;
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
index 1e7b378e4..b2b447e6e 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
@@ -63,7 +63,7 @@ private slots:
     virtual void setupUI(QString airframeType);
     virtual void refreshWidgetsValues(QString frameType);
     virtual QString updateConfigObjectsFromWidgets();
-    virtual void throwConfigError(QString airframeType);
+    virtual bool throwConfigError(QString airframeType);
 
 
 protected:
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 5b390c0e3..3f1b9a074 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -93,6 +93,10 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 		
+        m_aircraft->mrRollMixLevel->setValue(100);
+        m_aircraft->mrPitchMixLevel->setValue(100);
+        m_aircraft->mrYawMixLevel->setValue(50);
+
         m_aircraft->triYawChannelBox->setEnabled(true);
     }
     else if (frameType == "QuadX" || frameType == "Quad X") {
@@ -104,6 +108,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
 		}
 
+        // init mixer levels
 		m_aircraft->mrRollMixLevel->setValue(50);
 		m_aircraft->mrPitchMixLevel->setValue(50);
 		m_aircraft->mrYawMixLevel->setValue(50);
@@ -283,20 +288,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 {
 	QString airframeType;
 	QList<QString> motorList;
-	
-	// We can already setup the feedforward here, as it is common to all platforms
-	UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-	UAVObjectField* field = obj->getField(QString("FeedForward"));
-	field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
-	field = obj->getField(QString("AccelTime"));
-	field->setDouble(m_aircraft->accelTime->value());
-	field = obj->getField(QString("DecelTime"));
-	field->setDouble(m_aircraft->decelTime->value());
-	field = obj->getField(QString("MaxAccel"));
-	field->setDouble(m_aircraft->maxAccelSlider->value());
-	
+
+    UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixerObj);
+
     // Curve is also common to all quads:
-    setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
+    setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
 	
 	if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
 		airframeType = "QuadP";
@@ -314,15 +311,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "HexaCoax";
 		
 		//Show any config errors in GUI
-        throwConfigError(6);
-
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
-
+        if (throwConfigError(6)) {
 			return airframeType;
 		}
 		motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
@@ -348,18 +337,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "Octo";
 		
 		//Show any config errors in GUI
-        throwConfigError(8);
-
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox8->currentText() == "None") {
-			
+        if (throwConfigError(8)) {
 			return airframeType;
+
 		}
 		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
 		<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
@@ -383,17 +363,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "OctoV";
 		
 		//Show any config errors in GUI
-        throwConfigError(8);
-
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox8->currentText() == "None") {
-
+        if (throwConfigError(8)) {
 			return airframeType;
 		}
 		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@@ -419,17 +389,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "OctoCoaxP";
 
 		//Show any config errors in GUI
-        throwConfigError(8);
-
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox8->currentText() == "None") {
-
+        if (throwConfigError(8)) {
 			return airframeType;
 		}
 		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@@ -454,17 +414,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "OctoCoaxX";
 		
 		//Show any config errors in GUI
-        throwConfigError(8);
-		
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox8->currentText() == "None") {
-			
+        if (throwConfigError(8)) {
 			return airframeType;
 		}
 		motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
@@ -489,12 +439,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		airframeType = "Tri";
 
 		//Show any config errors in GUI
-        throwConfigError(3);
-		if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-			m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
-	
+        if (throwConfigError(3)) {
 			return airframeType;
+
 		}
 		if (m_aircraft->triYawChannelBox->currentText() == "None") {
 			m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
@@ -523,8 +470,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 		setupMultiRotorMixer(mixer);
 
         //tell the mixer about tricopter yaw channel
-        UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        Q_ASSERT(mixerObj);
 
         int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
         if (channel > -1){
@@ -868,14 +813,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
     // Check coherence:
 	
 	//Show any config errors in GUI
-    throwConfigError(4);
-
-    // - Four engines have to be defined
-    if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox4->currentText() == "None") {		
-
+    if (throwConfigError(4)) {
 		return false;
     }
 	
@@ -943,19 +881,9 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
 {
     // Check coherence:
 	//Show any config errors in GUI
-    throwConfigError(6);
-	
-    // - Four engines have to be defined
-    if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
-        m_aircraft->multiMotorChannelBox6->currentText() == "None") {
-		
+    if (throwConfigError(6))
 		return false;
-    }
-	
+
     QList<QString> motorList;
     if (pLayout) {
         motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
@@ -1069,7 +997,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
 /**
  This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
  */
-void ConfigMultiRotorWidget::throwConfigError(int numMotors)
+bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
 {    
 	//Initialize configuration error flag
 	bool error=false;
@@ -1096,6 +1024,7 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
 	if (error){
 		m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
 	}
+    return error;
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
index 3ccc0de6b..69b1e1712 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
@@ -71,7 +71,7 @@ private slots:
     virtual void setupUI(QString airframeType);
     virtual void refreshWidgetsValues(QString frameType);
     virtual QString updateConfigObjectsFromWidgets();
-    void throwConfigError(int numMotors);
+    virtual bool throwConfigError(int numMotors);
 
 
 protected:
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 549778540..94c3111b3 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -233,6 +233,30 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
     }
 }
 
+double VehicleConfig::getMixerValue(UAVDataObject* mixer, QString elementName)
+{
+    Q_ASSERT(mixer);
+
+    double value = 0.0;
+
+    QPointer<UAVObjectField> field = mixer->getField(elementName);
+    if (field) {
+        value = field->getDouble();
+    }
+    return value;
+}
+
+void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, double value)
+{
+    Q_ASSERT(mixer);
+
+    QPointer<UAVObjectField> field = mixer->getField(elementName);
+    if (field) {
+        field->setDouble(value);
+    }
+}
+
+
 void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
 {
     QPointer<UAVObjectField> field;
@@ -287,6 +311,36 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle
     }
 }
 
+bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
+{
+    Q_ASSERT(curve);
+
+    if (curve) {
+        for (int i=0; i < curve->count(); i++) {
+            if (curve->at(i) != 0)
+                return true;
+        }
+    }
+    return false;
+}
+
+double VehicleConfig::getCurveMin(QList<double>* curve)
+{
+    double min = 0;
+    for (int i=0; i<curve->count(); i++)
+        min = std::min(min, curve->at(i));
+
+    return min;
+}
+
+double VehicleConfig::getCurveMax(QList<double>* curve)
+{
+    double max = 0;
+    for (int i=0; i<curve->count(); i++)
+        max = std::max(max, curve->at(i));
+
+    return max;
+}
 /**
   Reset the contents of a field
   */
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
index 343cfcf0c..31447f3f8 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@@ -130,9 +130,13 @@ class VehicleConfig: public ConfigTaskWidget
         void    resetMixerVector(UAVDataObject* mixer, int channel);
         QString getMixerType(UAVDataObject* mixer, int channel);
         void    setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
+        double  getMixerValue(UAVDataObject* mixer, QString elementName);
+        void    setMixerValue(UAVDataObject* mixer, QString elementName, double value);
         void    setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
         void    getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
-
+        bool    isValidThrottleCurve(QList<double>* curve);
+        double  getCurveMin(QList<double>* curve);
+        double  getCurveMax(QList<double>* curve);
         virtual void ResetActuators(GUIConfigDataUnion* configData);
         virtual QStringList getChannelDescriptions();
 
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 19047af55..84b531d6b 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -274,7 +274,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
         case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
         {
-            ConfigFixedWingWidget* fixedwing = new ConfigFixedWingWidget();
+            QPointer<ConfigFixedWingWidget> fixedwing = new ConfigFixedWingWidget();
             channelDesc = fixedwing->getChannelDescriptions();
         }
         break;
@@ -282,7 +282,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         // helicp
         case SystemSettings::AIRFRAMETYPE_HELICP:
         {
-            ConfigCcpmWidget* heli = new ConfigCcpmWidget();
+            QPointer<ConfigCcpmWidget> heli = new ConfigCcpmWidget();
             channelDesc = heli->getChannelDescriptions();
         }
         break;
@@ -300,7 +300,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_HEXACOAX:
         case SystemSettings::AIRFRAMETYPE_HEXA:
         {
-            ConfigMultiRotorWidget* multi = new ConfigMultiRotorWidget();
+            QPointer<ConfigMultiRotorWidget> multi = new ConfigMultiRotorWidget();
             channelDesc = multi->getChannelDescriptions();
         }
         break;
@@ -310,7 +310,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
         case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
         {
-            ConfigGroundVehicleWidget* ground = new ConfigGroundVehicleWidget();
+            QPointer<ConfigGroundVehicleWidget> ground = new ConfigGroundVehicleWidget();
             channelDesc = ground->getChannelDescriptions();
         }
         break;
@@ -444,16 +444,17 @@ void ConfigVehicleTypeWidget::enableFFTest()
         // Depending on phase, either move actuator or send FF settings:
         if (ffTuningPhase) {
             // Send FF settings to the board
-            UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-            UAVObjectField* field = obj->getField(QString("FeedForward"));
-            field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
-            field = obj->getField(QString("AccelTime"));
-            field->setDouble(m_aircraft->accelTime->value());
-            field = obj->getField(QString("DecelTime"));
-            field->setDouble(m_aircraft->decelTime->value());
-            field = obj->getField(QString("MaxAccel"));
-            field->setDouble(m_aircraft->maxAccelSlider->value());
-            obj->updated();
+            UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+            Q_ASSERT(mixer);
+
+            QPointer<VehicleConfig> vconfig = new VehicleConfig();
+
+            // Update feed forward settings
+            vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
+            vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
+            vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
+            vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
+            mixer->updated();
         } else  {
             // Toggle motor state
             UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
@@ -614,84 +615,55 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
 {
     Q_UNUSED(o);
 
-    if(!allObjectsUpdated())
-        return;
+    //if(!allObjectsUpdated())
+      //  return;
 	
 	//WHAT DOES THIS DO?
     bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
 	
     // Get the Airframe type from the system settings:
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    Q_ASSERT(obj);
-    UAVObjectField *field = obj->getField(QString("AirframeType"));
+    UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
+    Q_ASSERT(system);
+
+    UAVObjectField *field = system->getField(QString("AirframeType"));
     Q_ASSERT(field);
     // At this stage, we will need to have some hardcoded settings in this code, this
     // is not ideal, but here you go.
     QString frameType = field->getValue().toString();
     setupAirframeUI(frameType);
 
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    Q_ASSERT(obj);
-    field = obj->getField(QString("ThrottleCurve1"));
-    Q_ASSERT(field);
-    QList<double> curveValues;
-    // If the 1st element of the curve is <= -10, then the curve
-    // is a straight line (that's how the mixer works on the mainboard):
-    if (field->getValue(0).toInt() <= -10) {
-        m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
-        m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
-        m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    QPointer<VehicleConfig> vconfig = new VehicleConfig();
+
+    QList<double> curveValues;    
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
+
+    // is at least one of the curve values != 0?
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        // yes, use the curve we just read from mixersettings
+        m_aircraft->multiThrottleCurve->initCurve(&curveValues);
+        m_aircraft->fixedWingThrottle->initCurve(&curveValues);
+        m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
     }
     else {
-        double temp=0;
-        double value;
-        for (unsigned int i=0; i < field->getNumElements(); i++) {
-            value=field->getValue(i).toDouble();
-            temp+=value;
-            curveValues.append(value);
-        }
-        if(temp==0)
-        {
-            m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);
-            m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
-            m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
-        }
-        else
-        {
-            m_aircraft->multiThrottleCurve->initCurve(curveValues);
-            m_aircraft->fixedWingThrottle->initCurve(curveValues);
-            m_aircraft->groundVehicleThrottle1->initCurve(curveValues);
-        }
+        // no, init a straight curve
+        m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
+        m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
+        m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
     }
 	
     // Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
-	Q_ASSERT(obj);
-    field = obj->getField(QString("ThrottleCurve2"));
-    Q_ASSERT(field);
-    curveValues.clear();
-    // If the 1st element of the curve is <= -10, then the curve
-    // is a straight line (that's how the mixer works on the mainboard):
-    if (field->getValue(0).toInt() <= -10) {
-        m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
+
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
     }
     else {
-        double temp=0;
-        double value;
-        for (unsigned int i=0; i < field->getNumElements(); i++) {
-            value=field->getValue(i).toDouble();
-            temp+=value;
-            curveValues.append(value);
-        }
-        if(temp==0)
-        {
-            m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
-        }
-        else
-        {
-            m_aircraft->groundVehicleThrottle2->initCurve(curveValues);
-        }
+        m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
     }
-    
+
     // Load the Settings for fixed wing frames:
     if (frameType.startsWith("FixedWing")) {
 		
@@ -716,8 +688,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
 		
 	} else if (frameType == "Custom") {
         setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
-	}
-	
+	}	
 	
     updateCustomAirframeUI();
     setDirty(dirty);
@@ -786,39 +757,35 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 
-    VehicleConfig* vconfig = new VehicleConfig();
+    QPointer<VehicleConfig> vconfig = new VehicleConfig();
 
     QList<double> curveValues;
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
 
-    // setup throttlecurve 1
-    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
-
-    int total = 0;
-    for (int i=0; i<curveValues.length(); i++)
-        total += curveValues.at(i);
-
-    if (curveValues.at(0) <= -10 || total == 0) {
-        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
+    // is at least one of the curve values != 0?
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        // yes, use the curve we just read from mixersettings
+        m_aircraft->customThrottle1Curve->setMin(vconfig->getCurveMin(&curveValues));
+        m_aircraft->customThrottle1Curve->setMax(vconfig->getCurveMax(&curveValues));
+        m_aircraft->customThrottle1Curve->initCurve(&curveValues);
     }
     else {
-        m_aircraft->customThrottle1Curve->initCurve(curveValues);
+        // no, init a straight curve
+        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
     }
 
-    // setup throttlecurve 2
-    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
+    // Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
 
-    total = 0;
-    for (int i=0; i<curveValues.length(); i++)
-        total += curveValues.at(i);
-
-    if (curveValues.at(0) <= -10 || total == 0) {
-        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        m_aircraft->customThrottle2Curve->setMin(vconfig->getCurveMin(&curveValues));
+        m_aircraft->customThrottle2Curve->setMax(vconfig->getCurveMax(&curveValues));
+        m_aircraft->customThrottle2Curve->initCurve(&curveValues);
     }
     else {
-        m_aircraft->customThrottle2Curve->initCurve(curveValues);
+        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(),(double)1);
     }
 
-
     // Update the mixer table:
     for (int channel=0; channel<8; channel++) {
         UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
@@ -843,6 +810,12 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
                 QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
         }
     }
+
+    // Update feed forward settings
+    m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
+    m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer,"AccelTime"));
+    m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer,"DecelTime"));
+    m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
 }
 
 
@@ -855,6 +828,17 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
 */
 void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
 {
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    QPointer<VehicleConfig> vconfig = new VehicleConfig();
+
+    // Update feed forward settings
+    vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
+    vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
+    vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
+    vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
+
     QString airframeType = "Custom"; //Sets airframe type default to "Custom"
     if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
         airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@@ -869,12 +853,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
          airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
     }
     else {
-
-        UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        Q_ASSERT(mixer);
-
-        VehicleConfig* vconfig = new VehicleConfig();
-
         vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
         vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 64b9912b1..5996eb7d3 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -43,7 +43,6 @@ Node::Node(MixerCurveWidget *graphWidget)
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
     vertical = false;
-    value = 0;
 }
 
 void Node::addEdge(Edge *edge)
@@ -61,14 +60,14 @@ QList<Edge *> Node::edges() const
 QRectF Node::boundingRect() const
 {
     qreal adjust = 2;
-    return QRectF(-10 - adjust, -10 - adjust,
-                  23 + adjust, 23 + adjust);
+    return QRectF(-12 - adjust, -12 - adjust,
+                  28 + adjust, 28 + adjust);
 }
 
 QPainterPath Node::shape() const
 {
     QPainterPath path;
-    path.addEllipse(-10, -10, 20, 20);
+    path.addEllipse(-12, -12, 25, 25);
     return path;
 }
 
@@ -92,59 +91,60 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
     }
     painter->setBrush(gradient);
     painter->setPen(QPen(Qt::black, 0));
-    painter->drawEllipse(-10, -10, 20, 20);
+    painter->drawEllipse(-12, -12, 25, 25);
+
+    painter->setPen(QPen(Qt::white, 0));
+    painter->drawText(-10, 3, QString().sprintf("%.2f", value()));
 }
 
 void Node::verticalMove(bool flag){
     vertical = flag;
 }
 
-double Node::getValue() {
-    return value;
-}
-
-void Node::setValue(double val) {
-    value = val;
-}
-
-
-QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
-{
-
-    QPointF newPos = value.toPointF();
+double Node::value() {
     double h = graph->sceneRect().height();
+    double ratio = (h - pos().y()) / h;
+    return ((graph->getMax() - graph->getMin()) * ratio ) + graph->getMin();
+}
+
+
+QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
+{
+    QPointF newPos = val.toPointF();
+    double h = graph->sceneRect().height();
+
     switch (change) {
     case ItemPositionChange: {
-            if (!vertical)
-                    break;
-            // Force node to move vertically
-            newPos.setX(pos().x());
-            // Stay inside graph
-            if (newPos.y() < 0)
-                newPos.setY(0);
-            //qDebug() << h << " - " << newPos.y();
-            if (newPos.y() > h)
-                newPos.setY(h);
-              return newPos;
+
+        if (!vertical)
+                break;
+
+        // Force node to move vertically
+        newPos.setX(pos().x());
+
+        // Stay inside graph
+        if (newPos.y() < 0)
+            newPos.setY(0);
+        //qDebug() << h << " - " << newPos.y();
+        if (newPos.y() > h)
+            newPos.setY(h);
+
+          return newPos;
     }
     case ItemPositionHasChanged: {
         foreach (Edge *edge, edgeList)
             edge->adjust();
 
-        double min = graph->getMin();
-        double range = graph->getMax() - min;
-        double ratio = (h - newPos.y()) / h;
-        double val = (range * ratio ) + min;
-        setValue(val);
+        update();
 
-        graph->itemMoved(val);
+        graph->itemMoved(value());
         break;
     }
     default:
         break;
     };
 
-    return QGraphicsItem::itemChange(change, value);
+    return QGraphicsItem::itemChange(change, val);
 }
 
 void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 19b940625..eca445d32 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -55,22 +55,21 @@ public:
     QPainterPath shape() const;
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 
-    void   setValue(double val);
-    double getValue();
+    double value();
 
 protected:
-    QVariant itemChange(GraphicsItemChange change, const QVariant &value);
+    QVariant itemChange(GraphicsItemChange change, const QVariant &val);
 
     void mousePressEvent(QGraphicsSceneMouseEvent *event);
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     
 private:
 
-    double value;
     QList<Edge *> edgeList;
     QPointF newPos;
     MixerCurveWidget *graph;
     bool vertical;
+
 };
 
 #endif  // MIXERCURVEPOINT_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 56ed8bee9..a19692ff9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -69,6 +69,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     //plot->setElementId("map");
     scene->addItem(plot);
     plot->setZValue(-1);
+
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
@@ -77,11 +78,11 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
 
 MixerCurveWidget::~MixerCurveWidget()
 {
-    for (int i=0; i<nodePool.count(); i++)
-        delete nodePool.at(i);
+    while (!nodePool.isEmpty())
+        delete nodePool.takeFirst();
 
-    for (int i=0; i<edgePool.count(); i++)
-        delete edgePool.at(i);
+    while (!edgePool.isEmpty())
+        delete edgePool.takeFirst();
 }
 
 Node* MixerCurveWidget::getNode(int index)
@@ -122,14 +123,11 @@ Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
   If a curve exists already, resets it.
   Points should be between 0 and 1.
   */
-void MixerCurveWidget::initCurve(QList<double> points)
+void MixerCurveWidget::initCurve(const QList<double>* points)
 {
-    if (points.length() < 2)
+    if (points->length() < 2)
         return; // We need at least 2 points on a curve!
 
-    if (nodeList.count() != points.count())
-        initNodes(points.count());
-
     // finally, set node positions
     setCurve(points);
 }
@@ -139,12 +137,8 @@ void MixerCurveWidget::initNodes(int numPoints)
     // First of all, clear any existing list
     if (nodeList.count()) {
         foreach (Node *node, nodeList ) {
-            QList<Edge*> edges = node->edges();
-            foreach(Edge *edge, edges) {
-                if (edge->destNode() == node) {
-                    delete edge;
-                }
-                else {
+            foreach(Edge *edge, node->edges()) {
+                if (edge->sourceNode() == node) {
                     scene()->removeItem(edge);
                 }
             }
@@ -163,6 +157,8 @@ void MixerCurveWidget::initNodes(int numPoints)
         nodeList.append(node);
         scene()->addItem(node);
 
+        node->setPos(0,0);
+
         if (prevNode) {
             scene()->addItem(getEdge(i, prevNode, node));
         }
@@ -179,7 +175,7 @@ QList<double> MixerCurveWidget::getCurve() {
     QList<double> list;
 
     foreach(Node *node, nodeList) {
-        list.append(node->getValue());
+        list.append(node->value());
     }
 
     return list;
@@ -187,51 +183,48 @@ QList<double> MixerCurveWidget::getCurve() {
 /**
   Sets a linear graph
   */
-void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
+void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
 {
-    Q_UNUSED(maxValue);
-    Q_UNUSED(minValue);
+    double range = setRange(minValue, maxValue);
 
     QList<double> points;
-    for (double i=0; i<numPoints;i++) {
-        double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
+    for (double i=0; i < (double)numPoints; i++) {
+        double val = (range * ( i / (double)(numPoints-1) ) ) + minValue;
         points.append(val);
     }
-    initCurve(points);
+    initCurve(&points);
 }
 /**
   Setd the current curve settings
   */
-void MixerCurveWidget::setCurve(QList<double> points)
+void MixerCurveWidget::setCurve(const QList<double>* points)
 {
     curveUpdating = true;
 
-    if (nodeList.count() != points.count())
-        initNodes(points.count());
+    int ptCnt = points->count();
+    if (nodeList.count() != ptCnt)
+        initNodes(ptCnt);
 
-    double min = curveMin + 10;
-    double max = curveMax + 10;
+    double range = curveMax - curveMin;
 
-    qreal w = plot->boundingRect().width()/(points.count()-1);
+    qreal w = plot->boundingRect().width()/(ptCnt-1);
     qreal h = plot->boundingRect().height();
-    for (int i=0; i<points.count(); i++) {
+    for (int i=0; i<ptCnt; i++) {
 
-        double val = points.at(i);
-        if (val < curveMin)
-            val = curveMin;
-        if (val > curveMax)
-            val = curveMax;
+        double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
 
-        val += 10;
-        val -= min;
-        val /= (max - min);
+        val += range;
+        val -= (curveMin + range);
+        val /= range;
 
-        nodeList.at(i)->setPos(w*i, h - (val*h));
-        nodeList.at(i)->verticalMove(true);
+        Node* node = nodeList.at(i);
+        node->setPos(w*i, h - (val*h));
+        node->verticalMove(true);
     }
-
     curveUpdating = false;
 
+    update();
+
     emit curveUpdated(points, (double)0);
 }
 
@@ -252,13 +245,11 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
     fitInView(plot, Qt::KeepAspectRatio);
 }
 
-
-
 void MixerCurveWidget::itemMoved(double itemValue)
 {
     if (!curveUpdating) {
-        QList<double> list = getCurve();
-        emit curveUpdated(list, itemValue);
+        QList<double> curve = getCurve();
+        emit curveUpdated(&curve, itemValue);
     }
 }
 
@@ -278,8 +269,9 @@ double MixerCurveWidget::getMax()
 {
     return curveMax;
 }
-void MixerCurveWidget::setRange(double min, double max)
+double MixerCurveWidget::setRange(double min, double max)
 {
     curveMin = min;
     curveMax = max;
+    return curveMax - curveMin;
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 92c9c3a8c..031a70733 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -44,20 +44,20 @@ public:
     MixerCurveWidget(QWidget *parent = 0);
    ~MixerCurveWidget();
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
-   void initCurve (QList<double> points);
+   void initCurve (const QList<double>* points);
    QList<double> getCurve();
-   void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
-   void setCurve(QList<double>);
+   void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
+   void setCurve(const QList<double>* points);
    void setMin(double value);
    double getMin();
    void setMax(double value);
    double getMax();
-   void setRange(double min, double max);
+   double setRange(double min, double max);
 
    static const int NODE_NUMELEM = 5;
 
 signals:
-   void curveUpdated(QList<double>, double );
+   void curveUpdated(const QList<double>* points, const double value);
 
 private slots: