diff --git a/baseflight.uvopt b/baseflight.uvopt
index 594e017bd..976bf14b5 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -161,29 +161,24 @@
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+          <ItemText>Inputs
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-          <ItemText>cmdline</ItemText>
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diff --git a/src/board.h b/src/board.h
index 14884baa2..0c8a64738 100755
--- a/src/board.h
+++ b/src/board.h
@@ -4,6 +4,7 @@
 #include <stdlib.h>
 #include <stdint.h>
 #include <math.h>
+#include <ctype.h>
 #include <string.h>
 #include <stdio.h>
 
diff --git a/src/cli.c b/src/cli.c
index 27e1e53a0..3a9f1c7ba 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -7,6 +7,7 @@ static void cliDefaults(char *cmdline);
 static void cliExit(char *cmdline);
 static void cliFeature(char *cmdline);
 static void cliHelp(char *cmdline);
+static void cliMap(char *cmdline);
 static void cliMixer(char *cmdline);
 static void cliSave(char *cmdline);
 static void cliSet(char *cmdline);
@@ -16,6 +17,9 @@ static void cliVersion(char *cmdline);
 // from sensors.c
 extern uint8_t batteryCellCount;
 
+// from config.c RC Channel mapping
+extern const char rcChannelLetters[];
+
 // buffer
 static char cliBuffer[32];
 static uint8_t bufferIndex = 0;
@@ -47,6 +51,7 @@ const clicmd_t cmdTable[] = {
     { "exit", "", cliExit },
     { "feature", "list or -val or val", cliFeature },
     { "help", "", cliHelp },
+    { "map", "mapping of first 4 channels", cliMap },
     { "mixer", "mixer name or list", cliMixer },
     { "save", "save and reboot", cliSave },
     { "set", "name=value or blank for list", cliSet },
@@ -245,6 +250,42 @@ static void cliHelp(char *cmdline)
     }
 }
 
+static void cliMap(char *cmdline)
+{
+    uint8_t len;
+    uint8_t i;
+    char out[9];
+    
+    len = strlen(cmdline);
+
+    if (len == 0 || len != 8) {
+        uartPrint("Current assignment: ");
+        for (i = 0; i < 8; i++)
+            out[cfg.rcmap[i]] = rcChannelLetters[i];
+        out[i] = '\0'; 
+        uartPrint(out);
+        uartPrint("\r\n");
+        return;
+    } else {
+        bool fail = false;
+        // uppercase it
+        for (i = 0; i < 8; i++) {
+            cmdline[i] = toupper(cmdline[i]);
+            if (!strchr(rcChannelLetters, cmdline[i])) {
+                fail = true;
+                break;
+            }
+        }
+
+        if (fail)
+            uartPrint("Must be any order of AETR1234\r\n");
+        else {
+            parseRcChannels(cmdline);
+            cliMap("");
+        }
+    }
+}
+
 static void cliMixer(char *cmdline)
 {
     uint8_t i;
diff --git a/src/config.c b/src/config.c
index 7f9c37c75..902cedb31 100755
--- a/src/config.c
+++ b/src/config.c
@@ -6,10 +6,22 @@
 #define FLASH_WRITE_ADDR                (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * 63)    // use the last KB for storage
 
 config_t cfg;
+const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
 static uint8_t checkNewConf = 6;
 
+void parseRcChannels(const char *input)
+{
+    const char *c, *s;
+ 
+    for (c = input; *c; c++) {
+        s = strchr(rcChannelLetters, *c);
+        if (s)                          
+            cfg.rcmap[s - rcChannelLetters] = c - input;
+    }
+}
+
 void readEEPROM(void)
 {
     uint8_t i;
@@ -107,6 +119,8 @@ void checkFirstTime(bool reset)
     cfg.vbatmincellvoltage = 33;
 
     // Radio/ESC
+    parseRcChannels("AETR1234");
+    // parseRcChannels("ATER1234");
     cfg.deadband = 0;
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 98e7b54f5..5193deaad 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -32,6 +32,7 @@ static volatile uint16_t *OutputChannels[] = {
     &(TIM4->CCR2),
     &(TIM4->CCR3),
     &(TIM4->CCR4),
+    // Extended use during CPPM input
     &(TIM3->CCR1),
     &(TIM3->CCR2),
     &(TIM3->CCR3),
@@ -162,7 +163,7 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
 
     uint8_t i, val;
     uint16_t c;
-    bool throttleCal = true;
+    bool throttleCal = false;
 
     // Inputs
 
@@ -189,14 +190,19 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_Init(GPIOA, &GPIO_InitStructure);
+    
+#if 0
+    // wait a while
+    delay(100);
 
-    for (c = 0; c < 10000; c++) {
+    for (c = 0; c < 50000; c++) {
         val = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
         if (val) {
             throttleCal = false;
             break;
         }
-    }    
+    }
+#endif
 
     // use PPM or PWM input
     usePPMFlag = usePPM;
@@ -355,12 +361,14 @@ bool pwmInit(bool usePPM, bool useServos, bool useDigitalServos)
         TIM_Cmd(TIM3, ENABLE);
         TIM_CtrlPWMOutputs(TIM3, ENABLE);
     }
-    
+
+#if 0    
     // throttleCal check part 2: delay 50ms, check if any RC pulses have been received
     delay(50);
     // if rc is on, it was set, check if rc is alive. if it is, cancel.
     if (rcActive)
         throttleCal = false;
+#endif
 
     return throttleCal;
 }
@@ -379,4 +387,4 @@ uint16_t pwmRead(uint8_t channel)
 uint8_t pwmGetNumOutputChannels(void)
 {
     return numOutputChannels;
-}
\ No newline at end of file
+}
diff --git a/src/mw.c b/src/mw.c
index 883302138..de623237f 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -43,7 +43,6 @@ uint8_t baroMode = 0;    // if altitude hold is activated
 
 int16_t axisPID[3];
 volatile uint16_t rcValue[18] = { 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502 }; // interval [1000;2000]
-uint8_t rcChannel[8] = { ROLL, PITCH, THROTTLE, YAW, AUX1, AUX2, AUX3, AUX4 };
 
 // **********************
 // GPS
@@ -281,7 +280,7 @@ uint16_t readRawRC(uint8_t chan)
     uint16_t data;
 
     failsafeCnt = 0;
-    data = pwmRead(rcChannel[chan]);
+    data = pwmRead(cfg.rcmap[chan]);
     if (data < 750 || data > 2250)
         data = 1500;
 
@@ -293,7 +292,7 @@ void computeRC(void)
     static int16_t rcData4Values[8][4], rcDataMean[8];
     static uint8_t rc4ValuesIndex = 0;
     uint8_t chan, a;
-
+    
 #if defined(SBUS)
     readSBus();
 #endif
diff --git a/src/mw.h b/src/mw.h
index df3cf07a1..898e042df 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -152,6 +152,7 @@ typedef struct config_t {
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery out alarms, in 0.1V units, default is 33 (3.3V)
     
     // Radio/ESC-related configuration
+    uint8_t rcmap[8];                       // mapping of radio channels to internal RPYTA+ order
     uint8_t deadband;                       // introduce a deadband around the stick center. Must be greater than zero
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
@@ -262,6 +263,7 @@ void mixTable(void);
 void serialCom(void);
 
 // Config
+void parseRcChannels(const char *input);
 void readEEPROM(void);
 void writeParams(void);
 void checkFirstTime(bool reset);