diff --git a/obj/baseflight.hex b/obj/baseflight.hex
deleted file mode 100644
index 09f3f573..00000000
--- a/obj/baseflight.hex
+++ /dev/null
@@ -1,4483 +0,0 @@
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diff --git a/src/cli.c b/src/cli.c
index 09779c60..6e5da1bb 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -208,10 +208,12 @@ const clivalue_t valueTable[] = {
     { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
     { "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 },
     { "auto_disarm_board", VAR_UINT8, &mcfg.auto_disarm_board, 0, 60 },
-    { "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 },
+    { "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 14 },
+    { "rssi_aux_max", VAR_UINT16, &mcfg.rssi_aux_max, 0, 1000 },
     { "rssi_adc_channel", VAR_INT8, &mcfg.rssi_adc_channel, 0, 9 },
     { "rssi_adc_max", VAR_INT16, &mcfg.rssi_adc_max, 1, 4095 },
     { "rssi_adc_offset", VAR_INT16, &mcfg.rssi_adc_offset, 0, 4095 },
+    { "rc_channel_count", VAR_UINT8, &mcfg.rc_channel_count, 8, 18 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
     { "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
@@ -260,16 +262,19 @@ const clivalue_t valueTable[] = {
     { "p_vel", VAR_UINT8, &cfg.P8[PIDVEL], 0, 200 },
     { "i_vel", VAR_UINT8, &cfg.I8[PIDVEL], 0, 200 },
     { "d_vel", VAR_UINT8, &cfg.D8[PIDVEL], 0, 200 },
+    { "fw_vector_thrust", VAR_UINT8, &cfg.fw_vector_thrust, 0, 1},
     { "fw_gps_maxcorr", VAR_INT16, &cfg.fw_gps_maxcorr, -45, 45 },
     { "fw_gps_rudder", VAR_INT16, &cfg.fw_gps_rudder,  -45, 45 },
     { "fw_gps_maxclimb", VAR_INT16, &cfg.fw_gps_maxclimb,  -45, 45 },
     { "fw_gps_maxdive", VAR_INT16, &cfg.fw_gps_maxdive,  -45, 45 },
+    { "fw_glide_angle", VAR_UINT8, &cfg.fw_glide_angle, 0, 100 },
     { "fw_climb_throttle", VAR_UINT16, &cfg.fw_climb_throttle, 1000, 2000 },
     { "fw_cruise_throttle", VAR_UINT16, &cfg.fw_cruise_throttle, 1000, 2000 },
     { "fw_idle_throttle", VAR_UINT16, &cfg.fw_idle_throttle, 1000, 2000 },
     { "fw_scaler_throttle", VAR_UINT16, &cfg.fw_scaler_throttle, 0, 15 },
-    { "fw_roll_comp", VAR_FLOAT, &cfg.fw_roll_comp, 0, 2 },
-    { "fw_rth_alt", VAR_UINT8, &cfg.fw_rth_alt, 0, 200 },
+    { "fw_roll_comp", VAR_UINT8, &cfg.fw_roll_comp, 0, 250 },
+    { "fw_rth_alt", VAR_UINT8, &cfg.fw_rth_alt, 0, 250 },
+    { "fw_cruise_distance", VAR_UINT16, &cfg.fw_cruise_distance, 0, 2000},
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
@@ -878,7 +883,7 @@ static void cliDump(char *cmdline)
     }
 
     // print RC MAPPING
-    for (i = 0; i < 8; i++)
+    for (i = 0; i < mcfg.rc_channel_count; i++)
         buf[mcfg.rcmap[i]] = rcChannelLetters[i];
     buf[i] = '\0';
     printf("map %s\r\n", buf);
@@ -990,11 +995,11 @@ static void cliMap(char *cmdline)
 
     len = strlen(cmdline);
 
-    if (len == 8) {
+    if (len == mcfg.rc_channel_count) {
         // uppercase it
-        for (i = 0; i < 8; i++)
+        for (i = 0; i < mcfg.rc_channel_count; i++)
             cmdline[i] = toupper((unsigned char)cmdline[i]);
-        for (i = 0; i < 8; i++) {
+        for (i = 0; i < mcfg.rc_channel_count; i++) {
             if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
                 continue;
             cliPrint("Must be any order of AETR1234\r\n");
@@ -1003,7 +1008,7 @@ static void cliMap(char *cmdline)
         parseRcChannels(cmdline);
     }
     cliPrint("Current assignment: ");
-    for (i = 0; i < 8; i++)
+    for (i = 0; i < mcfg.rc_channel_count; i++)
         out[mcfg.rcmap[i]] = rcChannelLetters[i];
     out[i] = '\0';
     printf("%s\r\n", out);
@@ -1042,12 +1047,11 @@ static void cliMixer(char *cmdline)
             // Presets for planes. Not functional with current reset
             // Really Ugly Hack
             if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
-                cfg.dynThrPID = 50;
+                cfg.dynThrPID = 90;
                 cfg.rcExpo8 = 0;
                 cfg.P8[PIDALT] = 30;
                 cfg.I8[PIDALT] = 20;
                 cfg.D8[PIDALT] = 45;
-                cfg.D8[PIDPOSR] = 50; // RTH Alt
                 cfg.P8[PIDNAVR] = 30;
                 cfg.I8[PIDNAVR] = 20;
                 cfg.D8[PIDNAVR] = 45;
diff --git a/src/config.c b/src/config.c
index 888effd2..a299f71b 100755
--- a/src/config.c
+++ b/src/config.c
@@ -22,9 +22,9 @@
 
 master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
-const char rcChannelLetters[] = "AERT1234";
+const char rcChannelLetters[] = "AERT123456789LMNOP";  // hack for the char-based channel mapping stuff, 18 channels hard max
 
-static const uint8_t EEPROM_CONF_VERSION = 75;
+static const uint8_t EEPROM_CONF_VERSION = 76;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 static const uint32_t FLASH_WRITE_ADDR = 0x08000000 + (FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - (CONFIG_SIZE / 1024)));
@@ -252,7 +252,9 @@ static void resetConf(void)
     mcfg.looptime = 3500;
     mcfg.emf_avoidance = 0;
     mcfg.rssi_aux_channel = 0;
+    mcfg.rssi_aux_max = 1000;
     mcfg.rssi_adc_max = 4095;
+    mcfg.rc_channel_count = 8;
 
     cfg.pidController = 0;
     cfg.P8[ROLL] = 40;
@@ -308,7 +310,7 @@ static void resetConf(void)
     cfg.small_angle = 25;
 
     // Radio
-    parseRcChannels("AETR1234");
+    parseRcChannels( "AETR123456789LMNOP" );    //18 channels max
     cfg.deadband = 0;
     cfg.yawdeadband = 0;
     cfg.alt_hold_throttle_neutral = 40;
@@ -353,7 +355,9 @@ static void resetConf(void)
     cfg.fw_cruise_throttle = 1500;
     cfg.fw_idle_throttle = 1300;
     cfg.fw_scaler_throttle = 8;
-    cfg.fw_roll_comp = 1;
+    cfg.fw_roll_comp = 100;
+    cfg.fw_cruise_distance = 500;
+    cfg.fw_rth_alt = 50;
     // control stuff
     mcfg.reboot_character = 'R';
 
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 201931ba..56ace861 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -60,7 +60,7 @@ enum {
 typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
 
 static pwmPortData_t pwmPorts[MAX_PORTS];
-static uint16_t captures[MAX_INPUTS];
+static uint16_t captures[MAX_PPM_INPUTS];    // max out the captures array, just in case...
 static pwmPortData_t *motors[MAX_MOTORS];
 static pwmPortData_t *servos[MAX_SERVOS];
 static pwmWriteFuncPtr pwmWritePtr = NULL;
@@ -315,7 +315,7 @@ static void ppmCallback(uint8_t port, uint16_t capture)
     if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
         chan = 0;
     } else {
-        if (diff > PULSE_MIN && diff < PULSE_MAX && chan < MAX_INPUTS) {   // 750 to 2250 ms is our 'valid' channel range
+        if (diff > PULSE_MIN && diff < PULSE_MAX && chan < MAX_PPM_INPUTS) {   // 750 to 2250 ms is our 'valid' channel range
             captures[chan] = diff;
             failsafeCheck(chan, diff);
         }
diff --git a/src/drv_pwm.h b/src/drv_pwm.h
index 3fafa04b..6bb377c7 100755
--- a/src/drv_pwm.h
+++ b/src/drv_pwm.h
@@ -6,7 +6,8 @@
 
 #define MAX_MOTORS  12
 #define MAX_SERVOS  8
-#define MAX_INPUTS  8
+#define MAX_PWM_INPUTS  8
+#define MAX_PPM_INPUTS 16
 #define PULSE_1MS   (1000)      // 1ms pulse width
 #define PULSE_MIN   (750)       // minimum PWM pulse width which is considered valid
 #define PULSE_MAX   (2250)      // maximum PWM pulse width which is considered valid
diff --git a/src/fw_nav.c b/src/fw_nav.c
index 3c261b0c..1c9d0465 100644
--- a/src/fw_nav.c
+++ b/src/fw_nav.c
@@ -4,17 +4,21 @@
 // from gps.c
 extern int32_t nav_bearing;
 extern int32_t wp_distance;
+extern int32_t GPS_WP[2];
+extern float GPS_scaleLonDown;
+
 extern PID_PARAM navPID_PARAM;
 extern PID_PARAM altPID_PARAM;
 
 #define GPS_UPD_HZ 5            // Set loop time for NavUpdate 5 Hz is enough
 #define PITCH_COMP 0.5f         // Compensate throttle relative angle of attack
 // Candidates for CLI
-#define SAFE_NAV_ALT 20         // Safe Altitude during climbouts Wings Level below this Alt. (ex. trees & buildings..)
+#define SAFE_NAV_ALT 25         // Safe Altitude during climbouts Wings Level below this Alt. (ex. trees & buildings..)
 #define SAFE_DECSCEND_ZONE 50   // Radius around home where descending is OK
 // For speedBoost
 #define GPS_MINSPEED 500        // 500= ~18km/h
 #define I_TERM 0.1f
+#define GEO_SKALEFACT  89.832f  // Scale to match meters  
 
 float navErrorI;
 float altErrorI;
@@ -40,6 +44,19 @@ void fw_nav_reset(void)
     }
 }
 
+void fw_FlyTo(void) // PatrikE CruiseMode version
+{
+    float wp_lat_diff, wp_lon_diff, scaler;
+    int32_t holdHeading = GPS_ground_course / 10;
+    if (holdHeading > 180)
+        holdHeading -= 360;
+    scaler = (GEO_SKALEFACT / GPS_scaleLonDown) * cfg.fw_cruise_distance;
+    wp_lat_diff = cos(holdHeading * 0.0174532925f);
+    wp_lon_diff = sin(holdHeading * 0.0174532925f) * GPS_scaleLonDown;
+    GPS_WP[LAT] += wp_lat_diff * scaler;
+    GPS_WP[LON] += wp_lon_diff * scaler;
+}
+
 void fw_nav(void)
 {
     int16_t GPS_Heading = GPS_ground_course;    // Store current bearing
@@ -130,7 +147,6 @@ void fw_nav(void)
         if (abs(navDiff) > 170)
             navDiff = 175;      // Forced turn.
 
-
         // PID for Navigating planes.
         navDT = (float) (millis() - nav_loopT) / 1000;
         nav_loopT = millis();
@@ -201,16 +217,15 @@ void fw_nav(void)
         // Elevator compensation depending on behaviour.
         // Prevent stall with Disarmed motor
         if (f.MOTORS_STOPPED)
-            GPS_angle[PITCH] = constrain(GPS_angle[PITCH], 0, cfg.fw_gps_maxdive * 10);
+            GPS_angle[PITCH] = constrain(GPS_angle[PITCH], -cfg.fw_glide_angle, cfg.fw_gps_maxdive * 10);
 
         // Add elevator compared with rollAngle
         if (!f.CLIMBOUT_FW)
-            GPS_angle[PITCH] -= (abs(angle[ROLL]) * cfg.fw_roll_comp);
+            GPS_angle[PITCH] -= (abs(angle[ROLL]) * (cfg.fw_roll_comp / 100));
 
         // Throttle compensation depending on behaviour.
         // Compensate throttle with pitch Angle
         NAV_Thro -= constrain(angle[PITCH] * PITCH_COMP, 0, 450);
-        NAV_Thro = constrain(NAV_Thro, cfg.fw_idle_throttle, cfg.fw_climb_throttle);
 
         // Force the Plane move forward in headwind with speedBoost
         groundSpeed = GPS_speed;
@@ -221,6 +236,9 @@ void fw_nav(void)
 
         speedBoost = constrain(speedBoost, 0, 500);
         NAV_Thro += speedBoost;
+
+        // constrain throttle to Max climb.
+        NAV_Thro = constrain(NAV_Thro, cfg.fw_idle_throttle, cfg.fw_climb_throttle);
     }
     // End of NavTimer
 
diff --git a/src/gps.c b/src/gps.c
index 931aef77..a210c074 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -505,7 +505,7 @@ static void reset_PID(PID *pid)
 
 static float dTnav;             // Delta Time in milliseconds for navigation computations, updated with every good GPS read
 static int16_t actual_speed[2] = { 0, 0 };
-static float GPS_scaleLonDown = 1.0f;  // this is used to offset the shrinking longitude as we go towards the poles
+float GPS_scaleLonDown = 1.0f;  // this is used to offset the shrinking longitude as we go towards the poles
 
 // The difference between the desired rate of travel and the actual rate of travel
 // updated after GPS read - 5-10hz
@@ -513,7 +513,7 @@ static int16_t rate_error[2];
 static int32_t error[2];
 
 // Currently used WP
-static int32_t GPS_WP[2];
+int32_t GPS_WP[2];
 
 ////////////////////////////////////////////////////////////////////////////////
 // Location & Navigation
@@ -768,6 +768,9 @@ void GPS_set_next_wp(int32_t *lat, int32_t *lon)
     GPS_WP[LON] = *lon;
 
     GPS_calc_longitude_scaling(*lat);
+    if (f.CRUISE_MODE)
+        fw_FlyTo();  // PatrikE CruiseMode version
+
     GPS_distance_cm_bearing(&GPS_coord[LAT], &GPS_coord[LON], &GPS_WP[LAT], &GPS_WP[LON], &wp_distance, &target_bearing);
 
     nav_bearing = target_bearing;
diff --git a/src/main.c b/src/main.c
index 59627737..ee23a293 100755
--- a/src/main.c
+++ b/src/main.c
@@ -186,7 +186,7 @@ int main(void)
     for (i = 0; i < RC_CHANS; i++)
         rcData[i] = 1502;
     rcReadRawFunc = pwmReadRawRC;
-    core.numRCChannels = MAX_INPUTS;
+    core.numRCChannels = MAX_PWM_INPUTS;
 
     if (feature(FEATURE_SERIALRX)) {
         switch (mcfg.serialrx_type) {
@@ -213,13 +213,17 @@ int main(void)
     // gpsInit will return if FEATURE_GPS is not enabled.
     gpsInit(mcfg.gps_baudrate);
 #endif
-#ifdef SONAR
-    // sonar stuff only works with PPM
+
     if (feature(FEATURE_PPM)) {
+        core.numRCChannels = MAX_PPM_INPUTS;
+#ifdef SONAR
+        // sonar stuff only works with PPM
         if (feature(FEATURE_SONAR))
             Sonar_init();
-    }
 #endif
+    }
+
+    core.numAuxChannels = constrain((mcfg.rc_channel_count - 4), 4, 8);
 
 #ifndef CJMCU
     if (feature(FEATURE_SOFTSERIAL)) {
diff --git a/src/mixer.c b/src/mixer.c
index 520af8e9..0b88e4b6 100644
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -134,7 +134,7 @@ static const motorMixer_t mixerDualcopter[] = {
     { 1.0f,  0.0f,  0.0f,  1.0f },          // RIGHT
 };
 
-static const motorMixer_t mixerTrustVector[] = {
+static const motorMixer_t mixerVectorThrust[] = {
     { 1.0f,  0.0f,  0.0f, -0.5f },          // LEFT
     { 1.0f,  0.0f,  0.0f,  0.5f },          // RIGHT
 };
@@ -150,13 +150,13 @@ const mixer_t mixers[] = {
     { 0, 1, NULL },                // * MULTITYPE_GIMBAL
     { 6, 0, mixerY6 },             // MULTITYPE_Y6
     { 6, 0, mixerHex6P },          // MULTITYPE_HEX6
-    { 2, 1, mixerTrustVector },     // * MULTITYPE_FLYING_WING
+    { 2, 1, mixerVectorThrust },     // * MULTITYPE_FLYING_WING
     { 4, 0, mixerY4 },             // MULTITYPE_Y4
     { 6, 0, mixerHex6X },          // MULTITYPE_HEX6X
     { 8, 0, mixerOctoX8 },         // MULTITYPE_OCTOX8
     { 8, 0, mixerOctoFlatP },      // MULTITYPE_OCTOFLATP
     { 8, 0, mixerOctoFlatX },      // MULTITYPE_OCTOFLATX
-    { 1, 1, NULL },                // * MULTITYPE_AIRPLANE
+    { 2, 1, mixerVectorThrust },    // * MULTITYPE_AIRPLANE
     { 0, 1, NULL },                // * MULTITYPE_HELI_120_CCPM
     { 0, 1, NULL },                // * MULTITYPE_HELI_90_DEG
     { 4, 0, mixerVtail4 },         // MULTITYPE_VTAIL4
@@ -166,7 +166,7 @@ const mixer_t mixers[] = {
     { 1, 1, NULL },                // MULTITYPE_SINGLECOPTER
     { 4, 0, mixerAtail4 },         // MULTITYPE_ATAIL4
     { 0, 0, NULL },                // MULTITYPE_CUSTOM
-    { 1, 1, NULL },                // MULTITYPE_CUSTOM_PLANE
+    { 2, 1, mixerVectorThrust },    // MULTITYPE_CUSTOM_PLANE
 };
 
 // mixer rule format servo, input, rate, speed, min, max, box
@@ -545,15 +545,18 @@ void mixTable(void)
     }
 
     // motors for non-servo mixes
-    if (numberMotor > 1)
-        for (i = 0; i < numberMotor; i++)
+    if (numberMotor > 1) {
+        for (i = 0; i < numberMotor; i++) {
             motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -cfg.yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
-
-    if (f.FIXED_WING) {
-        if (!f.ARMED)
-            motor[0] = mcfg.mincommand; // Kill throttle when disarmed
-        else
-            motor[0] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle);
+            if (f.FIXED_WING) { // vector_thrust handeling
+                if (cfg.fw_vector_thrust) {
+                    if (f.PASSTHRU_MODE)
+                        motor[i] = rcCommand[THROTTLE] - rcCommand[YAW] * (i - 0.5f);
+                } else { // Override mixerVectorThrust
+                    motor[i] = rcCommand[THROTTLE];
+                }
+            }
+        }
     }
 
     // airplane / servo mixes
@@ -639,6 +642,7 @@ void mixTable(void)
         }
         if (!f.ARMED) {
             motor[i] = motor_disarmed[i];
+            f.MOTORS_STOPPED = 1;
         }
     }
 }
diff --git a/src/mw.c b/src/mw.c
index 28d6987a..5a397538 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -101,6 +101,7 @@ void annexCode(void)
     static uint32_t calibratedAccTime;
     int32_t tmp, tmp2;
     int32_t axis, prop1, prop2;
+    static uint16_t MaxBrkpoint = 300; // Max angle of APA
 
     // vbat shit
     static uint8_t vbatTimer = 0;
@@ -109,17 +110,39 @@ void annexCode(void)
     static int64_t mAhdrawnRaw = 0;
     static int32_t vbatCycleTime = 0;
 
-    // PITCH & ROLL only dynamic PID adjustemnt,  depending on throttle value
-    if (rcData[THROTTLE] < cfg.tpa_breakpoint) {
-        prop2 = 100;
+    if (!f.FIXED_WING) { // Baseflight original dynamic PID adjustemnt
+        // PITCH & ROLL only dynamic PID adjustemnt,  depending on throttle value
+        if (rcData[THROTTLE] < cfg.tpa_breakpoint) {
+            prop2 = 100;
+        } else {
+            if (rcData[THROTTLE] < 2000) {
+                prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpa_breakpoint) / (2000 - cfg.tpa_breakpoint);
+            } else {
+                prop2 = 100 - cfg.dynThrPID;
+            }
+        }
     } else {
-        if (rcData[THROTTLE] < 2000) {
-            prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpa_breakpoint) / (2000 - cfg.tpa_breakpoint);
+        // Throttle & Angle combined PID Attenuation
+        // Will dampen the PID's in High speeds dive on Fixed Wing Only
+        prop2 = 128; // prop2 was 100, is 128 now
+        if (rcData[THROTTLE] < cfg.tpa_breakpoint) {
+            prop2 = 128; // Higher prop2 for Fixed wing Same as used in MWii
         } else {
-            prop2 = 100 - cfg.dynThrPID;
+            if (rcCommand[THROTTLE] > cfg.dynThrPID) { // Using rcCommand() to include Tpa even in Gps modes.
+                if (rcCommand[THROTTLE] < 2000) {
+                    prop2 -=  ((uint16_t)cfg.dynThrPID * (rcCommand[THROTTLE] - cfg.dynThrPID) >> 9);
+                } else {
+                    prop2 -=  cfg.dynThrPID;
+                }
+            }
         }
+        // APA dynamic PID adjustemnt, depending on Angle of attack
+        if (angle[1] > 20)
+            prop2 -= ((uint16_t)cfg.dynThrPID * (min(angle[1], MaxBrkpoint)) >> 8);
+        prop2 = max((128 - cfg.dynThrPID), prop2);
     }
 
+
     for (axis = 0; axis < 3; axis++) {
         tmp = min(abs(rcData[axis] - mcfg.midrc), 500);
         if (axis != 2) {        // ROLL & PITCH
@@ -261,13 +284,13 @@ void computeRC(void)
     int i, chan;
 
     if (feature(FEATURE_SERIALRX)) {
-        for (chan = 0; chan < 8; chan++)
+        for (chan = 0; chan < mcfg.rc_channel_count; chan++)
             rcData[chan] = rcReadRawFunc(chan);
     } else {
-        static int16_t rcDataAverage[8][4];
+        static int16_t rcDataAverage[RC_CHANS][4];
         static int rcAverageIndex = 0;
 
-        for (chan = 0; chan < 8; chan++) {
+        for (chan = 0; chan < mcfg.rc_channel_count; chan++) {
             capture = rcReadRawFunc(chan);
 
             // validate input
@@ -478,7 +501,7 @@ void loop(void)
     static int16_t initialThrottleHold;
 #endif
     static uint32_t loopTime;
-    uint16_t auxState = 0;
+    uint32_t auxState = 0;
 #ifdef GPS
     static uint8_t GPSNavReset = 1;
 #endif
@@ -687,10 +710,16 @@ void loop(void)
         }
 
         // Check AUX switches
-        for (i = 0; i < 4; i++)
+
+        for (i = 0; i < core.numAuxChannels; i++)
             auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
         for (i = 0; i < CHECKBOXITEMS; i++)
             rcOptions[i] = (auxState & cfg.activate[i]) > 0;
+        f.CRUISE_MODE = rcOptions[BOXGCRUISE];
+        if (f.CRUISE_MODE) {
+            rcOptions[BOXGPSHOLD] = true;
+            rcOptions[BOXHORIZON] = true;
+        }
 
         // note: if FAILSAFE is disable, failsafeCnt > 5 * FAILSAVE_DELAY is always false
         if ((rcOptions[BOXANGLE] || (failsafeCnt > 5 * cfg.failsafe_delay)) && (sensors(SENSOR_ACC))) {
@@ -782,6 +811,9 @@ void loop(void)
 #ifdef GPS
         if (sensors(SENSOR_GPS)) {
             if (f.GPS_FIX && GPS_numSat >= 5) {
+                if (nav_mode != NAV_MODE_NONE && (!f.HORIZON_MODE && !f.ANGLE_MODE))
+                    f.ANGLE_MODE = true; // Force a stable mode in GPS Mode
+
                 // if both GPS_HOME & GPS_HOLD are checked => GPS_HOME is the priority
                 if (rcOptions[BOXGPSHOME] || f.FW_FAILSAFE_RTH_ENABLE ) {
                     if (!f.GPS_HOME_MODE) {
@@ -832,7 +864,7 @@ void loop(void)
             f.PASSTHRU_MODE = 0;
         }
 
-        if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_CUSTOM_PLANE) {
+        if (f.FIXED_WING) {
             f.HEADFREE_MODE = 0;
             if (feature(FEATURE_FAILSAFE) && failsafeCnt > (6 * cfg.failsafe_delay)) {
                 f.PASSTHRU_MODE = 0;
diff --git a/src/mw.h b/src/mw.h
index 3d2186a0..7f20bfa7 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -121,6 +121,7 @@ enum {
     BOXSERVO1,
     BOXSERVO2,
     BOXSERVO3,
+    BOXGCRUISE,
     CHECKBOXITEMS
 };
 
@@ -246,7 +247,7 @@ typedef struct config_t {
     uint8_t acc_unarmedcal;                 // turn automatic acc compensation on/off
     uint8_t small_angle;                    // what is considered a safe angle for arming
 
-    uint16_t activate[CHECKBOXITEMS];       // activate switches
+    uint32_t activate[CHECKBOXITEMS];       // activate switches
 
     // Radio/ESC-related configuration
     uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
@@ -282,15 +283,18 @@ typedef struct config_t {
     uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
 
     // fw-related stuff
+    uint8_t fw_vector_thrust;                   // Enable Vector trust on Twin Engine models
     int16_t fw_gps_maxcorr;                    // Degrees banking Allowed by GPS.
-    int16_t fw_gps_rudder;                     // Maximum Rudder
+    int16_t fw_gps_rudder;                     // Maximum input of Rudder Allowed by GPS.
     int16_t fw_gps_maxclimb;                   // Degrees climbing . To much can stall the plane.
     int16_t fw_gps_maxdive;                    // Degrees Diving . To much can overspeed the plane.
+    uint8_t fw_glide_angle;                    // Glide angle in power off
     uint16_t fw_climb_throttle;                // Max allowed throttle in GPS modes.
     uint16_t fw_cruise_throttle;               // Throttle to set for cruisespeed.
     uint16_t fw_idle_throttle;                 // Lowest throttleValue during Descend
     uint16_t fw_scaler_throttle;               // Adjust to Match Power/Weight ratio of your model
-    float fw_roll_comp;                        // How much Elevator compensates Roll in GPS modes
+    uint8_t fw_roll_comp;                      // Adds Elevator Based on Roll Angle
+    int16_t fw_cruise_distance;                // Distance to viritual WP.
     uint8_t fw_rth_alt;                        // Min Altitude to keep during RTH. (Max 200m)
 
 } config_t;
@@ -352,7 +356,7 @@ typedef struct master_t {
     uint8_t power_adc_channel;              // which channel is used for current sensor. Right now, only 3 places are supported: RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9), ADC_EXTERNAL_PAD (Rev5 only, = 5), 0 to disable
 
     // Radio/ESC-related configuration
-    uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
+    uint8_t rcmap[RC_CHANS];                // mapping of radio channels to internal RPYTA+ order
     uint8_t serialrx_type;                  // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_SERIALRX first.
     uint8_t spektrum_sat_bind;              // Spektrum satellite bind. 0 - 10 (0 = disabled)
     uint8_t spektrum_sat_on_flexport;       // Spektrum satellite on USART3 (flexport, available with rev5sp hardware)
@@ -363,9 +367,11 @@ typedef struct master_t {
     uint8_t disarm_kill_switch;             // AUX disarm independently of throttle value
     int8_t fw_althold_dir;                  // +1 or -1 for pitch/althold gain. later check if need more than just sign
     uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
+    uint16_t rssi_aux_max;                  // max value for injected RSSI on AUX channel, range (0...1000), default is 1000
     uint8_t rssi_adc_channel;               // Read analog-rssi from RC-filter (RSSI-PWM to RSSI-Analog), RC_CH2 (unused when in CPPM mode, = 1), RC_CH8 (last channel in PWM mode, = 9), ADC_EXTERNAL_PAD (Rev5 only, = 5), 0 to disable (disabled if rssi_aux_channel > 0 or rssi_adc_channel == power_adc_channel)
     uint16_t rssi_adc_max;                  // max input voltage defined by RC-filter (is RSSI never 100% reduce the value) (1...4095)
     uint16_t rssi_adc_offset;               // input offset defined by RC-filter (0...4095)
+    uint8_t rc_channel_count;               // total number of incoming RC channels that should be processed, range (8...18), default is 8
 
     // gps-related stuff
     uint8_t gps_type;                       // See GPSHardware enum.
@@ -399,6 +405,7 @@ typedef struct core_t {
     serialPort_t *telemport;
     serialPort_t *rcvrport;
     uint8_t numRCChannels;                  // number of rc channels as reported by current input driver
+    uint8_t numAuxChannels;
     bool useServo;                          // feature SERVO_TILT or wing/airplane mixers will enable this
     uint8_t numServos;                      // how many total hardware servos we have. used by mixer
 } core_t;
@@ -424,6 +431,7 @@ typedef struct flags_t {
     uint8_t MOTORS_STOPPED;
     uint8_t FW_FAILSAFE_RTH_ENABLE;
     uint8_t CLIMBOUT_FW;
+    uint8_t CRUISE_MODE;
 } flags_t;
 
 extern int16_t gyroZero[3];
@@ -603,4 +611,5 @@ void GPS_reset_nav(void);
 void GPS_set_next_wp(int32_t *lat, int32_t *lon);
 int32_t wrap_18000(int32_t error);
 void fw_nav(void);
+void fw_FlyTo(void);
 
diff --git a/src/sensors.c b/src/sensors.c
index 0794c71c..29fb6eac 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -193,7 +193,7 @@ uint16_t RSSI_getValue(void)
     if (mcfg.rssi_aux_channel > 0) {
         const int16_t rssiChannelData = rcData[AUX1 + mcfg.rssi_aux_channel - 1];
         // Range of rssiChannelData is [1000;2000]. rssi should be in [0;1023];
-        value = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
+        value = (uint16_t)((constrain(rssiChannelData - 1000, 0, mcfg.rssi_aux_max) / (float) mcfg.rssi_aux_max) * 1023.0f);
     } else if (mcfg.rssi_adc_channel > 0) {
         const int16_t rssiData = (((int32_t)(adcGetChannel(ADC_RSSI) - mcfg.rssi_adc_offset)) * 1023L) / mcfg.rssi_adc_max;
         // Set to correct range [0;1023]
diff --git a/src/serial.c b/src/serial.c
index 4d1f5c40..d8bfdba8 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -83,6 +83,7 @@
 #define MSP_BUILDINFO            69     //out message         build date as well as some space for future expansion
 
 #define INBUF_SIZE 128
+#define MAX_SERIAL_INPUTS 8
 
 typedef struct box_t {
     const uint8_t boxIndex;         // this is from boxnames enum
@@ -115,6 +116,7 @@ static const box_t boxes[] = {
     { BOXSERVO1, "SERVO1;", 21 },
     { BOXSERVO2, "SERVO2;", 22 },
     { BOXSERVO3, "SERVO3;", 23 },
+    { BOXGCRUISE, "CRUISE;", 24 },
     { CHECKBOXITEMS, NULL, 0xFF }
 };
 
@@ -310,8 +312,10 @@ void serialInit(uint32_t baudrate)
         availableBoxes[idx++] = BOXGPSHOME;
         availableBoxes[idx++] = BOXGPSHOLD;
     }
-    if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_CUSTOM_PLANE)
+    if (f.FIXED_WING) {
         availableBoxes[idx++] = BOXPASSTHRU;
+        availableBoxes[idx++] = BOXGCRUISE;
+    }
     availableBoxes[idx++] = BOXBEEPERON;
     if (feature(FEATURE_INFLIGHT_ACC_CAL))
         availableBoxes[idx++] = BOXCALIB;
@@ -444,7 +448,7 @@ static void evaluateCommand(void)
                   f.BARO_MODE << BOXBARO | f.MAG_MODE << BOXMAG | f.HEADFREE_MODE << BOXHEADFREE | rcOptions[BOXHEADADJ] << BOXHEADADJ |
                   rcOptions[BOXCAMSTAB] << BOXCAMSTAB | rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
                   f.GPS_HOME_MODE << BOXGPSHOME | f.GPS_HOLD_MODE << BOXGPSHOLD |
-                  f.PASSTHRU_MODE << BOXPASSTHRU |
+                  f.CRUISE_MODE << BOXGCRUISE | f.PASSTHRU_MODE << BOXPASSTHRU |
                   rcOptions[BOXBEEPERON] << BOXBEEPERON |
                   rcOptions[BOXLEDMAX] << BOXLEDMAX |
                   rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
@@ -531,6 +535,7 @@ static void evaluateCommand(void)
         case MSP_FW_CONFIG:
             headSerialReply(38);
             serialize8(mcfg.fw_althold_dir);
+            // serialize8(cfg.fw_vector_thrust); // Future Gui setting?
             serialize16(cfg.fw_gps_maxcorr);
             serialize16(cfg.fw_gps_rudder);
             serialize16(cfg.fw_gps_maxclimb);
@@ -539,7 +544,7 @@ static void evaluateCommand(void)
             serialize16(cfg.fw_cruise_throttle);
             serialize16(cfg.fw_idle_throttle);
             serialize16(cfg.fw_scaler_throttle);
-            serialize32(cfg.fw_roll_comp);
+            serialize32(cfg.fw_roll_comp); // Float is Not compatible with Gui. Change to serialize8
             serialize8(cfg.fw_rth_alt);
             // next added for future use
             serialize32(0);
@@ -550,6 +555,7 @@ static void evaluateCommand(void)
         case MSP_SET_FW_CONFIG:
             headSerialReply(0);
             mcfg.fw_althold_dir = read8();
+            // cfg.fw_vector_thrust = read8(); // Future Gui setting?
             cfg.fw_gps_maxcorr = read16();
             cfg.fw_gps_rudder = read16();
             cfg.fw_gps_maxclimb = read16();
@@ -558,7 +564,8 @@ static void evaluateCommand(void)
             cfg.fw_cruise_throttle = read16();
             cfg.fw_idle_throttle = read16();
             cfg.fw_scaler_throttle = read16();
-            cfg.fw_roll_comp = read32();
+            //cfg.fw_gps_maxdive = read32();// Wrong when using float in MSP!... Change to read8
+            read32(); // Just read and skip
             cfg.fw_rth_alt = read8();
             // next added for future use
             read32();
@@ -833,13 +840,13 @@ static void evaluateCommand(void)
             break;
 
         case MSP_RCMAP:
-            headSerialReply(MAX_INPUTS); // TODO fix this
-            for (i = 0; i < MAX_INPUTS; i++)
+            headSerialReply(MAX_SERIAL_INPUTS); // TODO fix this
+            for (i = 0; i < MAX_SERIAL_INPUTS; i++)
                 serialize8(mcfg.rcmap[i]);
             break;
         case MSP_SET_RCMAP:
             headSerialReply(0);
-            for (i = 0; i < MAX_INPUTS; i++)
+            for (i = 0; i < MAX_SERIAL_INPUTS; i++)
                 mcfg.rcmap[i] = read8();
             break;