diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index c242a787c..ae499ac66 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
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diff --git a/src/cli.c b/src/cli.c
index 0c1a8578c..5653060f5 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -119,6 +119,16 @@ const clivalue_t valueTable[] = {
     { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
     { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
+    { "wing_left_min", VAR_UINT16, &cfg.wing_left_min, 0, 2000 },
+    { "wing_left_mid", VAR_UINT16, &cfg.wing_left_mid, 0, 2000 },
+    { "wing_left_max", VAR_UINT16, &cfg.wing_left_max, 0, 2000 },
+    { "wing_right_min", VAR_UINT16, &cfg.wing_right_min, 0, 2000 },
+    { "wing_right_mid", VAR_UINT16, &cfg.wing_right_mid, 0, 2000 },
+    { "wing_right_max", VAR_UINT16, &cfg.wing_right_max, 0, 2000 },
+    { "pitch_direction_l", VAR_INT8, &cfg.pitch_direction_l, -1, 1 },
+    { "pitch_direction_r", VAR_INT8, &cfg.pitch_direction_r, -1, 1 },
+    { "roll_direction_l", VAR_INT8, &cfg.roll_direction_l, -1, 1 },
+    { "roll_direction_r", VAR_INT8, &cfg.roll_direction_r, -1, 1 },
     { "gimbal_flags", VAR_UINT8, &cfg.gimbal_flags, 0, 255},
     { "gimbal_pitch_gain", VAR_INT8, &cfg.gimbal_pitch_gain, -100, 100 },
     { "gimbal_roll_gain", VAR_INT8, &cfg.gimbal_roll_gain, -100, 100 },
diff --git a/src/config.c b/src/config.c
index f4ff6bcea..d922db697 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 28;
+uint8_t checkNewConf = 29;
 
 void parseRcChannels(const char *input)
 {
@@ -155,7 +155,7 @@ void checkFirstTime(bool reset)
     cfg.retarded_arm = 0;       // disable arm/disarm on roll left/right
 
     // Failsafe Variables
-    cfg.failsafe_delay = 10;    // 1sec
+    cfg.failsafe_delay = 10;            // 1sec
     cfg.failsafe_off_delay = 200;       // 20sec
     cfg.failsafe_throttle = 1200;       // decent default which should always be below hover throttle for people.
 
@@ -172,6 +172,18 @@ void checkFirstTime(bool reset)
     cfg.tri_yaw_min = 1020;
     cfg.tri_yaw_max = 2000;
 
+    // flying wing
+    cfg.wing_left_min = 1020;
+    cfg.wing_left_mid = 1500;
+    cfg.wing_left_max = 2000;
+    cfg.wing_right_min = 1020;
+    cfg.wing_right_mid = 1500;
+    cfg.wing_right_max = 2000;
+    cfg.pitch_direction_l = 1;
+    cfg.pitch_direction_r = -1;
+    cfg.roll_direction_l = 1;
+    cfg.roll_direction_r = 1;
+
     // gimbal
     cfg.gimbal_pitch_gain = 10;
     cfg.gimbal_roll_gain = 10;
diff --git a/src/mixer.c b/src/mixer.c
index c44b480f9..560cf79a7 100755
--- a/src/mixer.c
+++ b/src/mixer.c
@@ -322,15 +322,17 @@ void mixTable(void)
 
         case MULTITYPE_FLYING_WING:
             motor[0] = rcCommand[THROTTLE];
-            if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
-                int p = 0, r = 0;
-                servo[0] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
-                servo[1] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
-            } else { // use sensors to correct (gyro only or gyro+acc)
-                int p = 0, r = 0;
-                servo[0] = p * axisPID[PITCH] + r * axisPID[ROLL];
-                servo[1] = p * axisPID[PITCH] + r * axisPID[ROLL];
+            if (f.PASSTHRU_MODE) {
+                // do not use sensors for correction, simple 2 channel mixing
+                servo[0]  = cfg.pitch_direction_l * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_l * (rcData[ROLL] - cfg.midrc);
+                servo[1]  = cfg.pitch_direction_r * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_r * (rcData[ROLL] - cfg.midrc);
+            } else {
+                // use sensors to correct (gyro only or gyro + acc)
+                servo[0]  = cfg.pitch_direction_l * axisPID[PITCH] + cfg.roll_direction_l * axisPID[ROLL];
+                servo[1]  = cfg.pitch_direction_r * axisPID[PITCH] + cfg.roll_direction_r * axisPID[ROLL];
             }
+            servo[0] = constrain(servo[0] + cfg.wing_left_mid, cfg.wing_left_min, cfg.wing_left_max);
+            servo[1] = constrain(servo[1] + cfg.wing_right_mid, cfg.wing_right_min, cfg.wing_right_max);
             break;
     }
 
diff --git a/src/mw.h b/src/mw.h
index 830925b7f..09e0dbe15 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -180,6 +180,18 @@ typedef struct config_t {
     uint16_t tri_yaw_min;                   // tail servo min
     uint16_t tri_yaw_max;                   // tail servo max
 
+    // flying wing related configuration
+    uint16_t wing_left_min;                 // min/mid/max servo travel
+    uint16_t wing_left_mid;
+    uint16_t wing_left_max;
+    uint16_t wing_right_min;
+    uint16_t wing_right_mid;
+    uint16_t wing_right_max;
+    int8_t pitch_direction_l;               // left servo - pitch orientation
+    int8_t pitch_direction_r;               // right servo - pitch orientation (opposite sign to pitch_direction_l if servos are mounted mirrored)
+    int8_t roll_direction_l;                // left servo - roll orientation
+    int8_t roll_direction_r;                // right servo - roll orientation  (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
+
     // gimbal-related configuration
     int8_t gimbal_pitch_gain;               // gimbal pitch servo gain (tied to angle) can be negative to invert movement
     int8_t gimbal_roll_gain;                // gimbal roll servo gain (tied to angle) can be negative to invert movement