diff --git a/_locales/en/messages.json b/_locales/en/messages.json
index f590c8d3..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"
     },
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/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/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) {