diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 5fa74dcfbd..e6dcea7254 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -462,6 +462,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, packSensorStatus());
             sbufWriteU16(dst, averageSystemLoadPercent);
             sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
+            sbufWriteU8(dst, getConfigMixerProfile());
             sbufWriteU32(dst, armingFlags);
             sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
         }
@@ -523,6 +524,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, -1);
         #endif
         }
+        if(MAX_MIXER_PROFILE_COUNT==1) break;
+        for (int i = 0; i < MAX_SERVO_RULES; i++) {
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].targetChannel);
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].inputSource);
+            sbufWriteU16(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].rate);
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].speed);
+        #ifdef USE_PROGRAMMING_FRAMEWORK
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].conditionId);
+        #else
+            sbufWriteU8(dst, -1);
+        #endif
+        }
         break;
 #ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_LOGIC_CONDITIONS:
@@ -568,11 +581,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
     case MSP2_COMMON_MOTOR_MIXER:
         for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            sbufWriteU16(dst, primaryMotorMixer(i)->throttle * 1000);
+            sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->throttle + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
         }
+        if (MAX_MIXER_PROFILE_COUNT==1) break;
+        for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].throttle + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].roll + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].pitch + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].yaw + 2.0f, 0.0f, 4.0f) * 1000);
+        }
         break;
 
     case MSP_MOTOR:
@@ -2121,7 +2141,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
     case MSP2_COMMON_SET_MOTOR_MIXER:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {
-            primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
+            primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
@@ -3015,6 +3035,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         }
         break;
 
+    case MSP2_INAV_SELECT_MIXER_PROFILE:
+        if (!ARMING_FLAG(ARMED) && sbufReadU8Safe(&tmp_u8, src)) {
+                setConfigMixerProfileAndWriteEEPROM(tmp_u8);
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+        break;
+
 #ifdef USE_TEMPERATURE_SENSOR
     case MSP2_INAV_SET_TEMP_SENSOR_CONFIG:
         if (dataSize == sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
diff --git a/src/main/flight/mixer_profile.c b/src/main/flight/mixer_profile.c
index 6f2b6b0920..64a6c39380 100644
--- a/src/main/flight/mixer_profile.c
+++ b/src/main/flight/mixer_profile.c
@@ -35,7 +35,7 @@ int currentMixerProfileIndex;
 bool isMixerTransitionMixing;
 bool isMixerTransitionMixing_requested;
 mixerProfileAT_t mixerProfileAT;
-int nextProfileIndex;
+int nextMixerProfileIndex;
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
 
@@ -81,7 +81,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
 void activateMixerConfig(){
     currentMixerProfileIndex = getConfigMixerProfile();
     currentMixerConfig = *mixerConfig();
-    nextProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
+    nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
 }
 
 void mixerConfigInit(void)
@@ -113,7 +113,7 @@ bool platformTypeConfigured(flyingPlatformType_e platformType)
     if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
         return false;
     }
-    return mixerConfigByIndex(nextProfileIndex)->platformType == platformType;
+    return mixerConfigByIndex(nextMixerProfileIndex)->platformType == platformType;
 }
 
 bool checkMixerATRequired(mixerProfileATRequest_e required_action)
@@ -171,7 +171,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action)
             isMixerTransitionMixing_requested = true;
             if (millis() > mixerProfileAT.transitionTransEndTime){
                 isMixerTransitionMixing_requested = false;
-                outputProfileHotSwitch(nextProfileIndex);
+                outputProfileHotSwitch(nextMixerProfileIndex);
                 mixerProfileAT.phase = MIXERAT_PHASE_IDLE;
                 reprocessState = true;
                 //transition is done
diff --git a/src/main/flight/mixer_profile.h b/src/main/flight/mixer_profile.h
index d2208d7b8c..50fbb4a82f 100644
--- a/src/main/flight/mixer_profile.h
+++ b/src/main/flight/mixer_profile.h
@@ -54,6 +54,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action);
 
 extern mixerConfig_t currentMixerConfig;
 extern int currentMixerProfileIndex;
+extern int nextMixerProfileIndex;
 extern bool isMixerTransitionMixing;
 #define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
 #define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 0d7f107fa1..eba96690a2 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -97,3 +97,5 @@
 
 #define MSP2_INAV_EZ_TUNE                       0x2070
 #define MSP2_INAV_EZ_TUNE_SET                   0x2071
+
+#define MSP2_INAV_SELECT_MIXER_PROFILE          0x2080