diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index 2c8b3e56..487d5d8f 100755
--- a/_locales/en/messages.json
+++ b/_locales/en/messages.json
@@ -514,6 +514,21 @@
     "configurationBatteryMultiwiiCurrent": {
         "message": "Enable support for legacy Multiwii MSP current output"
     },
+   "configuration3d": {
+        "message": "3D"
+    },
+    "configuration3dDeadbandLow": {
+        "message": "3D Deadband Low"
+    },
+    "configuration3dDeadbandHigh": {
+        "message": "3D Deadband High"
+    },
+    "configuration3dNeutral": {
+        "message": "3D Neutral"
+    },
+    "configuration3dDeadbandThrottle": {
+        "message": "3D Deadband Throttle"
+    },
     "configurationSystem": {
         "message": "System configuration"
     },
@@ -1203,6 +1218,30 @@
     "controlAxisAux8": {
         "message": "AUX 8"
     },
+    "pidTuningBasic": {
+        "message": "Basic/Acro"
+    },
+    "pidTuningLevel": {
+        "message": "Angle/Horizon"
+    },
+    "pidTuningAltitude": {
+        "message": "Barometer & Sonar/Altitude"
+    },
+    "pidTuningMag": {
+        "message": "Magnometer/Heading"
+    },
+    "pidTuningGps": {
+        "message": "GPS Navigation"
+    },
+    "pidTuningLevelP": {
+        "message": "Strength (Angle)"
+    },
+    "pidTuningLevelI": {
+        "message": "Strength (Horizon)"
+    },
+    "pidTuningLevelD": {
+        "message": "Transition (Horizon)"
+    },
     "pidHelp1": {
         "message": "The values below change the behaviour of the ANGLE and HORIZON flight modes. Different PID controllers handle the LEVEL values differently. Please check the documentation."
     },
diff --git a/eventPage.js b/eventPage.js
index bca1916f..a321e4e9 100755
--- a/eventPage.js
+++ b/eventPage.js
@@ -11,7 +11,7 @@ function startApplication() {
         frame: 'chrome',
         innerBounds: {
             minWidth: 1024,
-            minHeight: 700
+            minHeight: 550
         }
     }, function (createdWindow) {
         createdWindow.contentWindow.addEventListener('load', function () {
diff --git a/js/data_storage.js b/js/data_storage.js
index b5582bdf..2d75ed18 100755
--- a/js/data_storage.js
+++ b/js/data_storage.js
@@ -165,6 +165,13 @@ var MISC = {
     vbatwarningcellvoltage: 0
 };
 
+var _3D = {
+    deadband3d_low:         0,
+    deadband3d_high:        0,
+    neutral3d:              0,
+    deadband3d_throttle:    0
+};
+
 var DATAFLASH = {
     ready: false,
     sectors: 0,
diff --git a/js/msp.js b/js/msp.js
index 1cdc18c0..cfde7dc0 100644
--- a/js/msp.js
+++ b/js/msp.js
@@ -52,6 +52,7 @@ var MSP_codes = {
     MSP_WP:                 118,
     MSP_BOXIDS:             119,
     MSP_SERVO_CONFIGURATIONS: 120,
+    MSP_3D:                 124,
     
     MSP_SET_RAW_RC:         200,
     MSP_SET_RAW_GPS:        201,
@@ -67,6 +68,7 @@ var MSP_codes = {
     MSP_SET_HEAD:           211,
     MSP_SET_SERVO_CONFIGURATION: 212,
     MSP_SET_MOTOR:          214,
+    MSP_SET_3D:             217,
     
     // MSP_BIND:               240,
     
@@ -409,6 +411,16 @@ var MSP = {
                 MISC.vbatmaxcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
                 MISC.vbatwarningcellvoltage = data.getUint8(offset++, 1) / 10; // 10-50
                 break;
+            case MSP_codes.MSP_3D:
+                var offset = 0;
+                _3D.deadband3d_low = data.getUint16(offset, 1);
+                offset += 2;
+                _3D.deadband3d_high = data.getUint16(offset, 1);
+                offset += 2;
+                _3D.neutral3d = data.getUint16(offset, 1);
+                offset += 2;
+                _3D.deadband3d_throttle = data.getUint16(offset, 1);
+                break;
             case MSP_codes.MSP_MOTOR_PINS:
                 console.log(data);
                 break;
@@ -1129,6 +1141,17 @@ MSP.crunch = function (code) {
                 }
             }
             break;
+
+        case MSP_codes.MSP_SET_3D:
+            buffer.push(lowByte(_3D.deadband3d_low));
+            buffer.push(highByte(_3D.deadband3d_low));
+            buffer.push(lowByte(_3D.deadband3d_high));
+            buffer.push(highByte(_3D.deadband3d_high));
+            buffer.push(lowByte(_3D.neutral3d));
+            buffer.push(highByte(_3D.neutral3d));
+            buffer.push(lowByte(_3D.deadband3d_throttle));
+            buffer.push(highByte(_3D.deadband3d_throttle));
+            break;
             
         default:
             return false;
diff --git a/main.css b/main.css
index 4d2ab191..681a0f78 100644
--- a/main.css
+++ b/main.css
@@ -111,9 +111,9 @@ input[type="number"]::-webkit-inner-spin-button {
 }
 
 .headerbar {
-	height:110px;
-	width:100%;
-	background-image: -webkit-linear-gradient(top, transparent, rgba(0, 0, 0, 0.15));
+    height:110px;
+    width:100%;
+    background-image: -webkit-linear-gradient(top, transparent, rgba(0, 0, 0, 0.15));
 }
 
 
@@ -491,6 +491,13 @@ input[type="number"]::-webkit-inner-spin-button {
     background-color: #2e2e2e;
 }
 
+.tab_container.logopen {
+    height: calc(100% - 235px);
+    overflow-x: hidden;
+    overflow-y: auto;
+}
+
+
 #tabs {
     font-size: 13px;
 }
@@ -502,7 +509,6 @@ input[type="number"]::-webkit-inner-spin-button {
 
 #tabs.logopen ul {
     /* Cause the height to shrink to contain its floated contents while log is open */
-
 }
 
 .header-wrapper .mode-connected {
@@ -864,8 +870,8 @@ dialog {
 }
 
 .content_wrapper {
-  padding: 20px;
-  position: relative;
+    padding: 20px;
+    position: relative;
 }
 
 .content_toolbar {
@@ -1329,6 +1335,7 @@ dialog {
     font-size: 10px;
 }
 
+
 .fixfalse {
     background-color: #e60000;
     padding: 2px;
@@ -1539,3 +1546,12 @@ dialog {
         overflow-y: auto;
     }
 }
+
+@media only screen and (max-height: 700px) , only screen and (max-device-height: 700px) {
+
+.tab_container {
+    overflow-x: hidden;
+    overflow-y: auto;
+}
+    
+    }
diff --git a/main.js b/main.js
index a581967e..91dec3ea 100644
--- a/main.js
+++ b/main.js
@@ -376,7 +376,7 @@ $("#showlog").on('click', function() {
         $("#log").animate({height: 111}, 200);
         $("#log").addClass('active');
         $("#content").addClass('logopen');
-        $("#tabs").addClass('logopen');
+        $(".tab_container").addClass('logopen');
         $("#scrollicon").addClass('active');
 
         state = true;
diff --git a/tabs/configuration.html b/tabs/configuration.html
index e6760af3..d89f130e 100644
--- a/tabs/configuration.html
+++ b/tabs/configuration.html
@@ -393,6 +393,35 @@
                 </div>
             </div>
         </div>
+        <div class="leftWrapper 3d">
+            <div class="gui_box grey">
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" i18n="configuration3d"></div>
+                </div>
+                <div class="spacer_box">
+                    <div class="number">
+                        <label> <input type="number" name="3ddeadbandlow" step="1" min="1000" max="2000" /> <span
+                            i18n="configuration3dDeadbandLow"></span>
+                        </label>
+                    </div>
+                    <div class="number">
+                        <label> <input type="number" name="3ddeadbandhigh" step="1" min="1000" max="2000" /> <span
+                            i18n="configuration3dDeadbandHigh"></span>
+                        </label>
+                    </div>
+                    <div class="number">
+                        <label> <input type="number" name="3dneutral" step="1" min="1000" max="2000" /> <span
+                            i18n="configuration3dNeutral"></span>
+                        </label>
+                    </div>
+                    <div class="number">
+                        <label> <input type="number" name="3ddeadbandthrottle" step="1" min="0" max="1000" /> <span
+                            i18n="configuration3dDeadbandThrottle"></span>
+                        </label>
+                    </div>
+                </div>
+            </div>
+        </div>
         <div class="clear-both"></div>
     </div>
     <div class="content_toolbar">
diff --git a/tabs/configuration.js b/tabs/configuration.js
index f0cbd979..d6623288 100644
--- a/tabs/configuration.js
+++ b/tabs/configuration.js
@@ -27,7 +27,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
     }
 
     function load_misc() {
-        MSP.send_message(MSP_codes.MSP_MISC, false, false, load_acc_trim);
+        MSP.send_message(MSP_codes.MSP_MISC, false, false, load_3d);
+    }
+    
+    function load_3d() {
+        MSP.send_message(MSP_codes.MSP_3D, false, false, load_acc_trim);
     }
 
     function load_acc_trim() {
@@ -313,6 +317,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         $('input[name="currentoffset"]').val(BF_CONFIG.currentoffset);
         $('input[name="multiwiicurrentoutput"]').prop('checked', MISC.multiwiicurrentoutput);
 
+        //fill 3D
+        $('input[name="3ddeadbandlow"]').val(_3D.deadband3d_low);
+        $('input[name="3ddeadbandhigh"]').val(_3D.deadband3d_high);
+        $('input[name="3dneutral"]').val(_3D.neutral3d);
+        $('input[name="3ddeadbandthrottle"]').val(_3D.deadband3d_throttle);
 
         // UI hooks
         $('input[name="looptime"]').change(function() {
@@ -389,6 +398,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             BF_CONFIG.currentoffset = parseInt($('input[name="currentoffset"]').val());
             MISC.multiwiicurrentoutput = ~~$('input[name="multiwiicurrentoutput"]').is(':checked'); // ~~ boolean to decimal conversion
 
+            _3D.deadband3d_low = parseInt($('input[name="3ddeadbandlow"]').val());
+            _3D.deadband3d_high = parseInt($('input[name="3ddeadbandhigh"]').val());
+            _3D.neutral3d = parseInt($('input[name="3dneutral"]').val());
+            _3D.deadband3d_throttle = ($('input[name="3ddeadbandthrottle"]').val());
+
             function save_serial_config() {
                 if (semver.lt(CONFIG.apiVersion, "1.6.0")) {
                     MSP.send_message(MSP_codes.MSP_SET_CF_SERIAL_CONFIG, MSP.crunch(MSP_codes.MSP_SET_CF_SERIAL_CONFIG), false, save_misc);
@@ -398,7 +412,11 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             }
 
             function save_misc() {
-                MSP.send_message(MSP_codes.MSP_SET_MISC, MSP.crunch(MSP_codes.MSP_SET_MISC), false, save_acc_trim);
+                MSP.send_message(MSP_codes.MSP_SET_MISC, MSP.crunch(MSP_codes.MSP_SET_MISC), false, save_3d);
+            }
+            
+            function save_3d() {
+                MSP.send_message(MSP_codes.MSP_SET_3D, MSP.crunch(MSP_codes.MSP_SET_3D), false, save_acc_trim);
             }
 
             function save_acc_trim() {
diff --git a/tabs/dataflash.css b/tabs/dataflash.css
index f175382e..653f3c04 100644
--- a/tabs/dataflash.css
+++ b/tabs/dataflash.css
@@ -124,8 +124,42 @@
 .tab-dataflash dialog .buttons {
     position: static;
     margin-top: 2em;
-    overflow: hidden;
-    width: auto;
+    float: left;
+}
+
+.tab-dataflash .buttons a {
+    margin-top: 9px;
+    margin-bottom: 0px;
+    margin-right: 10px;
+    background-color: #59aa29;
+    border-radius: 3px;
+    border: 1px solid #4c8829;
+    color: #fff;
+    float: left;
+    font-family: 'open_sansbold', Arial;
+    font-size: 12px;
+    text-shadow: 0px 1px rgba(0, 0, 0, 0.25);
+    display: block;
+    cursor: pointer;
+    transition: all ease 0.2s;
+    padding: 0px;
+    padding-left: 9px;
+    padding-right: 9px;
+    line-height: 28px;
+}
+
+.tab-dataflash .buttons a:hover {
+    background-color: #6ac435;
+    border: 1px solid #4d9324;
+    text-shadow: 0px 1px rgba(0, 0, 0, 0.25);
+    color: #fff;
+    transition: all ease 0.2s;
+}
+
+.tab-dataflash .buttons a:active {
+    background-color: #4d9324;
+    transition: all ease 0.0s;
+    box-shadow: inset 0px 1px 5px rgba(0, 0, 0, 0.35);
 }
 
 .tab-dataflash dialog h3 {
diff --git a/tabs/motors.js b/tabs/motors.js
index 74c99079..b3ba6d7b 100644
--- a/tabs/motors.js
+++ b/tabs/motors.js
@@ -12,7 +12,15 @@ TABS.motors.initialize = function (callback) {
     }
 
     function get_arm_status() {
-        MSP.send_message(MSP_codes.MSP_STATUS, false, false, get_motor_data);
+        MSP.send_message(MSP_codes.MSP_STATUS, false, false, load_config);
+    }
+    
+    function load_config() {
+        MSP.send_message(MSP_codes.MSP_BF_CONFIG, false, false, load_3d);
+    }
+    
+    function load_3d() {
+        MSP.send_message(MSP_codes.MSP_3D, false, false, get_motor_data);
     }
     
     function update_arm_status() {
@@ -287,8 +295,13 @@ TABS.motors.initialize = function (callback) {
 
         $('div.sliders input').prop('min', MISC.mincommand);
         $('div.sliders input').prop('max', MISC.maxthrottle);
-        $('div.sliders input').val(MISC.mincommand);
         $('div.values li:not(:last)').text(MISC.mincommand);
+	
+	if(bit_check(BF_CONFIG.features,12)){
+            $('div.sliders input').val(_3D.neutral3d);
+        }else{
+	    $('div.sliders input').val(MISC.mincommand); 
+	}
 
         // UI hooks
         var buffering_set_motor = [],
@@ -341,7 +354,11 @@ TABS.motors.initialize = function (callback) {
                 $('div.sliders input').prop('disabled', true);
 
                 // change all values to default
-                $('div.sliders input').val(MISC.mincommand);
+                if (! bit_check(BF_CONFIG.features,12)) {
+                    $('div.sliders input').val(MISC.mincommand);
+                } else {
+                    $('div.sliders input').val(_3D.neutral3d);
+                }
 
                 // trigger change event so values are sent to mcu
                 $('div.sliders input').trigger('input');
@@ -351,11 +368,18 @@ TABS.motors.initialize = function (callback) {
         // check if motors are already spinning
         var motors_running = false;
 
-        for (var i = 0; i < MOTOR_DATA.length; i++) {
-            if (MOTOR_DATA[i] > MISC.mincommand) {
-                motors_running = true;
-                break;
-            }
+        for (var i = 0; i < number_of_valid_outputs; i++) {
+            if( ! bit_check(BF_CONFIG.features,12) ){
+                if (MOTOR_DATA[i] > MISC.mincommand) {
+                    motors_running = true;
+                    break;
+                }
+            }else{
+                if( (MOTOR_DATA[i] < _3D.deadband3d_low) || (MOTOR_DATA[i] > _3D.deadband3d_high) ){
+                    motors_running = true;
+                    break;
+                }
+            } 
         }
 
         if (motors_running) {
diff --git a/tabs/pid_tuning.html b/tabs/pid_tuning.html
index ce0e5eb1..3d6ae3f3 100755
--- a/tabs/pid_tuning.html
+++ b/tabs/pid_tuning.html
@@ -39,7 +39,7 @@
                     <table id="pid_main" class="pid_tuning">
                         <tr>
                             <th colspan="4">
-                                <div class="pid_mode">Basic/Acro</div>
+                                <div class="pid_mode" i18n="pidTuningBasic"></div>
                             </th>
                         </tr>
                         <tr class="ROLL">
@@ -67,7 +67,7 @@
                     <table id="pid_baro" class="pid_tuning">
                         <tr>
                             <th colspan="4">
-                                <div class="pid_mode">Barometer & Sonar/Altitude</div>
+                                <div class="pid_mode" i18n="pidTuningAltitude"></div>
                             </th>
                         </tr>
                         <tr class="ALT">
@@ -88,7 +88,7 @@
                     <table id="pid_mag" class="pid_tuning">
                         <tr>
                             <th colspan="4">
-                                <div class="pid_mode">Magnometer/Heading</div>
+                                <div class="pid_mode" i18n="pidTuningMag"></div>
                             </th>
                         </tr>
                         <tr class="MAG">
@@ -102,7 +102,7 @@
                     <table id="pid_gps" class="pid_tuning">
                         <tr>
                             <th colspan="4">
-                                <div class="pid_mode">GPS Navigation</div>
+                                <div class="pid_mode" i18n="pidTuningGps"></div>
                             </th>
                         </tr>
                         <tr class="Pos">
@@ -134,14 +134,14 @@
                             <th colspan="4">
                                 <div class="pid_mode">
                                     <div style="width: 25%; float: left; text-align: left;">
-                                        Angle/Horizon
+                                        <div i18n="pidTuningLevel" style="float:left;"></div>
                                         <div class="helpicon cf_tip">
                                             <div class="cf_tooltiptext" i18n="pidHelp1" style="display: none;"></div>
                                         </div>
                                     </div>
-                                    <div style="width:25%; float:left;">Strength (Angle)</div>
-                                    <div style="width:25%; float:left;">Strength (Horizon)</div>
-                                    <div style="width:25%; float:left;">Transition (Horizon)</div>
+                                    <div style="width:25%; float:left;" i18n="pidTuningLevelP"></div>
+                                    <div style="width:25%; float:left;" i18n="pidTuningLevelI"></div>
+                                    <div style="width:25%; float:left;" i18n="pidTuningLevelD"></div>
                                 </div>
                             </th>
                         </tr>
diff --git a/tabs/receiver_msp.css b/tabs/receiver_msp.css
index 18231ee1..1c16f6c5 100644
--- a/tabs/receiver_msp.css
+++ b/tabs/receiver_msp.css
@@ -98,10 +98,44 @@ body {
     left: -65px;
 }
 
-.button-enable {
-    padding: 0.5em;
-    font-size: 110%;
-    margin-left: auto;
-    margin-right: auto;
+a {
+    text-decoration: none;
+    color: #000;
+    font-family: 'open_sanssemibold', Arial;
+}
+
+a:hover {
+    text-decoration: none;
+}
+
+.button-enable a {
+    /*  common styles for content toolbar buttons */
+    margin-top: 0px;
+    margin-bottom: 0px;
+    margin-left: 0px;
+    background-color: #59aa29;
+    border-radius: 3px;
+    border: 1px solid #4c8829;
+    color: #fff;
+    float: left;
+    font-family: 'open_sansbold', Arial;
+    font-size: 12px;
+    text-shadow: 0px 1px rgba(0, 0, 0, 0.25);
     display: block;
+    cursor: pointer;
+    transition: all ease 0.2s;
+    padding: 0px;
+    padding-left: 9px;
+    padding-right: 9px;
+    line-height: 28px;
+}
+
+.button-enable a:hover {
+    background-color: #6ac435;
+    transition: all ease 0.2s;
+}
+.button-enable a:active {
+    background-color: #4d9324;
+    transition: all ease 0.0s;
+    box-shadow: inset 0px 1px 5px rgba(0, 0, 0, 0.35);
 }
\ No newline at end of file
diff --git a/tabs/receiver_msp.html b/tabs/receiver_msp.html
index c569ca31..9aa396bd 100644
--- a/tabs/receiver_msp.html
+++ b/tabs/receiver_msp.html
@@ -1,5 +1,6 @@
 <html>
 <head>
+<link type="text/css" rel="stylesheet" href="../css/opensans_webfontkit/fonts.css" media="all" />
 <script type="text/javascript" src="/js/libraries/jquery-2.1.4.min.js"></script>
 <script type="text/javascript" src="/js/libraries/jquery-ui-1.11.4.min.js"></script>
 <script type="text/javascript" src="/js/libraries/jquery.nouislider.all.min.js"></script>
@@ -56,7 +57,9 @@
             This feature does not guarantee reliable control of your craft. <strong>Serious injury is likely to
                 result if propellers are left on.</strong>
         </p>
-        <button class="button-enable" type="button">Enable controls</button>
+        <div class="button-enable btn">
+            <a class="button-enable" href="#">Enable controls</a>
+        </div>
     </div>
 </body>
 </html>
\ No newline at end of file
diff --git a/tabs/setup.css b/tabs/setup.css
index 4bb8c372..c43122b5 100644
--- a/tabs/setup.css
+++ b/tabs/setup.css
@@ -14,7 +14,6 @@
     border-radius: 5px;
     border: 1px solid #e4e4e4;
     margin-bottom: 10px;
-    /* min-height:400px; */
 }
 
 .attitude_info {
@@ -173,7 +172,6 @@
     #interactive_block {
         position: absolute;
         width: calc(75% - 20px);
-        min-height: 300px;
         height: calc(100% - 218px);
     }
 }
\ No newline at end of file