Merge branch 'master' of https://github.com/iNavFlight/inav-configurator into mission-planer

Fix conflicts:
 _locales/en/messages.json

_locales/en/messages.json

@@ -735,6 +735,15 @@
     "configurationSPIProtocol": {
         "message": "RX SPI protocol"
     },
+    "configurationPersonalization": {
+        "message": "Personalization"
+    },
+    "configurationCraftName": {
+        "message": "Craft Name"
+    },
+    "configurationCraftNameHelp": {
+        "message": "Craft name. Can be displayed by OSD and by compatible RC systems."
+    },
     "configurationEepromSaved": {
         "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
     },
@@ -1130,10 +1139,6 @@
     "transponderEepromSaved": {
         "message": "EEPROM <span style=\"color: #37a8db\">saved</span>"
     },
-
-    "servosFirmwareUpgradeRequired": {
-        "message": "Servos requires firmware &gt;= 1.10.0. and target support."
-    },
     "servosChangeDirection": {
         "message": "Change Direction in TX To Match"
     },
@@ -2320,6 +2325,7 @@
     "downloadUpdatesBtn": {
         "message": "Download new app"
     },
+<<<<<<< HEAD
     "tabMissionControl": {
         "message": "Mission Control"
     },
@@ -2358,5 +2364,14 @@
     },
     "confirm_delete_all_points": {
         "message": "Do you really want to delete all points?"
+    },
+    "servoMixer": {
+        "message": "Servo mixer"
+    },
+    "servoMixerDelete": {
+        "message": "Delete"
+    },
+    "servoMixerAdd": {
+        "message": "Add new mixer rule"
     }
 }

gulpfile.js

@@ -90,6 +90,8 @@ sources.js = [
     './js/localization.js',
     './js/boards.js',
     './js/tasks.js',
+    './js/servoMixRule.js',
+    './js/servoMixRuleCollection.js',
     './main.js',
     './tabs/*.js',
     './js/eventFrequencyAnalyzer.js',

js/fc.js

@@ -151,7 +151,7 @@ var FC = {
         ADJUSTMENT_RANGES = [];
 
         SERVO_CONFIG = [];
-        SERVO_RULES = [];
+        SERVO_RULES = new ServoMixRuleCollection();
 
         SERIAL_CONFIG = {
             ports: [],
@@ -950,5 +950,27 @@ var FC = {
     },
     getRcMapLetters: function () {
         return ['A', 'E', 'R', 'T', '5', '6', '7', '8'];
+    },
+    getServoMixInputNames: function () {
+        return [
+            'Stabilised Roll',
+            'Stabilised Pitch',
+            'Stabilised Yaw',
+            'Stabilised Throttle',
+            'RC Roll',
+            'RC Pitch',
+            'RC Yaw',
+            'RC Throttle',
+            'RC Channel 5',
+            'RC Channel 6',
+            'RC Channel 7',
+            'RC Channel 8',
+            'Gimbal Pitch',
+            'Gimbal Roll',
+            'Flaps'
+        ];
+    },
+    getServoMixInputName: function (input) {
+        return getServoMixInputNames()[input];
     }
 };

js/model.js

@@ -2,29 +2,29 @@
 
 // generate mixer
 var mixerList = [
-     {name: 'Tricopter',       model: 'tricopter',    image: 'tri'},            // 1
+    {name: 'Tricopter', model: 'tricopter', image: 'tri', hasCustomServoMixer: false},            // 1
-     {name: 'Quad +',          model: 'quad_x',       image: 'quad_p'},         // 2
+    {name: 'Quad +', model: 'quad_x', image: 'quad_p', hasCustomServoMixer: false},               // 2
-     {name: 'Quad X',          model: 'quad_x',       image: 'quad_x'},         // 3
+    {name: 'Quad X', model: 'quad_x', image: 'quad_x', hasCustomServoMixer: false},               // 3
-     {name: 'Bicopter',        model: 'custom',       image: 'bicopter'},       // 4
+    {name: 'Bicopter', model: 'custom', image: 'bicopter', hasCustomServoMixer: false},           // 4
-     {name: 'Gimbal',          model: 'custom',       image: 'custom'},         // 5
+    {name: 'Gimbal', model: 'custom', image: 'custom', hasCustomServoMixer: false},               // 5
-     {name: 'Y6',              model: 'y6',           image: 'y6'},             // 6
+    {name: 'Y6', model: 'y6', image: 'y6', hasCustomServoMixer: false},                           // 6
-     {name: 'Hex +',           model: 'hex_plus',     image: 'hex_p'},          // 7
+    {name: 'Hex +', model: 'hex_plus', image: 'hex_p', hasCustomServoMixer: false},               // 7
-     {name: 'Flying Wing',     model: 'custom',       image: 'flying_wing'},    // 8
+    {name: 'Flying Wing', model: 'custom', image: 'flying_wing', hasCustomServoMixer: false},     // 8
-     {name: 'Y4',              model: 'y4',           image: 'y4'},             // 9
+    {name: 'Y4', model: 'y4', image: 'y4', hasCustomServoMixer: false},                           // 9
-     {name: 'Hex X',           model: 'hex_x',        image: 'hex_x'},          // 10
+    {name: 'Hex X', model: 'hex_x', image: 'hex_x', hasCustomServoMixer: false},                  // 10
-     {name: 'Octo X8',         model: 'custom',       image: 'octo_x8'},        // 11
+    {name: 'Octo X8', model: 'custom', image: 'octo_x8', hasCustomServoMixer: false},             // 11
-     {name: 'Octo Flat +',     model: 'custom',       image: 'octo_flat_p'},    // 12
+    {name: 'Octo Flat +', model: 'custom', image: 'octo_flat_p', hasCustomServoMixer: false},     // 12
-     {name: 'Octo Flat X',     model: 'custom',       image: 'octo_flat_x'},    // 13
+    {name: 'Octo Flat X', model: 'custom', image: 'octo_flat_x', hasCustomServoMixer: false},     // 13
-     {name: 'Airplane',        model: 'custom',       image: 'airplane'},       // 14
+    {name: 'Airplane', model: 'custom', image: 'airplane', hasCustomServoMixer: false},           // 14
-     {name: 'Heli 120',        model: 'custom',       image: 'custom'},         // 15
+    {name: 'Heli 120', model: 'custom', image: 'custom', hasCustomServoMixer: false},             // 15
-     {name: 'Heli 90',         model: 'custom',       image: 'custom'},         // 16
+    {name: 'Heli 90', model: 'custom', image: 'custom', hasCustomServoMixer: false},              // 16
-     {name: 'V-tail Quad',     model: 'quad_vtail',   image: 'vtail_quad'},     // 17
+    {name: 'V-tail Quad', model: 'quad_vtail', image: 'vtail_quad', hasCustomServoMixer: false},  // 17
-     {name: 'Hex H',           model: 'custom',       image: 'custom'},         // 18
+    {name: 'Hex H', model: 'custom', image: 'custom', hasCustomServoMixer: false},                // 18
-     {name: 'PPM to SERVO',    model: 'custom',       image: 'custom'},         // 19
+    {name: 'PPM to SERVO', model: 'custom', image: 'custom', hasCustomServoMixer: false},         // 19
-     {name: 'Dualcopter',      model: 'custom',       image: 'custom'},         // 20
+    {name: 'Dualcopter', model: 'custom', image: 'custom', hasCustomServoMixer: false},           // 20
-     {name: 'Singlecopter',    model: 'custom',       image: 'custom'},         // 21
+    {name: 'Singlecopter', model: 'custom', image: 'custom', hasCustomServoMixer: false},         // 21
-     {name: 'A-tail Quad',     model: 'quad_atail',   image: 'atail_quad'},     // 22
+    {name: 'A-tail Quad', model: 'quad_atail', image: 'atail_quad', hasCustomServoMixer: false},  // 22
-     {name: 'Custom',          model: 'custom',       image: 'custom'},         // 23
+    {name: 'Custom', model: 'custom', image: 'custom', hasCustomServoMixer: true},               // 23
-     {name: 'Custom Airplane', model: 'custom',       image: 'custom'},         // 24
+    {name: 'Custom Airplane', model: 'custom', image: 'custom', hasCustomServoMixer: true},      // 24
-     {name: 'Custom Tricopter', model: 'custom',      image: 'custom'}          // 25
+    {name: 'Custom Tricopter', model: 'custom', image: 'custom', hasCustomServoMixer: true}      // 25
 ];

js/msp/MSPCodes.js

@@ -10,6 +10,9 @@ var MSPCodes = {
     MSP_INAV_PID:               6,
     MSP_SET_INAV_PID:           7,
 
+    MSP_NAME:                   10,
+    MSP_SET_NAME:               11,
+
     MSP_NAV_POSHOLD:            12,
     MSP_SET_NAV_POSHOLD:        13,
     MSP_CALIBRATION_DATA:       14,

js/msp/MSPHelper.js

@@ -355,6 +355,20 @@ var mspHelper = (function (gui) {
                 }
                 break;
             case MSPCodes.MSP_SERVO_MIX_RULES:
+                SERVO_RULES.flush();
+
+                if (data.byteLength % 7 === 0) {
+                    for (i = 0; i < data.byteLength; i += 7) {
+                        SERVO_RULES.put(new ServoMixRule(
+                            data.getInt8(i + 0, true),
+                            data.getInt8(i + 1, true),
+                            data.getInt8(i + 2, true),
+                            data.getInt8(i + 3, true)
+                        ));
+                    }
+                }
+                SERVO_RULES.cleanup();
+
                 break;
 
             case MSPCodes.MSP_SERVO_CONFIGURATIONS:
@@ -1106,6 +1120,11 @@ var mspHelper = (function (gui) {
             case MSPCodes.MSP_OSD_CHAR_WRITE:
                 console.log('OSD char uploaded');
                 break;
+            case MSPCodes.MSP_NAME:
+                break;
+            case MSPCodes.MSP_SET_NAME:
+                console.log("Craft name set");
+                break;
             case MSPCodes.MSPV2_SETTING:
                 break;
             case MSPCodes.MSPV2_SET_SETTING:
@@ -1693,7 +1712,6 @@ var mspHelper = (function (gui) {
             nextFunction();
         }
 
-
         function send_next_servo_configuration() {
 
             var buffer = [];
@@ -1736,24 +1754,41 @@ var mspHelper = (function (gui) {
             }
             MSP.send_message(MSPCodes.MSP_SET_SERVO_CONFIGURATION, buffer, false, nextFunction);
         }
+    };
 
-        //FIXME looks like this is not used and not ever implemented
+    self.sendServoMixer = function (onCompleteCallback) {
-        //noinspection JSUnusedLocalSymbols
+        var nextFunction = sendMixer,
-        function send_channel_forwarding() {
+            servoIndex = 0;
+
+        if (SERVO_RULES.length == 0) {
+            onCompleteCallback();
+        } else {
+            nextFunction();
+        }
+
+        function sendMixer() {
 
             var buffer = [];
 
-            for (var i = 0; i < SERVO_CONFIG.length; i++) {
+            // send one at a time, with index
-                var out = SERVO_CONFIG[i].indexOfChannelToForward;
-                if (out == undefined) {
-                    out = 255; // Cleanflight defines "CHANNEL_FORWARDING_DISABLED" as "(uint8_t)0xFF"
-                }
-                buffer.push(out);
-            }
 
+            var servoRule = SERVO_RULES.get()[servoIndex];
+            
+            buffer.push(servoIndex);
+            buffer.push(servoRule.getTarget());
+            buffer.push(servoRule.getInput());
+            buffer.push(servoRule.getRate());
+            buffer.push(servoRule.getSpeed());
+            buffer.push(0);
+            buffer.push(0);
+            buffer.push(0);
+
+            // prepare for next iteration
+            servoIndex++;
+            if (servoIndex == 16) { //This is the last rule. Not pretty, but we have to send all rules
                 nextFunction = onCompleteCallback;
-
+            }
-            MSP.send_message(MSPCodes.MSP_SET_CHANNEL_FORWARDING, buffer, false, nextFunction);
+            MSP.send_message(MSPCodes.MSP_SET_SERVO_MIX_RULE, buffer, false, nextFunction);
         }
     };
 
@@ -2548,5 +2583,46 @@ var mspHelper = (function (gui) {
         }
     };
 
+    self.loadServoConfiguration = function (callback) {
+        MSP.send_message(MSPCodes.MSP_SERVO_CONFIGURATIONS, false, false, callback);
+    };
+
+    self.loadServoMixRules = function (callback) {
+        MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, callback);
+    }
+    
+    self.getCraftName = function(callback) {
+        if (semver.gt(CONFIG.flightControllerVersion, "1.8.0")) {
+            MSP.send_message(MSPCodes.MSP_NAME, false, false, function(resp) {
+                var name = "";
+                for (var ii = 0; ii < resp.data.byteLength; ii++) {
+                    var c = resp.data.readU8();
+                    if (c != 0) {
+                        name += String.fromCharCode(c);
+                    }
+                }
+                if (callback) {
+                    callback(name);
+                }
+            });
+        } else if (callback) {
+            callback(null);
+        }
+    };
+
+    self.setCraftName = function(name, callback) {
+        if (semver.gt(CONFIG.flightControllerVersion, "1.8.0")) {
+            var data = [];
+            name = name || "";
+            for (var ii = 0; ii < name.length; ii++) {
+                data.push(name.charCodeAt(ii));
+            }
+            MSP.send_message(MSPCodes.MSP_SET_NAME, data, false, callback);
+        } else if (callback) {
+            callback();
+        }
+    };
+
+
     return self;
 })(GUI);

js/msp/MSPchainer.js

@@ -9,7 +9,7 @@ var MSPChainerClass = function () {
     self.exitPoint = null;
     self.chainIndex = 0;
 
-    self.setChain = function(chain) {
+    self.setChain = function (chain) {
         self.chain = chain;
     };
 
@@ -21,12 +21,12 @@ var MSPChainerClass = function () {
         self.chainIndex++;
         if (self.chain[self.chainIndex]) {
             self.chain[self.chainIndex](self.returnCallback);
-        } else {
+        } else if (self.exitPoint) {
             self.exitPoint();
         }
     };
 
-    self.execute = function() {
+    self.execute = function () {
         self.chainIndex = 0;
         self.chain[self.chainIndex](self.returnCallback);
     };

js/servoMixRule.js

@@ -0,0 +1,45 @@
+/*global $*/
+'use strict';
+
+var ServoMixRule = function (target, input, rate, speed) {
+
+    var self = {};
+
+    self.getTarget = function () {
+        return target;
+    };
+
+    self.setTarget = function (data) {
+        target = data;
+    };
+
+    self.getInput = function () {
+        return input;
+    };
+
+    self.setInput = function (data) {
+        input = data;
+    };
+
+    self.getRate = function () {
+        return rate;
+    };
+
+    self.setRate = function (data) {
+        rate = data;
+    };
+
+    self.getSpeed = function () {
+        return speed;
+    };
+
+    self.setSpeed = function (data) {
+        speed = data;
+    };
+
+    self.isUsed = function () {
+        return rate !== 0;
+    };
+
+    return self;
+};

js/servoMixRuleCollection.js

@@ -0,0 +1,49 @@
+/*global $, ServoMixRule*/
+'use strict';
+
+var ServoMixRuleCollection = function () {
+
+    var self = {};
+    var data = [];
+
+    self.put = function (element) {
+        data.push(element);
+    };
+
+    self.get = function () {
+        return data;
+    };
+
+    self.drop = function (index) {
+        data[index].setRate(0);
+        self.cleanup();
+    };
+
+    self.flush = function () {
+        data = [];
+    };
+
+    self.cleanup = function () {
+        var tmpData = [];
+
+        data.forEach(function (element) {
+            if (element.isUsed()) {
+                tmpData.push(element);
+            }
+        });
+
+        data = tmpData;
+    };
+
+    self.inflate = function () {
+        while (self.hasFreeSlots()) {
+            self.put(new ServoMixRule(0, 0, 0, 0));
+        }
+    }
+
+    self.hasFreeSlots = function () {
+        return data.length < 16;
+    };
+
+    return self;
+};

main.css

@@ -1326,6 +1326,15 @@ dialog {
     float: left;
 }
 
+.default_btn.narrow {
+    width: auto;
+    margin-bottom: 0;
+}
+
+.default_btn.narrow a {
+    padding: 5px;
+}
+
 .default_btn a {
     padding: 5px 0 5px 0;
     text-align: center;

src/css/tabs/configuration.css

@@ -20,9 +20,8 @@
     font-weight: bold;
 }
 
-.config-section .number input,
+.config-section input,
-.tab-configuration .number input {
+.tab-configuration input {
-    width: 65px;
     padding-left: 3px;
     height: 20px;
     line-height: 20px;
@@ -34,8 +33,17 @@
     font-weight: normal;
 }
 
-.tab-configuration .number .disabled {
+.config-section .number input,
+.tab-configuration .number input {
     width: 65px;
+}
+
+.config-section .string input,
+.tab-configuration .string input {
+    width: 130px;
+}
+
+.tab-configuration .disabled {
     background-color: #ececec;
 }
 
@@ -226,6 +234,10 @@ hr {
     left: 2em;
 }
 
+.config-section .string label {
+    left: 175px;
+}
+
 .config-section .radio input {
     margin-top: 3px;
     margin-left: 5px;

src/css/tabs/servos.css

@@ -50,7 +50,16 @@
     background-color: #f9f9f9;
 }
 
-.tab-servos table tr:first-child {
+#servo-mix-table input {
+    width: 75px;
+}
+
+#servo-mix-table .btn {
+    float: none;
+}
+
+#servo-config-table tr:first-child,
+#servo-mix-table thead tr {
     border-left: 1px solid #e4e4e4;
     border-right: 1px solid #e4e4e4;
     background-color: #828885;
@@ -154,22 +163,6 @@
     bottom: 10px;
 }
 
-.tab-servos .require-support {
-    display: none;
-}
-
-.tab-servos.supported .require-support {
-    display: block;
-}
-
-.tab-servos .require-upgrade {
-    display: block;
-}
-
-.tab-servos.supported .require-upgrade {
-    display: none;
-}
-
 .tab-servos .live span {
     margin-right: 10px;
 }

tabs/configuration.html

@@ -212,6 +212,21 @@
                 </div>
             </div>
 
+            <div class="config-section gui_box grey config-personalization">
+                <div class="gui_box_titlebar">
+                    <div class="spacer_box_title" data-i18n="configurationPersonalization"></div>
+                </div>
+                <div class="spacer_box">
+                    <div class="string">
+                        <input maxlength="16" id="craft_name" name="craft_name" />
+                        <label for="craft_name">
+                            <span data-i18n="configurationCraftName"></span>
+                        </label>
+                        <div class="helpicon cf_tip" data-i18n_title="configurationCraftNameHelp"></div>
+                    </div>
+                </div>
+            </div>
+
         </div>
 
         <!--Right column begins here-->

tabs/configuration.js

@@ -10,6 +10,18 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         googleAnalytics.sendAppView('Configuration');
     }
 
+    var craftName = null;
+    var loadCraftName = function(callback) {
+        mspHelper.getCraftName(function(name) {
+            craftName = name;
+            callback();
+        });
+    };
+
+    var saveCraftName = function(callback) {
+        mspHelper.setCraftName(craftName, callback);
+    };
+
     var loadChainer = new MSPChainerClass();
 
     loadChainer.setChain([
@@ -22,7 +34,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.loadSensorAlignment,
         mspHelper.loadAdvancedConfig,
         mspHelper.loadINAVPidConfig,
-        mspHelper.loadSensorConfig
+        mspHelper.loadSensorConfig,
+        loadCraftName
     ]);
     loadChainer.setExitPoint(load_html);
     loadChainer.execute();
@@ -41,6 +54,7 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
         mspHelper.saveAdvancedConfig,
         mspHelper.saveINAVPidConfig,
         mspHelper.saveSensorConfig,
+        saveCraftName,
         mspHelper.saveToEeprom
     ]);
     saveChainer.setExitPoint(reboot);
@@ -597,6 +611,14 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             });
         });
 
+        // Craft name
+        if (craftName != null) {
+            $('.config-personalization').show();
+            $('input[name="craft_name"]').val(craftName);
+        } else {
+            // craft name not supported by the firmware
+            $('.config-personalization').hide();
+        }
 
         $('a.save').click(function () {
             // gather data that doesn't have automatic change event bound
@@ -635,6 +657,8 @@ TABS.configuration.initialize = function (callback, scrollPosition) {
             SENSOR_ALIGNMENT.align_acc = parseInt(orientation_acc_e.val());
             SENSOR_ALIGNMENT.align_mag = parseInt(orientation_mag_e.val());
 
+            craftName = $('input[name="craft_name"]').val();
+
             var rxTypes = FC.getRxTypes();
 
             function is_using_rx_type(name) {

tabs/osd.js

@@ -421,7 +421,7 @@ OSD.constants = {
                 {
                     name: 'FLYMODE',
                     id: 7,
-                    preview: 'STAB'
+                    preview: 'ACRO'
                 },
                 {
                     name: 'MESSAGES',

tabs/servos.html

@@ -1,13 +1,12 @@
-<!--suppress HtmlFormInputWithoutLabel -->
 <div class="tab-servos toolbar_fixed_bottom">
     <div class="content_wrapper">
         <div class="tab_title" data-i18n="tabServos">Servos</div>
         <div class="cf_doc_version_bt">
             <a id="button-documentation" href="" target="_blank"></a>
         </div>
-        <div class="require-support">
+        <div>
             <div class="title" data-i18n="servosChangeDirection"></div>
-            <table class="fields">
+            <table id="servo-config-table" class="fields">
                 <tr class="main">
                     <th width="110px" data-i18n="servosName"></th>
                     <th data-i18n="servosMid"></th>
@@ -23,9 +22,28 @@
                 <input type="checkbox" class="togglemedium" /> <span data-i18n="servosLiveMode"></span>
             </div>
         </div>
-        <div class="note require-upgrade">
+        <div class="clear-both"></div>
-            <div class="note_spacer">
+        <div id="servo-mix-table-wrapper" class="margin-top">
-                <p data-i18n="servosFirmwareUpgradeRequired"></p>
+            <div class="tab_title" data-i18n="servoMixer">Servo mixer</div>
+            <div class="btn default_btn narrow pull-right" style="margin-bottom: 15px">
+                <a href="#" data-role="role-add" data-i18n="servoMixerAdd"></a>
+            </div>
+            <table id="servo-mix-table">
+                <thead>
+                    <tr>
+                        <th style="width: 75px">Servo</th>
+                        <th>Input</th>
+                        <th>Weight</th>
+                        <th>Speed</th>
+                        <th style="width: 75px"></th>
+                    </tr>
+                </thead>
+                <tbody>
+
+                </tbody>
+            </table>
+            <div class="btn default_btn narrow pull-right" style="margin-bottom: 15px">
+                <a href="#" data-role="role-add" data-i18n="servoMixerAdd"></a>
             </div>
         </div>
     </div>

tabs/servos.js

@@ -9,44 +9,102 @@ TABS.servos.initialize = function (callback) {
         googleAnalytics.sendAppView('Servos');
     }
 
-    function get_servo_configurations() {
+    var loadChainer = new MSPChainerClass();
-        MSP.send_message(MSPCodes.MSP_SERVO_CONFIGURATIONS, false, false, get_servo_mix_rules);
-    }
 
-    function get_servo_mix_rules() {
+    loadChainer.setChain([
-        MSP.send_message(MSPCodes.MSP_SERVO_MIX_RULES, false, false, get_rc_data);
+        mspHelper.loadServoConfiguration,
-    }
+        mspHelper.loadRcData,
+        mspHelper.loadBfConfig,
+        mspHelper.loadServoMixRules
+    ]);
+    loadChainer.setExitPoint(load_html);
+    loadChainer.execute();
 
-    function get_rc_data() {
+    var saveChainer = new MSPChainerClass();
-        MSP.send_message(MSPCodes.MSP_RC, false, false, get_boxnames_data);
-    }
 
-    function get_boxnames_data() {
+    saveChainer.setChain([
-        MSP.send_message(MSPCodes.MSP_BOXNAMES, false, false, load_html);
+        mspHelper.sendServoConfigurations,
-    }
+        mspHelper.sendServoMixer,
+        mspHelper.saveToEeprom
+    ]);
+    saveChainer.setExitPoint(function () {
+        GUI.log(chrome.i18n.getMessage('servosEepromSave'));
+        SERVO_RULES.cleanup();
+        renderServoMixRules();
+    });
 
     function load_html() {
         $('#content').load("./tabs/servos.html", process_html);
     }
 
-    get_servo_configurations();
+    function renderServoMixRules() {
+
+        var $servoMixTable = $('#servo-mix-table'),
+            $servoMixTableBody = $servoMixTable.find('tbody');
+
+        /*
+         * Process servo mix table UI
+         */
+        var rules = SERVO_RULES.get();
+        $servoMixTableBody.find("*").remove();
+        for (servoRuleIndex in rules) {
+            if (rules.hasOwnProperty(servoRuleIndex)) {
+                const servoRule = rules[servoRuleIndex];
+
+                $servoMixTableBody.append('\
+                    <tr>\
+                    <td><input type="number" class="mix-rule-servo" step="1" min="0" max="7" /></td>\
+                    <td><select class="mix-rule-input"></select></td>\
+                    <td><input type="number" class="mix-rule-rate" step="1" min="-100" max="100" /></td>\
+                    <td><input type="number" class="mix-rule-speed" step="1" min="0" max="255" /></td>\
+                    <td><span class="btn default_btn narrow"><a href="#" data-role="role-delete" data-i18n="servoMixerDelete"></a></span></td>\
+                    </tr>\
+                ');
+
+                const $row = $servoMixTableBody.find('tr:last');
+
+                GUI.fillSelect($row.find(".mix-rule-input"), FC.getServoMixInputNames(), servoRule.getInput());
+                
+                $row.find(".mix-rule-input").val(servoRule.getInput()).change(function () {
+                    servoRule.setInput($(this).val());
+                });
+
+                $row.find(".mix-rule-servo").val(servoRule.getTarget()).change(function () {
+                    servoRule.setTarget($(this).val());
+                });
+
+                $row.find(".mix-rule-rate").val(servoRule.getRate()).change(function () {
+                    servoRule.setRate($(this).val());
+                });
+
+                $row.find(".mix-rule-speed").val(servoRule.getSpeed()).change(function () {
+                    servoRule.setSpeed($(this).val());
+                });
+                
+                $row.find("[data-role='role-delete']").attr("data-index", servoRuleIndex);
+            }
+
+        }
+        localize();
+    }
 
     function update_ui() {
 
         var i,
-            $tabServos = $(".tab-servos");
+            $tabServos = $(".tab-servos"),
+            $servoConfigTable = $('#servo-config-table'),
+            $servoMixTable = $('#servo-mix-table'),
+            $servoMixTableBody = $servoMixTable.find('tbody');
 
         if (SERVO_CONFIG.length == 0) {
-            $tabServos.removeClass("supported");
+            $tabServos.addClass("is-hidden");
             return;
         }
 
-        $tabServos.addClass("supported");
-
         var servoCheckbox = '';
         var servoHeader = '';
-        for (i = 0; i < RC.active_channels-4; i++) {
+        for (i = 0; i < RC.active_channels - 4; i++) {
-            servoHeader = servoHeader + '<th class="short">CH' + (i+5) + '</th>';
+            servoHeader = servoHeader + '<th class="short">CH' + (i + 5) + '</th>';
         }
         servoHeader = servoHeader + '<th data-i18n="servosDirectionAndRate"></th>';
 
@@ -54,18 +112,16 @@ TABS.servos.initialize = function (callback) {
             servoCheckbox = servoCheckbox + '<td class="channel"><input type="checkbox"/></td>';
         }
 
-        $('div.tab-servos table.fields tr.main').append(servoHeader);
+        $servoConfigTable.find('tr.main').append(servoHeader);
 
         function process_servos(name, alternate, obj) {
 
-            $('div.supported_wrapper').show();
+            $servoConfigTable.append('\
-
-            $('div.tab-servos table.fields').append('\
                 <tr> \
                     <td style="text-align: center">' + name + '</td>\
                     <td class="middle"><input type="number" min="500" max="2500" value="' + SERVO_CONFIG[obj].middle + '" /></td>\
-                    <td class="min"><input type="number" min="500" max="2500" value="' + SERVO_CONFIG[obj].min +'" /></td>\
+                    <td class="min"><input type="number" min="500" max="2500" value="' + SERVO_CONFIG[obj].min + '" /></td>\
-                    <td class="max"><input type="number" min="500" max="2500" value="' + SERVO_CONFIG[obj].max +'" /></td>\
+                    <td class="max"><input type="number" min="500" max="2500" value="' + SERVO_CONFIG[obj].max + '" /></td>\
                     ' + servoCheckbox + '\
                     <td class="direction">\
                     </td>\
@@ -73,13 +129,13 @@ TABS.servos.initialize = function (callback) {
             ');
 
             if (SERVO_CONFIG[obj].indexOfChannelToForward >= 0) {
-                $('div.tab-servos table.fields tr:last td.channel input').eq(SERVO_CONFIG[obj].indexOfChannelToForward).prop('checked', true);
+                $servoConfigTable.find('tr:last td.channel input').eq(SERVO_CONFIG[obj].indexOfChannelToForward).prop('checked', true);
             }
 
             // adding select box and generating options
-            $('div.tab-servos table.fields tr:last td.direction').append('<select class="rate" name="rate"></select>');
+            $servoConfigTable.find('tr:last td.direction').append('<select class="rate" name="rate"></select>');
 
-            var select = $('div.tab-servos table.fields tr:last td.direction select');
+            var select = $servoConfigTable.find('tr:last td.direction select');
 
             for (var i = FC.MAX_SERVO_RATE; i >= FC.MIN_SERVO_RATE; i--) {
                 select.append('<option value="' + i + '">Rate: ' + i + '%</option>');
@@ -88,20 +144,20 @@ TABS.servos.initialize = function (callback) {
             // select current rate
             select.val(SERVO_CONFIG[obj].rate);
 
-            $('div.tab-servos table.fields tr:last').data('info', {'obj': obj});
+            $servoConfigTable.find('tr:last').data('info', { 'obj': obj });
 
             // UI hooks
 
             // only one checkbox for indicating a channel to forward can be selected at a time, perhaps a radio group would be best here.
-            $('div.tab-servos table.fields tr:last td.channel input').click(function () {
+            $servoConfigTable.find('tr:last td.channel input').click(function () {
-                if($(this).is(':checked')) {
+                if ($(this).is(':checked')) {
                     $(this).parent().parent().find('.channel input').not($(this)).prop('checked', false);
                 }
             });
         }
 
         function servos_update(save_configuration_to_eeprom) {
-            $('div.tab-servos table.fields tr:not(".main")').each(function () {
+            $servoConfigTable.find('tr:not(".main")').each(function () {
                 var info = $(this).data('info');
 
 
@@ -113,42 +169,28 @@ TABS.servos.initialize = function (callback) {
 
                 SERVO_CONFIG[info.obj].indexOfChannelToForward = channelIndex;
 
-
                 SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val());
                 SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val());
                 SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val());
                 SERVO_CONFIG[info.obj].rate = parseInt($('.direction select', this).val());
             });
 
-            //
+            //Save configuration to FC
-            // send data to FC
+            SERVO_RULES.cleanup();
-            //
+            SERVO_RULES.inflate();
-            //FIXME investigate why the same frame is sent twice
+            saveChainer.execute();
-            mspHelper.sendServoConfigurations(send_servo_mixer_rules);
-
-            function send_servo_mixer_rules() {
-                mspHelper.sendServoConfigurations(save_to_eeprom);
-            }
-
-            function save_to_eeprom() {
-                if (save_configuration_to_eeprom) {
-                    MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, function () {
-                        GUI.log(chrome.i18n.getMessage('servosEepromSave'));
-                    });
-                }
-            }
 
         }
 
         // drop previous table
-        $('div.tab-servos table.fields tr:not(:first)').remove();
+        $servoConfigTable.find('tr:not(:first)').remove();
 
         for (var servoIndex = 0; servoIndex < 8; servoIndex++) {
             process_servos('Servo ' + servoIndex, '', servoIndex, false);
         }
 
         // UI hooks for dynamically generated elements
-        $('table.directions select, table.directions input, table.fields select, table.fields input').change(function () {
+        $('table.directions select, table.directions input, #servo-config-table select, #servo-config-table input').change(function () {
             if ($('div.live input').is(':checked')) {
                 // apply small delay as there seems to be some funky update business going wrong
                 helper.timeout.add('servos_update', servos_update, 10);
@@ -159,6 +201,19 @@ TABS.servos.initialize = function (callback) {
             servos_update(true);
         });
 
+        $servoMixTableBody.on('click', "[data-role='role-delete']", function (event) {
+            SERVO_RULES.drop($(event.currentTarget).attr("data-index"));
+            renderServoMixRules();
+        });
+
+        $("[data-role='role-add']").click(function () {
+            if (SERVO_RULES.hasFreeSlots()) {
+                SERVO_RULES.put(new ServoMixRule(0, 0, 0, 0));
+                renderServoMixRules();
+            }
+        });
+
+        renderServoMixRules();
     }
 
     function process_html() {