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diff --git a/assets/config/tilt_axis.png b/assets/config/tilt_axis.png
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diff --git a/assets/config/tilt_axis.tex b/assets/config/tilt_axis.tex
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index 000000000000..cd168d3c13e5
--- /dev/null
+++ b/assets/config/tilt_axis.tex
@@ -0,0 +1,69 @@
+% latexmk -pdf tilt_axis.tex
+% pdftoppm tilt_axis.pdf tilt_axis.png -png
+\documentclass[border=3pt,tikz]{standalone}
+\usepackage{physics}
+\usepackage{tikz}
+\usepackage{tikz-3dplot}
+\usepackage[outline]{contour} % glow around text
+\usepackage{xcolor}
+
+\colorlet{veccol}{green!50!black}
+\colorlet{projcol}{blue!70!black}
+\colorlet{myblue}{blue!70!black}
+\colorlet{mydarkblue}{blue!50!black}
+\tikzset{>=latex} % for LaTeX arrow head
+\tikzstyle{proj}=[projcol!80,line width=0.08] %very thin
+\tikzstyle{area}=[draw=veccol,fill=veccol!80,fill opacity=0.6]
+\tikzstyle{vector}=[->,veccol,thick]
+\tikzstyle{darkvector}=[->,veccol!70!black,thick]
+\usetikzlibrary{angles,quotes} % for pic (angle labels)
+\contourlength{1.3pt}
+
+\begin{document}
+
+
+\tdplotsetmaincoords{60}{110}
+\begin{tikzpicture}[scale=2,tdplot_main_coords]
+  
+  % VARIABLES
+  \def\rvec{1}
+  \def\thetavec{-20}
+  \def\thetavecmax{-70}
+  \def\phivec{-60}
+  
+  % AXES
+  \coordinate (O) at (0,0,0);
+  \draw[thick,->] (0,0,0) -- (-2.5,0,0) node[anchor=north west]{$x$};
+  \draw[thick,->] (0,0,0) -- (0,1.7,0) node[anchor=north west]{$y$};
+  \draw[thick,->] (0,0,0) -- (0,0,1.7) node[anchor=south]{$-z$};
+  
+  % VECTORS
+  \tdplotsetcoord{P}{\rvec}{\thetavec}{\phivec}
+  \draw[-stealth,red] (O)  -- (P) node[above right=-2] {$P_{0}$};
+  \draw[dashed,red]   (O)  -- (Pxy);
+  \draw[dashed,red]   (P)  -- (Pxy);
+  
+  \tdplotsetcoord{P}{\rvec}{\thetavecmax}{\phivec}
+  \draw[-stealth,blue] (O)  -- (P) node[above right=-2] {$P_{1}$};
+  \draw[dashed,blue]   (O)  -- (Pxy);
+  \draw[dashed,blue]   (P)  -- (Pxy);
+  
+  % ARCS
+  \tdplotdrawarc[->]{(O)}{-0.6}{0}{\phivec}
+    {anchor=south}{$\alpha$}
+  \tdplotsetthetaplanecoords{\phivec}
+  \tdplotdrawarc[->,tdplot_rotated_coords,red]{(0,0,0)}{0.7}{0}{\thetavec}
+    {anchor=south west}{\hspace{-2mm}$\theta_0$}
+
+  \tdplotdrawarc[->,tdplot_rotated_coords,blue]{(0,0,0)}{0.3}{0}{\thetavecmax}
+    {anchor=south west}{\hspace{-3.5mm}$\theta_1$}
+
+	\node[draw=none] at (1,1) {\begin{tabular}{l}
+		$\alpha$: tilt direction\\
+		$\theta_{0}$: minimum tilt angle \\
+		$\theta_{1}$: maximum tilt angle
+	\end{tabular}};
+
+\end{tikzpicture}
+
+\end{document}
diff --git a/en/SUMMARY.md b/en/SUMMARY.md
index 319ccdd2e05d..2cb20cb51f5a 100644
--- a/en/SUMMARY.md
+++ b/en/SUMMARY.md
@@ -41,7 +41,8 @@
   * [Flight Modes](config/flight_mode.md)
   * [Battery](config/battery.md)
   * [Safety](config/safety.md)
-  * [Motors/Servos](config/motors.md)
+  * [Motors](config/motors.md)
+  * [Actuators](config/actuators.md)
   * [Autotune](config/autotune.md)
 * [Airframe Builds](airframes/README.md)
   * [Airframes Reference](airframes/airframe_reference.md)
diff --git a/en/config/actuators.md b/en/config/actuators.md
new file mode 100644
index 000000000000..41a674ea0817
--- /dev/null
+++ b/en/config/actuators.md
@@ -0,0 +1,128 @@
+# Actuator Configuration and Testing
+
+After the airframe is setup you should configure the geometry, assign actuators to outputs, and test the actuator response.
+This can be done in *QGroundControl*, under the **Vehicle Setup > Actuators** tab.
+
+:::note
+This view is only enabled if dynamic control allocation is enabled via [SYS_CTRL_ALLOC](../advanced_config/parameter_reference.md#SYS_CTRL_ALLOC), which will become the default in future.
+If you enable it, also make sure to select the airframe with [CA_AIRFRAME](../advanced_config/parameter_reference.md#CA_AIRFRAME).
+It replaces the existing mixer files and allows configuration via parameters instead.
+:::
+
+This is a screenshot for a multicotor:
+
+![Actuators MC (QGC)](../../assets/config/qgc_actuators_mc_aux.png)
+
+
+:::note
+If you find a setting missing (e.g. reversable motors), make sure to enable the **advanced** checkbox in the top right corner.
+:::
+
+## Geometry
+The airframe pre-selects the geometry type, which can provide additional configuration options, such as the motors positions on a multicotor, or the control surface types on a plane.
+The UI reflects that and displays a customized view for each type.
+
+
+### Conventions
+The following sections contain the conventions and explanations for configuring the geometry.
+
+#### Coordinate system
+The coordinate system is NED (in body frame), where the X axis points forward, the Y axis to the right and the Z axis down.
+Positions are relative to the center of gravity (in meters).
+
+#### Control Surfaces and Servo Direction
+Control surfaces use the following deflection direction convention:
+- horizontal (e.g. Aileron): up = positive deflection
+- vertical (e.g. Rudder): right = positive deflection
+- mixed (e.g. V-Tail): up = positive deflection
+
+![Plane Deflections](../../assets/config/plane_servo_convention.png)
+
+:::note
+If a servo does not move into the expected direction, reverse it via checkbox on the Actuator Output.
+:::
+
+
+### Motor Tilt Servos
+Tilt servos are configured as following:
+- The reference direction is upwards (negative Z direction).
+- Tilt direction: **Towards Front** means the servo tilts towards positive X direction, whereas **Towards Right** means towards positive Y direction.
+- Minimum and maximum tilt angles: specify the physical limits in degrees of the tilt at minimum control and maximum respectively.
+  An angle of 0° means to point upwards, then increases towards the tilt direction.
+  :::note
+  Negative angles are possible. For example tiltable multirotors have symmetrical limits and one could specify -30 as minimum and 30 degrees as maximum.
+  :::
+  :::note
+  If a motor/tilt points downwards and tilts towards the back it is logically equivalent to a motor pointing upwards and tilting towards the front.
+  :::
+- Control: depending on the airframe, tilt servos can be used to control torque on one or more axis (it's possible to only use a subset of the available tilts for a certain torque control):
+  - Yaw: the tilts are used to control yaw (generally desired).
+    If four or more motors are used, the motors can be used instead.
+  - Pitch: typically differential motor thrust is used to control pitch, but some airframes require pitch to be controlled by the tilt servos.
+    Bicopters are among those.
+- Tiltable motors are then assigned to one of the tilt servos.
+
+![Tilt Axis](../../assets/config/tilt_axis.png)
+
+### Reversible Motors
+
+If reversible motor(s) are used (i.e. motor spins in direction 1 for lower output range and in direction 2 for the upper half), make sure to select the **Reversible** checkbox for those motor(s).
+Also ensure the ESC is configured appropriately (e.g. 3D mode enabled for DShot ESCs, which can be achieved via [DShot commands](../peripherals/dshot.md#commands)).
+
+![Reversible](../../assets/config/qgc_geometry_reversible.png)
+
+## Actuator Outputs
+
+The actuators and any other output function can be assigned to any of the physical outputs.
+Each output has its own tab, e.g. the PWM MAIN or AUX output pins.
+
+PWM outputs are grouped according to the hardware groups of the autopilot.
+Each group allows to configure the PWM rate or DShot/Oneshot (if supported).
+
+:::note
+For boards with MAIN and AUX, prefer the AUX pins over the MAIN pins for motors, as they have lower latency.
+:::
+
+The AUX pins have additional configuration options for camera capture/triggering.
+Selecting these requires a reboot before they are applied.
+
+
+## Actuator Testing
+
+When testing actuators, make sure that:
+- Motors spin at the minimum. The sliders snap into place at the lower end: at the bottom, the motor is turned off (disarmed), whereas the next slider position commands the minimum thrust.
+  Adjust the minimum output value such that the motors spin at that slider position.
+  :::note
+  VTOLs will automatically turn off motors pointing upwards during fixed-wing flight.
+  For Standard VTOLs these are the motors defined as multicopter motors.
+  For Tiltrotors these are the motors that have no associated tilt servo.
+  Tailsitters use all motors in fixed-wing flight.
+  :::
+- Servos move into the direction of the convention described above.
+  :::note
+  A trim value can be configured for control surfaces, which is also applied to the test slider.
+  :::
+
+Note the following behaviour:
+- If a safety button is used, it must be pressed before actuator testing is allowed.
+- The kill-switch can still be used to stop motors immediately.
+- Servos do not actually move until the corresponding slider is changed.
+- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing.
+- On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well.
+
+### Reversing Motors
+
+:::note
+The *spin direction* checkbox for the geometry must be set to reflect the actual spin direction of the motor (it does not change the motor spin direction).
+:::
+
+If one or more of the motors do not turn in the correct direction according to the configured geometry, they must be reversed.
+There are several options:
+- If the ESCs are configured as [DShot](../peripherals/dshot.md) you can reverse the direction via UI (**Set Spin Direction** buttons).
+  Note that the current direction cannot be queried, so you might have to try both options.
+- Swap 2 of the 3 motor cables (it does not matter which ones).
+
+  :::note
+  If motors are not connected via bullet-connectors, re-soldering is required (this is a reason, among others, to prefer DShot ESCs).
+  :::
+