diff --git a/docs/Cli.md b/docs/Cli.md
index a8a048839f1..e0e84ff16d4 100644
--- a/docs/Cli.md
+++ b/docs/Cli.md
@@ -79,7 +79,6 @@ Re-apply any new defaults as desired.
 | `help`           |                                                |
 | `led`            | configure leds                                 |
 | `map`            | mapping of rc channel order                    |
-| `mixer`          | mixer name or list                             |
 | `motor`          | get/set motor output value                     |
 | `play_sound`     | index, or none for next                        |
 | `profile`        | index (0 to 2)                                 |
@@ -414,6 +413,9 @@ Re-apply any new defaults as desired.
 |  rssi_adc_channel            |  -  | ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled |
 |  current_adc_channel         |  -  | ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled |
 |  airspeed_adc_channel        |  0  | ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't have a dedicated connector for analog airspeed sensor will default to 0 |
+|  platform_type        |  "MULTIROTOR"  | Defines UAV platform type. Allowed values: "MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented |
+|  has_flaps        |  OFF  | Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot  |
+|  mixer_preset        |  -1  | ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons.  |
 
 This Markdown table is made by MarkdwonTableMaker addon for google spreadsheet.
 Original Spreadsheet used to make this table can be found here https://docs.google.com/spreadsheets/d/1ubjYdMGmZ2aAMUNYkdfe3hhIF7wRfIjcuPOi_ysmp00/edit?usp=sharing
diff --git a/docs/Mixer.md b/docs/Mixer.md
index 16c996f1e80..c6e7a4bd52b 100644
--- a/docs/Mixer.md
+++ b/docs/Mixer.md
@@ -1,83 +1,31 @@
-# Mixer
+# Mixer and platform type
 
 INAV supports a number of mixing configurations as well as custom mixing.  Mixer configurations determine how the servos and motors work together to control the aircraft.
 
 ## Configuration
 
-To use a built-in mixing configuration, you can use the Chrome configuration GUI.  It includes images of the various mixer types to assist in making the proper connections.  See the Configuration section of the documentation for more information on the GUI.
-
-You can also use the Command Line Interface (CLI) to set the mixer type:
-
-1. Use `mixer list` to see a list of supported mixes
-2. Select a mixer.  For example, to select TRI, use `mixer TRI`
-3. You must use `save` to preserve your changes
-
-## Supported Mixer Types
-
-| Name             | Description               | Motors         | Servos           |
-| ---------------- | ------------------------- | -------------- | ---------------- |
-| TRI              | Tricopter                 | M1-M3          | S1               |
-| QUADP            | Quadcopter-Plus           | M1-M4          | None             |
-| QUADX            | Quadcopter-X              | M1-M4          | None             |
-| BI               | Bicopter (left/right)     | M1-M2          | S1, S2           |
-| GIMBAL           | Gimbal control            | N/A            | S1, S2           |
-| Y6               | Y6-copter                 | M1-M6          | None             |
-| HEX6             | Hexacopter-Plus           | M1-M6          | None             |
-| FLYING_WING      | Fixed wing; elevons       | M1             | S1, S2           |
-| Y4               | Y4-copter                 | M1-M4          | None             |
-| HEX6X            | Hexacopter-X              | M1-M6          | None             |
-| OCTOX8           | Octocopter-X (over/under) | M1-M8          | None             |
-| OCTOFLATP        | Octocopter-FlatPlus       | M1-M8          | None             |
-| OCTOFLATX        | Octocopter-FlatX          | M1-M8          | None             |
-| AIRPLANE         | Fixed wing; Ax2, R, E     | M1             | S1, S2, S3, S4   |
-| HELI_120_CCPM    |                           |                |                  |
-| HELI_90_DEG      |                           |                |                  |
-| VTAIL4           | Quadcopter with V-Tail    | M1-M4          | N/A              |
-| HEX6H            | Hexacopter-H              | M1-M6          | None             |
-| PPM_TO_SERVO     |                           |                |                  |
-| DUALCOPTER       | Dualcopter                | M1-M2          | S1, S2           |
-| SINGLECOPTER     | Conventional helicopter   | M1             | S1               |
-| ATAIL4           | Quadcopter with A-Tail    | M1-M4          | N/A              |
-| CUSTOM           | User-defined              |                |                  |
-| CUSTOM AIRPLANE  | User-defined airplane     |                |                  |
-| CUSTOM TRICOPTER | User-defined tricopter    |                |                  |
+INAV Configurator provides graphical user interface for mixer configuration. All supported vehicle types are configurable with _mixer presets_ using Configurator. `mmix` and `smix` manual configuration in CLI should be used only for backup/restore purposes. 
 
-## Servo configuration
+User interface is described in [this video](https://www.youtube.com/watch?v=0cLFu-5syi0)
 
-The cli `servo` command defines the settings for the servo outputs.
-The cli mixer `smix` command controllers how the mixer maps internal FC data (RC input, PID stabilization output, channel forwarding, etc) to servo outputs.
+## Platform type
 
-## Servo filtering
+INAV can be used on a variety of vehicle types configured via Configurator or `platform_type` CLI property. Certain settings applies only when specific platform type is selected. For example, _flaps_ can be configured only if **AIRPLANE** platform type is used. The same goes for flight modes, output mappings, stabilization algorithms, etc. 
 
-A low-pass filter can be enabled for the servos.  It may be useful for avoiding structural modes in the airframe, for example.  
+Currently, following platform types are supported:
 
-### Configuration
+* MULTIROTOR
+* AIRPLANE
+* TRICOPTER
 
-Currently, it can only be configured via the CLI:
-
-Use `set servo_lpf_hz=20` to enable filtering. This will set servo low pass filter to 20Hz.
-
-### Tuning
-
-One method for tuning the filter cutoff is as follows:
-
-1. Ensure your vehicle can move at least somewhat freely in the troublesome axis.  For example, if you are having yaw oscillations on a tricopter, ensure that the copter is supported in a way that allows it to rotate left and right to at least some degree.  Suspension near the CG is ideal.  Alternatively, you can just fly the vehicle and trigger the problematic condition you are trying to eliminate, although tuning will be more tedious.
-
-2. Tap the vehicle at its end in the axis under evaluation.  Directly commanding the servo in question to move may also be used.  In the tricopter example, tap the end of the tail boom from the side, or command a yaw using your transmitter.
-
-3. If your vehicle oscillates for several seconds or even continues oscillating indefinitely, then the filter cutoff frequency should be reduced. Reduce the value of `servo_lowpass_freq` by half its current value and repeat the previous step.
-
-4. If the oscillations are dampened within roughly a second or are no longer present, then you are done.  Be sure to run `save`.
-
-## Custom Motor Mixing
+## Motor Mixing
 
 Custom motor mixing allows for completely customized motor configurations. Each motor must be defined with a custom mixing table for that motor. The mix must reflect how close each motor is with reference to the CG (Center of Gravity) of the flight controller. A motor closer to the CG of the flight controller will need to travel less distance than a motor further away.  
 
 Steps to configure custom mixer in the CLI:
 
-1. Use `mixer custom` to enable the custom mixing.
-2. Use `mmix reset` to erase any existing custom mixing.
-3. Issue a `mmix` statement for each motor.
+1. Use `mmix reset` to erase any existing custom mixing.
+1. Issue a `mmix` statement for each motor.
 
 The mmix statement has the following syntax: `mmix n THROTTLE ROLL PITCH YAW`
 
@@ -91,7 +39,7 @@ The mmix statement has the following syntax: `mmix n THROTTLE ROLL PITCH YAW`
 
 Note: the `mmix` command may show a motor mix that is not active, custom motor mixes are only active for models that use custom mixers.
 
-## Custom Servo Mixing
+## Servo Mixing
 
 Custom servo mixing rules can be applied to each servo.  Rules are applied in the CLI using `smix`. Rules link flight controller stabilization and receiver signals to physical PWM output pins on the FC board. Currently, pin id's 0 and 1 can only be used for motor outputs. Other pins may or may not work depending on the board you are using.
 
@@ -176,6 +124,34 @@ i.e. when mixing rudder servo slot (`5`) using Stabilised YAW input source (`2`)
 
 `smix reverse` is a per-profile setting.  So ensure you configure it for your profiles as required.
 
+## Servo configuration
+
+The cli `servo` command defines the settings for the servo outputs.
+The cli mixer `smix` command controllers how the mixer maps internal FC data (RC input, PID stabilization output, channel forwarding, etc) to servo outputs.
+
+## Servo filtering
+
+A low-pass filter can be enabled for the servos.  It may be useful for avoiding structural modes in the airframe, for example.  
+
+### Configuration
+
+Currently, it can only be configured via the CLI:
+
+Use `set servo_lpf_hz=20` to enable filtering. This will set servo low pass filter to 20Hz.
+
+### Tuning
+
+One method for tuning the filter cutoff is as follows:
+
+1. Ensure your vehicle can move at least somewhat freely in the troublesome axis.  For example, if you are having yaw oscillations on a tricopter, ensure that the copter is supported in a way that allows it to rotate left and right to at least some degree.  Suspension near the CG is ideal.  Alternatively, you can just fly the vehicle and trigger the problematic condition you are trying to eliminate, although tuning will be more tedious.
+
+2. Tap the vehicle at its end in the axis under evaluation.  Directly commanding the servo in question to move may also be used.  In the tricopter example, tap the end of the tail boom from the side, or command a yaw using your transmitter.
+
+3. If your vehicle oscillates for several seconds or even continues oscillating indefinitely, then the filter cutoff frequency should be reduced. Reduce the value of `servo_lowpass_freq` by half its current value and repeat the previous step.
+
+4. If the oscillations are dampened within roughly a second or are no longer present, then you are done.  Be sure to run `save`.
+
+
 ### Example 1: A KK2.0 wired motor setup
 Here's an example of an X configuration quad, but the motors are still wired using the KK board motor numbering scheme.
 
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 7fe5c036d14..8b102d1d754 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -476,7 +476,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
         return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
 
     case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
-        return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
+        return mixerConfig()->platformType == PLATFORM_TRICOPTER;
 
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
     case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
@@ -1176,10 +1176,8 @@ static void loadMainState(timeUs_t currentTimeUs)
 
     blackboxCurrent->rssi = getRSSI();
 
-#ifdef USE_SERVOS
     //Tail servo for tricopters
     blackboxCurrent->servo[5] = servo[5];
-#endif
 
 #ifdef NAV_BLACKBOX
     blackboxCurrent->navState = navCurrentState;
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index eeb1e8c5644..b7c39e4b6e2 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -28,10 +28,7 @@
 
 #include "fc/config.h"
 #include "fc/rc_controls.h"
-
-#ifdef USE_SERVOS
 #include "flight/servos.h"
-#endif
 
 #include "io/osd.h"
 #include "io/ledstrip.h"
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index c005c16e0e1..ef36878c245 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -177,9 +177,8 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
         }
 
         // Handle outputs - may override the PWM/PPM inputs
-        if (init->flyingPlatformType == PLATFORM_MULTIROTOR) {
+        if (init->flyingPlatformType == PLATFORM_MULTIROTOR || init->flyingPlatformType == PLATFORM_TRICOPTER) {
             // Multicopter
-#ifdef USE_SERVOS
             if (init->useServoOutputs && (timerHardwarePtr->usageFlags & TIM_USE_MC_SERVO)) {
                 type = MAP_TO_SERVO_OUTPUT;
             }
@@ -187,13 +186,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_SERVO_OUTPUT;
             }
             else
-#endif
             if (timerHardwarePtr->usageFlags & TIM_USE_MC_MOTOR) {
                 type = MAP_TO_MOTOR_OUTPUT;
             }
-        }
-#ifdef USE_SERVOS
-        else if (init->flyingPlatformType == PLATFORM_AIRPLANE || init->flyingPlatformType == PLATFORM_HELICOPTER) {
+        } else {
             // Fixed wing or HELI (one/two motors and a lot of servos
             if (timerHardwarePtr->usageFlags & TIM_USE_FW_SERVO) {
                 type = MAP_TO_SERVO_OUTPUT;
@@ -202,37 +198,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_MOTOR_OUTPUT;
             }
         }
-#endif
 
         // If timer not mapped - skip
         if (type == MAP_TO_NONE)
             continue;
-/*
-#ifdef USE_SERVOS
-        if (init->useServos && !init->airplane) {
-#if defined(SPRACINGF3MINI)
-            // remap PWM6+7 as servos
-            if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
-                type = MAP_TO_SERVO_OUTPUT;
-#endif
-
-#if defined(SINGULARITY)
-            // remap PWM6+7 as servos
-            if (timerIndex == PWM6 || timerIndex == PWM7)
-                type = MAP_TO_SERVO_OUTPUT;
-#endif
-        }
-
-#if defined(SPRACINGF3MINI)
-            if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
-                || ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
-                type = MAP_TO_SERVO_OUTPUT;
-            }
-#endif
-        }
-
-#endif // USE_SERVOS
-*/
 
         if (type == MAP_TO_PPM_INPUT) {
 #if defined(USE_RX_PPM)
@@ -284,7 +253,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 continue;
             }
 
-#ifdef USE_SERVOS
             if (pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput)) {
                 pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
                 pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
@@ -298,7 +266,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, timerIndex, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
                 continue;
             }
-#endif
         } else {
             continue;
         }
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 423a1ac1f4c..e1db665ec8e 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -18,14 +18,9 @@
 #pragma once
 
 #include "drivers/io_types.h"
+#include "flight/mixer.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
-#define MAX_PWM_MOTORS  4
-#define MAX_PWM_SERVOS  1
-#define MAX_MOTORS  4
-#define MAX_SERVOS  1
-
-#elif defined(TARGET_MOTOR_COUNT)
+#if defined(TARGET_MOTOR_COUNT)
 #define MAX_PWM_MOTORS TARGET_MOTOR_COUNT
 #define MAX_PWM_SERVOS 8
 #define MAX_MOTORS  TARGET_MOTOR_COUNT
@@ -49,12 +44,6 @@ typedef struct rangefinderIOConfig_s {
     ioTag_t echoTag;
 } rangefinderIOConfig_t;
 
-typedef enum {
-    PLATFORM_MULTIROTOR     = 0,
-    PLATFORM_AIRPLANE       = 1,
-    PLATFORM_HELICOPTER     = 2
-} flyingPlatformType_e;
-
 typedef struct drv_pwm_config_s {
     int flyingPlatformType;
 
@@ -74,12 +63,10 @@ typedef struct drv_pwm_config_s {
 #ifdef USE_RANGEFINDER
     bool useTriggerRangefinder;
 #endif
-#ifdef USE_SERVOS
     bool useServoOutputs;
     bool useChannelForwarding;      // configure additional channels as servos
     uint16_t servoPwmRate;
     uint16_t servoCenterPulse;
-#endif
     uint8_t pwmProtocolType;
     uint16_t motorPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index ede92806291..e21049f1ad1 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -50,10 +50,7 @@ typedef struct {
 static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
 
 static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
-
-#ifdef USE_SERVOS
 static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
-#endif
 
 #ifdef BEEPER_PWM
 static pwmOutputPort_t  beeperPwmPort;
@@ -290,7 +287,6 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui
     return false;
 }
 
-#ifdef USE_SERVOS
 bool pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput)
 {
     pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse, enableOutput);
@@ -323,7 +319,6 @@ void pwmWriteServo(uint8_t index, uint16_t value)
     }
 #endif
 }
-#endif
 
 #ifdef BEEPER_PWM
 void pwmWriteBeeper(bool onoffBeep)
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index b4c68548cb2..55b6ca478c4 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -142,18 +142,6 @@ static void cliBootlog(char *cmdline);
 
 static const char* const emptyName = "-";
 
-#ifndef USE_QUAD_MIXER_ONLY
-// sync this with mixerMode_e
-static const char * const mixerNames[] = {
-    "TRI", "QUADP", "QUADX", "BI",
-    "GIMBAL", "Y6", "HEX6",
-    "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
-    "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
-    "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
-    "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", NULL
-};
-#endif
-
 // sync this with features_e
 static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "TX_PROF_SEL", "", "MOTOR_STOP",
@@ -974,7 +962,6 @@ static void cliAdjustmentRange(char *cmdline)
     }
 }
 
-#ifndef USE_QUAD_MIXER_ONLY
 static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer, const motorMixer_t *defaultCustomMotorMixer)
 {
     const char *format = "mmix %d %s %s %s %s";
@@ -1016,7 +1003,6 @@ static void printMotorMix(uint8_t dumpMask, const motorMixer_t *customMotorMixer
 static void cliMotorMix(char *cmdline)
 {
     int check = 0;
-    uint8_t len;
     const char *ptr;
 
     if (isEmpty(cmdline)) {
@@ -1026,23 +1012,6 @@ static void cliMotorMix(char *cmdline)
         for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             customMotorMixerMutable(i)->throttle = 0.0f;
         }
-    } else if (sl_strncasecmp(cmdline, "load", 4) == 0) {
-        ptr = nextArg(cmdline);
-        if (ptr) {
-            len = strlen(ptr);
-            for (uint32_t i = 0; ; i++) {
-                if (mixerNames[i] == NULL) {
-                    cliPrintLine("Invalid name");
-                    break;
-                }
-                if (sl_strncasecmp(ptr, mixerNames[i], len) == 0) {
-                    mixerLoadMix(i, customMotorMixerMutable(0));
-                    cliPrintLinef("Loaded %s", mixerNames[i]);
-                    cliMotorMix("");
-                    break;
-                }
-            }
-        }
     } else {
         ptr = cmdline;
         uint32_t i = fastA2I(ptr); // get motor number
@@ -1077,7 +1046,6 @@ static void cliMotorMix(char *cmdline)
         }
     }
 }
-#endif // USE_QUAD_MIXER_ONLY
 
 static void printRxRange(uint8_t dumpMask, const rxChannelRangeConfig_t *channelRangeConfigs, const rxChannelRangeConfig_t *defaultChannelRangeConfigs)
 {
@@ -1281,7 +1249,6 @@ static void cliModeColor(char *cmdline)
 }
 #endif
 
-#ifdef USE_SERVOS
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
 {
     // print out servo settings
@@ -1456,23 +1423,6 @@ static void cliServoMix(char *cmdline)
         for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             servoParamsMutable(i)->reversedSources = 0;
         }
-    } else if (sl_strncasecmp(cmdline, "load", 4) == 0) {
-        const char *ptr = nextArg(cmdline);
-        if (ptr) {
-            len = strlen(ptr);
-            for (uint32_t i = 0; ; i++) {
-                if (mixerNames[i] == NULL) {
-                    cliPrintLine("Invalid name");
-                    break;
-                }
-                if (sl_strncasecmp(ptr, mixerNames[i], len) == 0) {
-                    servoMixerLoadMix(i);
-                    cliPrintLinef("Loaded %s", mixerNames[i]);
-                    cliServoMix("");
-                    break;
-                }
-            }
-        }
     } else if (sl_strncasecmp(cmdline, "reverse", 7) == 0) {
         enum {SERVO = 0, INPUT, REVERSE, ARGS_COUNT};
         char *ptr = strchr(cmdline, ' ');
@@ -1544,7 +1494,6 @@ static void cliServoMix(char *cmdline)
         }
     }
 }
-#endif // USE_SERVOS
 
 #ifdef USE_SDCARD
 
@@ -2017,42 +1966,6 @@ static void cliGpsPassthrough(char *cmdline)
 }
 #endif
 
-#ifndef USE_QUAD_MIXER_ONLY
-static void cliMixer(char *cmdline)
-{
-    int len;
-
-    len = strlen(cmdline);
-
-    if (len == 0) {
-        cliPrintLinef("Mixer: %s", mixerNames[mixerConfigMutable()->mixerMode - 1]);
-        return;
-    } else if (sl_strncasecmp(cmdline, "list", len) == 0) {
-        cliPrint("Available mixers: ");
-        for (uint32_t i = 0; ; i++) {
-            if (mixerNames[i] == NULL)
-                break;
-            cliPrintf("%s ", mixerNames[i]);
-        }
-        cliPrintLinefeed();
-        return;
-    }
-
-    for (uint32_t i = 0; ; i++) {
-        if (mixerNames[i] == NULL) {
-            cliPrintLine("Invalid name");
-            return;
-        }
-        if (sl_strncasecmp(cmdline, mixerNames[i], len) == 0) {
-            mixerConfigMutable()->mixerMode = i + 1;
-            break;
-        }
-    }
-
-    cliMixer("");
-}
-#endif
-
 static void cliMotor(char *cmdline)
 {
     int motor_index = 0;
@@ -2583,18 +2496,11 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliPrintHashLine("resources");
         //printResource(dumpMask, &defaultConfig);
 
-#ifndef USE_QUAD_MIXER_ONLY
         cliPrintHashLine("mixer");
-        const bool equalsDefault = mixerConfig_Copy.mixerMode == mixerConfig()->mixerMode;
-        const char *formatMixer = "mixer %s";
-        cliDefaultPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
-        cliDumpPrintLinef(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig_Copy.mixerMode - 1]);
-
         cliDumpPrintLinef(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n");
 
         printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
 
-#ifdef USE_SERVOS
         // print custom servo mixer if exists
         cliPrintHashLine("servo mix");
         cliDumpPrintLinef(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n");
@@ -2603,8 +2509,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         // print servo parameters
         cliPrintHashLine("servo");
         printServo(dumpMask, servoParams_CopyArray, servoParams(0));
-#endif
-#endif
 
         cliPrintHashLine("feature");
         printFeature(dumpMask, &featureConfig_Copy, featureConfig());
@@ -2755,12 +2659,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("led", "configure leds", NULL, cliLed),
 #endif
     CLI_COMMAND_DEF("map", "configure rc channel order", "[<map>]", cliMap),
-#ifndef USE_QUAD_MIXER_ONLY
-    CLI_COMMAND_DEF("mixer", "configure mixer",
-        "list\r\n"
-        "\t<name>", cliMixer),
     CLI_COMMAND_DEF("mmix", "custom motor mixer", NULL, cliMotorMix),
-#endif
     CLI_COMMAND_DEF("motor",  "get/set motor", "<index> [<value>]", cliMotor),
     CLI_COMMAND_DEF("name", "name of craft", NULL, cliName),
 #ifdef PLAY_SOUND
@@ -2777,17 +2676,13 @@ const clicmd_t cmdTable[] = {
 #ifdef USE_SERIAL_PASSTHROUGH
     CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
 #endif
-#ifdef USE_SERVOS
     CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
-#endif
     CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
-#ifdef USE_SERVOS
     CLI_COMMAND_DEF("smix", "servo mixer",
         "<rule> <servo> <source> <rate> <speed>\r\n"
         "\treset\r\n"
         "\tload <mixer>\r\n"
         "\treverse <servo> <source> r|n", cliServoMix),
-#endif
 #ifdef USE_SDCARD
     CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
 #endif
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index b7039972d68..f19ef1b117e 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -360,11 +360,6 @@ void validateAndFixConfig(void)
         pgResetCopy(serialConfigMutable(), PG_SERIAL_CONFIG);
     }
 
-    // If provided predefined mixer setup is disabled, fallback to default one
-    if (!isMixerEnabled(mixerConfig()->mixerMode)) {
-        mixerConfigMutable()->mixerMode = DEFAULT_MIXER;
-    }
-
 #if defined(USE_NAV)
     // Ensure sane values of navConfig settings
     validateNavConfig();
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 9723e515091..d867903a640 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -524,7 +524,6 @@ void processRx(timeUs_t currentTimeUs)
         LED1_OFF;
     }
 
-#ifdef USE_SERVOS
     /* Flaperon mode */
     if (IS_RC_MODE_ACTIVE(BOXFLAPERON) && STATE(FLAPERON_AVAILABLE)) {
         if (!FLIGHT_MODE(FLAPERON)) {
@@ -533,7 +532,6 @@ void processRx(timeUs_t currentTimeUs)
     } else {
         DISABLE_FLIGHT_MODE(FLAPERON);
     }
-#endif
 
 #ifdef USE_FLM_TURN_ASSIST
     /* Turn assistant mode */
@@ -612,7 +610,7 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 
-    if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
+    if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
         DISABLE_FLIGHT_MODE(HEADFREE_MODE);
     }
 
@@ -756,14 +754,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // motors do not spin up while we are trying to arm or disarm.
     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
-#ifndef USE_QUAD_MIXER_ONLY
-#ifdef USE_SERVOS
-            && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
-#endif
-            && mixerConfig()->mixerMode != MIXER_AIRPLANE
-            && mixerConfig()->mixerMode != MIXER_FLYING_WING
-            && mixerConfig()->mixerMode != MIXER_CUSTOM_AIRPLANE
-#endif
+            && !((mixerConfig()->platformType == PLATFORM_TRICOPTER) && servoConfig()->tri_unarmed_servo)
+            && mixerConfig()->platformType != PLATFORM_AIRPLANE
     ) {
         rcCommand[YAW] = 0;
     }
@@ -805,7 +797,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
     mixTable();
 
-#ifdef USE_SERVOS
     if (isMixerUsingServos()) {
         servoMixer(dT);
         processServoAutotrim();
@@ -820,7 +811,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     if (isServoOutputEnabled()) {
         writeServos();
     }
-#endif
 
     if (motorControlEnable) {
         writeMotors();
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 718712fea8f..060d4dd56ef 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -269,10 +269,8 @@ void init(void)
     debugTraceInit();
 #endif
 
-#ifdef USE_SERVOS
     servosInit();
     mixerUpdateStateFlags();    // This needs to be called early to allow pwm mapper to use information about FIXED_WING state
-#endif
 
     drv_pwm_config_t pwm_params;
     memset(&pwm_params, 0, sizeof(pwm_params));
@@ -290,7 +288,7 @@ void init(void)
 #endif
 
     // when using airplane/wing mixer, servo/motor outputs are remapped
-    pwm_params.flyingPlatformType = getFlyingPlatformType();
+    pwm_params.flyingPlatformType = mixerConfig()->platformType;
 
 #if defined(USE_UART2) && defined(STM32F10X)
     pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
@@ -314,12 +312,10 @@ void init(void)
     pwm_params.usePPM = (rxConfig()->receiverType == RX_TYPE_PPM);
     pwm_params.useSerialRx = (rxConfig()->receiverType == RX_TYPE_SERIAL);
 
-#ifdef USE_SERVOS
     pwm_params.useServoOutputs = isMixerUsingServos();
     pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
     pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse;
     pwm_params.servoPwmRate = servoConfig()->servoPwmRate;
-#endif
 
     pwm_params.pwmProtocolType = motorConfig()->motorPwmProtocol;
 #ifndef BRUSHED_MOTORS
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index efa564add73..31967f0f19c 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -345,7 +345,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
     // DEPRECATED - Use MSP_API_VERSION
     case MSP_IDENT:
         sbufWriteU8(dst, MW_VERSION);
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); //We no longer have mixerMode, just sent 3 (QuadX) as fallback
         sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
         sbufWriteU32(dst, CAP_PLATFORM_32BIT | CAP_DYNBALANCE | CAP_FLAPS | CAP_NAVCAP | CAP_EXTAUX); // "capability"
         break;
@@ -439,7 +439,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 
-#ifdef USE_SERVOS
     case MSP_SERVO:
         sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
         break;
@@ -466,14 +465,12 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, 0);
         }
         break;
-#endif
-
     case MSP2_COMMON_MOTOR_MIXER:
         for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
             sbufWriteU16(dst, customMotorMixer(i)->throttle * 1000);
-            sbufWriteU16(dst, constrainf(customMotorMixer(i)->roll + 1.0f, 0.0f, 2.0f) * 1000);
-            sbufWriteU16(dst, constrainf(customMotorMixer(i)->pitch + 1.0f, 0.0f, 2.0f) * 1000);
-            sbufWriteU16(dst, constrainf(customMotorMixer(i)->yaw + 1.0f, 0.0f, 2.0f) * 1000);
+            sbufWriteU16(dst, constrainf(customMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(customMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(customMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
         }
         break;
 
@@ -824,7 +821,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_MIXER:
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
         break;
 
     case MSP_RX_CONFIG:
@@ -870,7 +867,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_BF_CONFIG:
-        sbufWriteU8(dst, mixerConfig()->mixerMode);
+        sbufWriteU8(dst, 3); // mixerMode no longer supported, send 3 (QuadX) as fallback
 
         sbufWriteU32(dst, featureMask());
 
@@ -1009,11 +1006,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, 1);    // BF: motorConfig()->useUnsyncedPwm
         sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
         sbufWriteU16(dst, motorConfig()->motorPwmRate);
-#ifdef USE_SERVOS
         sbufWriteU16(dst, servoConfig()->servoPwmRate);
-#else
-        sbufWriteU16(dst, 0);
-#endif
         sbufWriteU8(dst, gyroConfig()->gyroSync);
         break;
 
@@ -1302,6 +1295,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
         break;
 
+    case MSP2_INAV_MIXER:
+        sbufWriteU8(dst, mixerConfig()->yaw_motor_direction);
+        sbufWriteU16(dst, mixerConfig()->yaw_jump_prevention_limit);
+        sbufWriteU8(dst, mixerConfig()->platformType);
+        sbufWriteU8(dst, mixerConfig()->hasFlaps);
+        sbufWriteU16(dst, mixerConfig()->appliedMixerPreset);
+        sbufWriteU8(dst, MAX_SUPPORTED_MOTORS);
+        sbufWriteU8(dst, MAX_SUPPORTED_SERVOS);
+        break;
+
     default:
         return false;
     }
@@ -1651,7 +1654,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifdef USE_SERVOS
     case MSP_SET_SERVO_CONFIGURATION:
         if (dataSize != (1 + 14)) {
             return MSP_RESULT_ERROR;
@@ -1671,9 +1673,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             servoComputeScalingFactors(tmp_u8);
         }
         break;
-#endif
 
-#ifdef USE_SERVOS
     case MSP_SET_SERVO_MIX_RULE:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize >= 8) && (tmp_u8 < MAX_SERVO_RULES)) {
@@ -1687,15 +1687,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP2_COMMON_SET_MOTOR_MIXER:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {
             customMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
-            customMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 2.0f) - 1.0f;
-            customMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 2.0f) - 1.0f;
-            customMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 2.0f) - 1.0f;
+            customMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
+            customMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
+            customMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
         } else
             return MSP_RESULT_ERROR;
         break;
@@ -1743,11 +1742,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             sbufReadU8(src);    // BF: motorConfig()->useUnsyncedPwm
             motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);
             motorConfigMutable()->motorPwmRate = sbufReadU16(src);
-#ifdef USE_SERVOS
             servoConfigMutable()->servoPwmRate = sbufReadU16(src);
-#else
-            sbufReadU16(src);
-#endif
             gyroConfigMutable()->gyroSync = sbufReadU8(src);
         } else
             return MSP_RESULT_ERROR;
@@ -2175,15 +2170,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-#ifndef USE_QUAD_MIXER_ONLY
     case MSP_SET_MIXER:
         if (dataSize >= 1) {
-            mixerConfigMutable()->mixerMode = sbufReadU8(src);
+            sbufReadU8(src); //This is ignored, no longer supporting mixerMode
             mixerUpdateStateFlags();    // Required for correct preset functionality
         } else
             return MSP_RESULT_ERROR;
         break;
-#endif
 
     case MSP_SET_RX_CONFIG:
         if (dataSize >= 24) {
@@ -2244,12 +2237,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_BF_CONFIG:
         if (dataSize >= 16) {
-#ifdef USE_QUAD_MIXER_ONLY
-            sbufReadU8(src); // mixerMode ignored
-#else
-            mixerConfigMutable()->mixerMode = sbufReadU8(src); // mixerMode
+            sbufReadU8(src); // mixerMode no longer supported, just swallow
             mixerUpdateStateFlags();    // Required for correct preset functionality
-#endif
 
             featureClearAll();
             featureSet(sbufReadU32(src)); // features bitmap
@@ -2389,6 +2378,17 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
+    case MSP2_INAV_SET_MIXER:
+        mixerConfigMutable()->yaw_motor_direction = sbufReadU8(src);
+        mixerConfigMutable()->yaw_jump_prevention_limit = sbufReadU16(src);
+        mixerConfigMutable()->platformType = sbufReadU8(src);
+        mixerConfigMutable()->hasFlaps = sbufReadU8(src);
+        mixerConfigMutable()->appliedMixerPreset = sbufReadU16(src);
+        sbufReadU8(src); //Read and ignore MAX_SUPPORTED_MOTORS
+        sbufReadU8(src); //Read and ignore MAX_SUPPORTED_SERVOS
+        mixerUpdateStateFlags();
+        break;
+
     default:
         return MSP_RESULT_ERROR;
     }
diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index 265d53da542..27ff3006c75 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -199,7 +199,6 @@ void initActiveBoxIds(void)
 #endif
     }
 
-#ifdef USE_SERVOS
     /*
      * FLAPERON mode active only in case of airplane and custom airplane. Activating on
      * flying wing can cause bad thing
@@ -207,7 +206,6 @@ void initActiveBoxIds(void)
     if (STATE(FLAPERON_AVAILABLE)) {
         activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
     }
-#endif
 
     activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index d81aa2226ba..ef47744c4b5 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -90,6 +90,9 @@ tables:
   - name: smartport_fuel_unit
     values: ["PERCENT", "MAH", "MWH"]
     enum: smartportFuelUnit_e
+  - name: platform_type
+    values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
+    enum: flyingPlatformType_e
 
 groups:
   - name: PG_GYRO_CONFIG
@@ -484,7 +487,6 @@ groups:
   - name: PG_GIMBAL_CONFIG
     type: gimbalConfig_t
     headers: ["io/gimbal.h"]
-    condition: USE_SERVOS
     members:
       - name: gimbal_mode
         field: mode
@@ -552,6 +554,17 @@ groups:
       - name: yaw_jump_prevention_limit
         min: YAW_JUMP_PREVENTION_LIMIT_LOW
         max: YAW_JUMP_PREVENTION_LIMIT_HIGH
+      - name: platform_type
+        field: platformType
+        type: uint8_t
+        table: platform_type
+      - name: has_flaps
+        field: hasFlaps
+        type: bool
+      - name: model_preview_type
+        field: appliedMixerPreset
+        min: -1
+        max: INT16_MAX
 
   - name: PG_MOTOR_3D_CONFIG
     type: flight3DConfig_t
@@ -572,7 +585,6 @@ groups:
   - name: PG_SERVO_CONFIG
     type: servoConfig_t
     headers: ["flight/servos.h"]
-    condition: USE_SERVOS
     members:
       - name: servo_center_pulse
         field: servoCenterPulse
@@ -870,17 +882,14 @@ groups:
         max: 2
       - name: fw_iterm_throw_limit
         field: fixedWingItermThrowLimit
-        condition: USE_SERVOS
         min: FW_ITERM_THROW_LIMIT_MIN
         max: FW_ITERM_THROW_LIMIT_MAX
       - name: fw_reference_airspeed
         field: fixedWingReferenceAirspeed
-        condition: USE_SERVOS
         min: 1
         max: 5000
       - name: fw_turn_assist_yaw_gain
         field: fixedWingCoordinatedYawGain
-        condition: USE_SERVOS
         min: 0
         max: 2
       - name: dterm_notch_hz
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 45ed644abf3..5ed9a64ac00 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -68,13 +68,14 @@ PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
     .neutral3d = 1460
 );
 
-
-PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 1);
 
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
-    .mixerMode = MIXER_QUADX,
     .yaw_motor_direction = 1,
-    .yaw_jump_prevention_limit = 200
+    .yaw_jump_prevention_limit = 200,
+    .platformType = PLATFORM_MULTIROTOR,
+    .hasFlaps = false,
+    .appliedMixerPreset = -1 //This flag is not available in CLI and used by Configurator only
 );
 
 #ifdef BRUSHED_MOTORS
@@ -101,199 +102,6 @@ static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 
 PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
 
-static const motorMixer_t mixerQuadX[] = {
-    { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
-    { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
-    { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
-    { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
-};
-
-#define DEF_MIXER(_mixerMode, _flyingPlatformType, _motorCount, _useServos, _hasFlaps, _motorMap) \
-    { .mixerMode=_mixerMode, .flyingPlatformType=_flyingPlatformType, .motorCount=_motorCount, .useServos=_useServos, .hasFlaps=_hasFlaps, .motor=_motorMap }
-
-#ifndef USE_QUAD_MIXER_ONLY
-static const motorMixer_t mixerTricopter[] = {
-    { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
-    { 1.0f, -1.0f, -0.666667f,  0.0f },     // RIGHT
-    { 1.0f,  1.0f, -0.666667f,  0.0f },     // LEFT
-};
-
-static const motorMixer_t mixerQuadP[] = {
-    { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
-    { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
-    { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
-    { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
-};
-
-#ifndef DISABLE_UNCOMMON_MIXERS
-static const motorMixer_t mixerVtail4[] = {
-    { 1.0f,  -0.58f,  0.58f, 1.0f },        // REAR_R
-    { 1.0f,  -0.46f, -0.39f, -0.5f },       // FRONT_R
-    { 1.0f,  0.58f,  0.58f, -1.0f },        // REAR_L
-    { 1.0f,  0.46f, -0.39f, 0.5f },         // FRONT_L
-};
-
-static const motorMixer_t mixerAtail4[] = {
-    { 1.0f,  0.0f,  1.0f,  1.0f },          // REAR_R
-    { 1.0f, -1.0f, -1.0f,  0.0f },          // FRONT_R
-    { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR_L
-    { 1.0f,  1.0f, -1.0f, -0.0f },          // FRONT_L
-};
-
-static const motorMixer_t mixerY4[] = {
-    { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR_TOP CW
-    { 1.0f, -1.0f, -1.0f,  0.0f },          // FRONT_R CCW
-    { 1.0f,  0.0f,  1.0f,  1.0f },          // REAR_BOTTOM CCW
-    { 1.0f,  1.0f, -1.0f,  0.0f },          // FRONT_L CW
-};
-
-#if (MAX_SUPPORTED_MOTORS >= 6)
-static const motorMixer_t mixerHex6H[] = {
-    { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
-    { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
-    { 1.0f,  1.0f,  1.0f,  1.0f },     // REAR_L
-    { 1.0f,  1.0f, -1.0f, -1.0f },     // FRONT_L
-    { 1.0f,  0.0f,  0.0f,  0.0f },     // RIGHT
-    { 1.0f,  0.0f,  0.0f,  0.0f },     // LEFT
-};
-
-static const motorMixer_t mixerY6[] = {
-    { 1.0f,  0.0f,  1.333333f,  1.0f },     // REAR
-    { 1.0f, -1.0f, -0.666667f, -1.0f },     // RIGHT
-    { 1.0f,  1.0f, -0.666667f, -1.0f },     // LEFT
-    { 1.0f,  0.0f,  1.333333f, -1.0f },     // UNDER_REAR
-    { 1.0f, -1.0f, -0.666667f,  1.0f },     // UNDER_RIGHT
-    { 1.0f,  1.0f, -0.666667f,  1.0f },     // UNDER_LEFT
-};
-
-static const motorMixer_t mixerHex6P[] = {
-    { 1.0f, -0.866025f,  0.5f,  1.0f },     // REAR_R
-    { 1.0f, -0.866025f, -0.5f, -1.0f },     // FRONT_R
-    { 1.0f,  0.866025f,  0.5f,  1.0f },     // REAR_L
-    { 1.0f,  0.866025f, -0.5f, -1.0f },     // FRONT_L
-    { 1.0f,  0.0f,      -1.0f,  1.0f },     // FRONT
-    { 1.0f,  0.0f,       1.0f, -1.0f },     // REAR
-};
-#endif
-
-#if (MAX_SUPPORTED_MOTORS >= 8)
-static const motorMixer_t mixerOctoFlatP[] = {
-    { 1.0f,  0.707107f, -0.707107f,  1.0f },    // FRONT_L
-    { 1.0f, -0.707107f, -0.707107f,  1.0f },    // FRONT_R
-    { 1.0f, -0.707107f,  0.707107f,  1.0f },    // REAR_R
-    { 1.0f,  0.707107f,  0.707107f,  1.0f },    // REAR_L
-    { 1.0f,  0.0f, -1.0f, -1.0f },              // FRONT
-    { 1.0f, -1.0f,  0.0f, -1.0f },              // RIGHT
-    { 1.0f,  0.0f,  1.0f, -1.0f },              // REAR
-    { 1.0f,  1.0f,  0.0f, -1.0f },              // LEFT
-};
-
-static const motorMixer_t mixerOctoFlatX[] = {
-    { 1.0f,  1.0f, -0.414178f,  1.0f },      // MIDFRONT_L
-    { 1.0f, -0.414178f, -1.0f,  1.0f },      // FRONT_R
-    { 1.0f, -1.0f,  0.414178f,  1.0f },      // MIDREAR_R
-    { 1.0f,  0.414178f,  1.0f,  1.0f },      // REAR_L
-    { 1.0f,  0.414178f, -1.0f, -1.0f },      // FRONT_L
-    { 1.0f, -1.0f, -0.414178f, -1.0f },      // MIDFRONT_R
-    { 1.0f, -0.414178f,  1.0f, -1.0f },      // REAR_R
-    { 1.0f,  1.0f,  0.414178f, -1.0f },      // MIDREAR_L
-};
-
-static const motorMixer_t mixerOctoX8[] = {
-    { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
-    { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
-    { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
-    { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
-    { 1.0f, -1.0f,  1.0f,  1.0f },          // UNDER_REAR_R
-    { 1.0f, -1.0f, -1.0f, -1.0f },          // UNDER_FRONT_R
-    { 1.0f,  1.0f,  1.0f, -1.0f },          // UNDER_REAR_L
-    { 1.0f,  1.0f, -1.0f,  1.0f },          // UNDER_FRONT_L
-};
-#endif
-#endif //DISABLE_UNCOMMON_MIXERS
-
-#if (MAX_SUPPORTED_MOTORS >= 6)
-static const motorMixer_t mixerHex6X[] = {
-    { 1.0f, -0.5f,  0.866025f,  1.0f },     // REAR_R
-    { 1.0f, -0.5f, -0.866025f,  1.0f },     // FRONT_R
-    { 1.0f,  0.5f,  0.866025f, -1.0f },     // REAR_L
-    { 1.0f,  0.5f, -0.866025f, -1.0f },     // FRONT_L
-    { 1.0f, -1.0f,  0.0f,      -1.0f },     // RIGHT
-    { 1.0f,  1.0f,  0.0f,       1.0f },     // LEFT
-};
-#endif
-
-static const motorMixer_t mixerDualProp[] = {
-    { 1.0f,  0.0f,  0.0f, 0.0f },
-    { 1.0f,  0.0f,  0.0f, 0.0f },
-};
-
-static const mixer_t mixerTable[] = {
-    // motors, use servo, motor mixer
-    //         mixerMode                flyingPlatformType   motorCount  useServos   hasFlaps    motorMap
-    DEF_MIXER( MIXER_TRI,               PLATFORM_MULTIROTOR, 3,          true,       false,      mixerTricopter ),
-    DEF_MIXER( MIXER_CUSTOM_TRI,        PLATFORM_MULTIROTOR, 3,          false,      false,      NULL ),
-
-    DEF_MIXER( MIXER_QUADP,             PLATFORM_MULTIROTOR, 4,          false,      false,      mixerQuadP ),
-    DEF_MIXER( MIXER_QUADX,             PLATFORM_MULTIROTOR, 4,          false,      false,      mixerQuadX ),
-
-#if (MAX_SUPPORTED_MOTORS >= 6)
-    DEF_MIXER( MIXER_HEX6X,             PLATFORM_MULTIROTOR, 6,          false,      false,      mixerHex6X ),
-#endif
-
-    DEF_MIXER( MIXER_CUSTOM,            PLATFORM_MULTIROTOR, 0,          false,      false,      NULL ),
-
-    //DEF_MIXER( MIXER_BICOPTER,          PLATFORM_MULTIROTOR, 0,          false,      false,      NULL ),
-    //DEF_MIXER( MIXER_GIMBAL,            PLATFORM_MULTIROTOR, 0,          false,      false,      NULL ),
-
-    DEF_MIXER( MIXER_FLYING_WING,       PLATFORM_AIRPLANE,   2,          true,       false,      mixerDualProp ),
-    DEF_MIXER( MIXER_AIRPLANE,          PLATFORM_AIRPLANE,   2,          true,       true,       mixerDualProp ),
-    DEF_MIXER( MIXER_CUSTOM_AIRPLANE,   PLATFORM_AIRPLANE,   2,          true,       true,       NULL ),
-
-    //DEF_MIXER( MIXER_HELI_120_CCPM,     PLATFORM_HELICOPTER, 1,          true,       false,      NULL ),
-    //DEF_MIXER( MIXER_HELI_90_DEG,       PLATFORM_HELICOPTER, 1,          true,       false,      NULL ),
-
-    //DEF_MIXER( MIXER_PPM_TO_SERVO,      PLATFORM_MULTIROTOR, 0,          true,       false,      NULL ),
-    //DEF_MIXER( MIXER_DUALCOPTER,        PLATFORM_MULTIROTOR, 0,          false,      false,      NULL ),
-    //DEF_MIXER( MIXER_SINGLECOPTER,      PLATFORM_MULTIROTOR, 0,          false,      false,      NULL ),
-
-#if !defined(DISABLE_UNCOMMON_MIXERS)
-    DEF_MIXER( MIXER_Y4,                PLATFORM_MULTIROTOR, 4,          false,      false,      mixerY4 ),
-    DEF_MIXER( MIXER_ATAIL4,            PLATFORM_MULTIROTOR, 4,          false,      false,      mixerAtail4 ),
-    DEF_MIXER( MIXER_VTAIL4,            PLATFORM_MULTIROTOR, 4,          false,      false,      mixerVtail4 ),
-
-#if (MAX_SUPPORTED_MOTORS >= 6)
-    DEF_MIXER( MIXER_Y6,                PLATFORM_MULTIROTOR, 6,          false,      false,      mixerY6 ),
-    DEF_MIXER( MIXER_HEX6,              PLATFORM_MULTIROTOR, 6,          false,      false,      mixerHex6P ),
-    DEF_MIXER( MIXER_HEX6H,             PLATFORM_MULTIROTOR, 6,          false,      false,      mixerHex6H ),
-#endif
-
-#if (MAX_SUPPORTED_MOTORS >= 8)
-    DEF_MIXER( MIXER_OCTOX8,            PLATFORM_MULTIROTOR, 8,          false,      false,      mixerOctoX8 ),
-    DEF_MIXER( MIXER_OCTOFLATP,         PLATFORM_MULTIROTOR, 8,          false,      false,      mixerOctoFlatP ),
-    DEF_MIXER( MIXER_OCTOFLATX,         PLATFORM_MULTIROTOR, 8,          false,      false,      mixerOctoFlatX ),
-#endif
-#endif
-};
-#else
-static const mixer_t quadMixerDescriptor = DEF_MIXER( MIXER_QUADX,             PLATFORM_MULTIROTOR, 4,          false,      false,      mixerQuadX );
-#endif // USE_QUAD_MIXER_ONLY
-
-const mixer_t * findMixer(mixerMode_e mixerMode)
-{
-#ifndef USE_QUAD_MIXER_ONLY
-    for (unsigned ii = 0; ii < sizeof(mixerTable)/sizeof(mixerTable[0]); ii++) {
-        if (mixerTable[ii].mixerMode == mixerMode)
-            return &mixerTable[ii];
-    }
-#else
-    if (mixerMode == MIXER_QUADX)
-        return &quadMixerDescriptor;
-#endif
-
-    return NULL;
-}
-
 uint8_t getMotorCount(void)
 {
     return motorCount;
@@ -304,37 +112,13 @@ bool mixerIsOutputSaturated(void)
     return motorLimitReached;
 }
 
-bool isMixerEnabled(mixerMode_e mixerMode)
-{
-#ifdef USE_QUAD_MIXER_ONLY
-    UNUSED(mixerMode);
-    return true;
-#else
-    const mixer_t * mixer = findMixer(mixerMode);
-    return (mixer != NULL) ? true : false;
-#endif
-}
-
-int getFlyingPlatformType(void)
-{
-    const mixer_t * mixer = findMixer(mixerConfig()->mixerMode);
-
-    if (mixer)
-        return mixer->flyingPlatformType;
-    else
-        return PLATFORM_MULTIROTOR; // safe default
-}
-
-#ifdef USE_SERVOS
 void mixerUpdateStateFlags(void)
 {
-    const mixer_t * mixer = findMixer(mixerConfig()->mixerMode);
-
     // set flag that we're on something with wings
-    if (mixer->flyingPlatformType == PLATFORM_AIRPLANE) {
+    if (mixerConfig()->platformType == PLATFORM_AIRPLANE) {
         ENABLE_STATE(FIXED_WING);
         DISABLE_STATE(HELICOPTER);
-    } else if (mixer->flyingPlatformType == PLATFORM_HELICOPTER) {
+    } else if (mixerConfig()->platformType == PLATFORM_HELICOPTER) {
         DISABLE_STATE(FIXED_WING);
         ENABLE_STATE(HELICOPTER);
     } else {
@@ -342,7 +126,7 @@ void mixerUpdateStateFlags(void)
         DISABLE_STATE(HELICOPTER);
     }
 
-    if (mixer->hasFlaps) {
+    if (mixerConfig()->hasFlaps) {
         ENABLE_STATE(FLAPERON_AVAILABLE);
     } else {
         DISABLE_STATE(FLAPERON_AVAILABLE);
@@ -353,28 +137,15 @@ void mixerUsePWMIOConfiguration(void)
 {
     motorCount = 0;
 
-    const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
-    const mixer_t * mixer = findMixer(mixerConfig()->mixerMode);
-
-    if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
-        // load custom mixer into currentMixer
-        for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            // check if done
-            if (customMotorMixer(i)->throttle == 0.0f)
-                break;
-            currentMixer[i] = *customMotorMixer(i);
-            motorCount++;
-        }
-    } else {
-        motorCount = MIN(mixer->motorCount, pwmGetOutputConfiguration()->motorCount);
-        // copy motor-based mixer
-        if (mixer->motor) {
-            for (int i = 0; i < motorCount; i++) {
-                currentMixer[i] = mixer->motor[i];
-            }
-        }
+    // load custom mixer into currentMixer
+    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+        // check if done
+        if (customMotorMixer(i)->throttle == 0.0f)
+            break;
+        currentMixer[i] = *customMotorMixer(i);
+        motorCount++;
     }
-
+    
     // in 3D mode, mixer gain has to be halved
     if (feature(FEATURE_3D)) {
         if (motorCount > 1) {
@@ -388,38 +159,6 @@ void mixerUsePWMIOConfiguration(void)
 
     mixerResetDisarmedMotors();
 }
-#else
-void mixerUsePWMIOConfiguration(void)
-{
-    motorCount = 4;
-    for (int i = 0; i < motorCount; i++) {
-        currentMixer[i] = mixerQuadX[i];
-    }
-    mixerResetDisarmedMotors();
-}
-#endif
-
-
-#ifndef USE_QUAD_MIXER_ONLY
-void mixerLoadMix(int index, motorMixer_t *customMixers)
-{
-    // we're 1-based
-    index++;
-    // clear existing
-    for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-        customMixers[i].throttle = 0.0f;
-    }
-
-    // do we have anything here to begin with?
-    const mixer_t * mixer = findMixer(index);
-    if (mixer->motor != NULL) {
-        for (int i = 0; i < mixer->motorCount; i++) {
-            customMixers[i] = mixer->motor[i];
-        }
-    }
-}
-
-#endif
 
 void mixerResetDisarmedMotors(void)
 {
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index d8daae74f8a..ffad29f066c 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -19,9 +19,7 @@
 
 #include "config/parameter_group.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
-#define MAX_SUPPORTED_MOTORS 4
-#elif defined(TARGET_MOTOR_COUNT)
+#if defined(TARGET_MOTOR_COUNT)
 #define MAX_SUPPORTED_MOTORS TARGET_MOTOR_COUNT
 #else
 #define MAX_SUPPORTED_MOTORS 12
@@ -30,38 +28,15 @@
 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
 
-
-// Note: this is called MultiType/MULTITYPE_* in baseflight.
-typedef enum mixerMode
-{
-    MIXER_TRI = 1,
-    MIXER_QUADP = 2,
-    MIXER_QUADX = 3,
-    MIXER_BICOPTER = 4,
-    MIXER_GIMBAL = 5,
-    MIXER_Y6 = 6,
-    MIXER_HEX6 = 7,
-    MIXER_FLYING_WING = 8,
-    MIXER_Y4 = 9,
-    MIXER_HEX6X = 10,
-    MIXER_OCTOX8 = 11,
-    MIXER_OCTOFLATP = 12,
-    MIXER_OCTOFLATX = 13,
-    MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
-    MIXER_HELI_120_CCPM = 15,
-    MIXER_HELI_90_DEG = 16,
-    MIXER_VTAIL4 = 17,
-    MIXER_HEX6H = 18,
-    MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
-    MIXER_DUALCOPTER = 20,
-    MIXER_SINGLECOPTER = 21,
-    MIXER_ATAIL4 = 22,
-    MIXER_CUSTOM = 23,
-    MIXER_CUSTOM_AIRPLANE = 24,
-    MIXER_CUSTOM_TRI = 25
-} mixerMode_e;
-
-#define DEFAULT_MIXER MIXER_QUADX
+typedef enum {
+    PLATFORM_MULTIROTOR     = 0,
+    PLATFORM_AIRPLANE       = 1,
+    PLATFORM_HELICOPTER     = 2,
+    PLATFORM_TRICOPTER      = 3,
+    PLATFORM_ROVER          = 4,
+    PLATFORM_BOAT           = 5,
+    PLATFORM_OTHER          = 6
+} flyingPlatformType_e;
 
 typedef struct motorAxisCorrectionLimits_s {
     int16_t min;
@@ -78,20 +53,12 @@ typedef struct motorMixer_s {
 
 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
 
-// Custom mixer configuration
-typedef struct mixer_s {
-    mixerMode_e mixerMode;
-    const motorMixer_t *motor;
-    uint8_t flyingPlatformType;     // MC, FW or HELI
-    uint8_t motorCount;
-    bool useServos;
-    bool hasFlaps;
-} mixer_t;
-
 typedef struct mixerConfig_s {
-    uint8_t mixerMode;
     int8_t yaw_motor_direction;
     uint16_t yaw_jump_prevention_limit;      // make limit configurable (original fixed value was 100)
+    uint8_t platformType;
+    bool hasFlaps;
+    int16_t appliedMixerPreset;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);
@@ -124,7 +91,6 @@ uint8_t getMotorCount(void);
 bool mixerIsOutputSaturated(void);
 
 void writeAllMotors(int16_t mc);
-void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerUsePWMIOConfiguration(void);
 void mixerUpdateStateFlags(void);
 void mixerResetDisarmedMotors(void);
@@ -133,8 +99,4 @@ void writeMotors(void);
 void processServoTilt(void);
 void processServoAutotrim(void);
 void stopMotors(void);
-void stopPwmAllMotors(void);
-
-int getFlyingPlatformType(void);
-
-bool isMixerEnabled(mixerMode_e mixerMode);
+void stopPwmAllMotors(void);
\ No newline at end of file
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 010a1542b91..ee91d3fb9f6 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -443,7 +443,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
     }
 }
 
-#ifdef USE_SERVOS
 static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis)
 {
     const float rateError = pidState->rateTarget - pidState->gyroRate;
@@ -485,7 +484,6 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
     axisPID_Setpoint[axis] = pidState->rateTarget;
 #endif
 }
-#endif
 
 static void pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis)
 {
@@ -761,15 +759,11 @@ void pidController(void)
     // Step 4: Run gyro-driven control
     for (int axis = 0; axis < 3; axis++) {
         // Apply PID setpoint controller
-#ifdef USE_SERVOS
         if (STATE(FIXED_WING)) {
             pidApplyFixedWingRateController(&pidState[axis], axis);
         }
         else {
             pidApplyMulticopterRateController(&pidState[axis], axis);
         }
-#else
-        pidApplyMulticopterRateController(&pidState[axis], axis);
-#endif
     }
 }
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index 60d17e0c8b6..33befae6567 100755
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -22,8 +22,6 @@
 
 #include "platform.h"
 
-#ifdef USE_SERVOS
-
 #include "build/debug.h"
 #include "build/build_config.h"
 
@@ -56,8 +54,6 @@
 
 #include "sensors/gyro.h"
 
-extern const mixer_t * findMixer(mixerMode_e mixerMode);
-
 PG_REGISTER_WITH_RESET_TEMPLATE(servoConfig_t, servoConfig, PG_SERVO_CONFIG, 0);
 
 PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
@@ -104,65 +100,6 @@ static bool servoFilterIsSet;
 static servoMetadata_t servoMetadata[MAX_SUPPORTED_SERVOS];
 static rateLimitFilter_t servoSpeedLimitFilter[MAX_SERVO_RULES];
 
-#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
-// mixer rule format servo, input, rate, speed
-static const servoMixer_t servoMixerAirplane[] = {
-    { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL,  100, 0 },
-    { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL,  100, 0 },
-    { SERVO_FLAPPERON_1, INPUT_FEATURE_FLAPS,   -100, 0 },
-    { SERVO_FLAPPERON_2, INPUT_FEATURE_FLAPS,    100, 0 },
-    { SERVO_RUDDER,      INPUT_STABILIZED_YAW,   100, 0 },
-    { SERVO_ELEVATOR,    INPUT_STABILIZED_PITCH, 100, 0 },
-};
-
-static const servoMixer_t servoMixerFlyingWing[] = {
-    { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL,  50, 0 },
-    { SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 50, 0 },
-    { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, -50, 0 },
-    { SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 50, 0 },
-};
-
-static const servoMixer_t servoMixerTri[] = {
-    { SERVO_RUDDER, INPUT_STABILIZED_YAW,   100, 0 },
-};
-
-// Custom mixer configuration
-typedef struct mixerRules_s {
-    uint8_t servoRuleCount;
-    uint8_t minServoIndex;
-    uint8_t maxServoIndex;
-    const servoMixer_t *rule;
-} mixerRules_t;
-
-const mixerRules_t servoMixers[] = {
-    { 0, 0, 0, NULL },                // entry 0
-    { COUNT_SERVO_RULES(servoMixerTri), SERVO_RUDDER, SERVO_RUDDER, servoMixerTri },       // MULTITYPE_TRI
-    { 0, 0, 0, NULL },                // MULTITYPE_QUADP
-    { 0, 0, 0, NULL },                // MULTITYPE_QUADX
-    { 0, 0, 0, NULL },                // MULTITYPE_BI
-    { 0, 0, 0, NULL },                // MULTITYPE_GIMBAL / MIXER_GIMBAL -> disabled
-    { 0, 0, 0, NULL },                // MULTITYPE_Y6
-    { 0, 0, 0, NULL },                // MULTITYPE_HEX6
-    { COUNT_SERVO_RULES(servoMixerFlyingWing), SERVO_FLAPPERONS_MIN, SERVO_FLAPPERONS_MAX, servoMixerFlyingWing },// * MULTITYPE_FLYING_WING
-    { 0, 0, 0, NULL },                // MULTITYPE_Y4
-    { 0, 0, 0, NULL },                // MULTITYPE_HEX6X
-    { 0, 0, 0, NULL },                // MULTITYPE_OCTOX8
-    { 0, 0, 0, NULL },                // MULTITYPE_OCTOFLATP
-    { 0, 0, 0, NULL },                // MULTITYPE_OCTOFLATX
-    { COUNT_SERVO_RULES(servoMixerAirplane), SERVO_PLANE_INDEX_MIN, SERVO_PLANE_INDEX_MAX, servoMixerAirplane },  // * MULTITYPE_AIRPLANE
-    { 0, 0, 0, NULL },                // * MIXER_HELI_120_CCPM -> disabled, never fully implemented in CF
-    { 0, 0, 0, NULL },                // * MIXER_HELI_90_DEG -> disabled, never fully implemented in CF
-    { 0, 0, 0, NULL },                // MULTITYPE_VTAIL4
-    { 0, 0, 0, NULL },                // MULTITYPE_HEX6H
-    { 0, 0, 0, NULL },                // * MULTITYPE_PPM_TO_SERVO
-    { 0, 0, 0, NULL },                // MULTITYPE_DUALCOPTER
-    { 0, 0, 0, NULL },                // MULTITYPE_SINGLECOPTER
-    { 0, 0, 0, NULL },                // MULTITYPE_ATAIL4
-    { 0, 2, 5, NULL },                // MULTITYPE_CUSTOM
-    { 0, SERVO_PLANE_INDEX_MIN, SERVO_PLANE_INDEX_MAX, NULL },                // MULTITYPE_CUSTOM_PLANE
-    { 0, SERVO_RUDDER, SERVO_RUDDER, NULL },                // MULTITYPE_CUSTOM_TRI
-};
-
 int16_t getFlaperonDirection(uint8_t servoPin)
 {
     if (servoPin == SERVO_FLAPPERON_2) {
@@ -202,59 +139,35 @@ void servoComputeScalingFactors(uint8_t servoIndex) {
 
 void servosInit(void)
 {
-    const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
-    const mixer_t * motorMixer = findMixer(currentMixerMode);
-
-    minServoIndex = servoMixers[currentMixerMode].minServoIndex;
-    maxServoIndex = servoMixers[currentMixerMode].maxServoIndex;
-
-    // enable servos for mixes that require them. note, this shifts motor counts.
-    mixerUsesServos = motorMixer->useServos || feature(FEATURE_SERVO_TILT);
-
-    // if we want camstab/trig, that also enables servos, even if mixer doesn't
-    servoOutputEnabled = motorMixer->useServos || feature(FEATURE_SERVO_TILT) || feature(FEATURE_CHANNEL_FORWARDING);
-
     // give all servos a default command
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servo[i] = DEFAULT_SERVO_MIDDLE;
     }
 
     /*
-     * If mixer has predefined servo mixes, load them
+     * load mixer
      */
-    if (mixerUsesServos) {
-        servoRuleCount = servoMixers[currentMixerMode].servoRuleCount;
-        if (servoMixers[currentMixerMode].rule) {
-            for (int i = 0; i < servoRuleCount; i++) {
-                currentServoMixer[i] = servoMixers[currentMixerMode].rule[i];
-            }
-        }
-    }
+    loadCustomServoMixer();
 
-    /*
-     * When we are dealing with CUSTOM mixers, load mixes defined with
-     * smix and update internal variables
-     */
-    if (loadCustomServoMixer()) {
-        // If there are servo rules after all, update variables
-        if (servoRuleCount > 0) {
-            servoOutputEnabled = 1;
-            mixerUsesServos = 1;
-        }
+    // If there are servo rules after all, update variables
+    if (servoRuleCount > 0) {
+        servoOutputEnabled = 1;
+        mixerUsesServos = 1;
     }
 
+    // enable servos for mixes that require them. note, this shifts motor counts.
+    mixerUsesServos = mixerUsesServos || feature(FEATURE_SERVO_TILT);
+
+    // if we want camstab/trig, that also enables servos, even if mixer doesn't
+    servoOutputEnabled = mixerUsesServos || feature(FEATURE_CHANNEL_FORWARDING);
+
     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++)
         servoComputeScalingFactors(i);
 
 }
 
-bool loadCustomServoMixer(void)
+void loadCustomServoMixer(void)
 {
-    const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
-    if (!(currentMixerMode == MIXER_CUSTOM_AIRPLANE || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM)) {
-        return false;
-    }
-
     // reset settings
     servoRuleCount = 0;
     minServoIndex = 255;
@@ -278,22 +191,6 @@ bool loadCustomServoMixer(void)
         memcpy(&currentServoMixer[i], customServoMixers(i), sizeof(servoMixer_t));
         servoRuleCount++;
     }
-
-    return true;
-}
-
-void servoMixerLoadMix(int index)
-{
-    // we're 1-based
-    index++;
-    // clear existing
-    for (int i = 0; i < MAX_SERVO_RULES; i++) {
-        customServoMixersMutable(i)->targetChannel = customServoMixersMutable(i)->inputSource = customServoMixersMutable(i)->rate = 0;
-    }
-
-    for (int i = 0; i < servoMixers[index].servoRuleCount; i++) {
-        *customServoMixersMutable(i) = servoMixers[index].rule[i];
-    }
 }
 
 STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
@@ -338,8 +235,7 @@ void writeServos(void)
     /*
      * in case of tricopters, there might me a need to zero servo output when unarmed
      */
-    const mixerMode_e currentMixerMode = mixerConfig()->mixerMode;
-    if ((currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI) && !ARMING_FLAG(ARMED) && !servoConfig()->tri_unarmed_servo) {
+    if (mixerConfig()->platformType == PLATFORM_TRICOPTER && !ARMING_FLAG(ARMED) && !servoConfig()->tri_unarmed_servo) {
         zeroServoValue = true;
     }
 
@@ -568,5 +464,4 @@ bool isServoOutputEnabled(void)
 bool isMixerUsingServos(void)
 {
     return mixerUsesServos;
-}
-#endif
+}
\ No newline at end of file
diff --git a/src/main/flight/servos.h b/src/main/flight/servos.h
index 456f51ec9dc..27d11547c6c 100644
--- a/src/main/flight/servos.h
+++ b/src/main/flight/servos.h
@@ -19,11 +19,7 @@
 
 #include "config/parameter_group.h"
 
-#if defined(USE_QUAD_MIXER_ONLY)
-#define MAX_SUPPORTED_SERVOS 1
-#else
 #define MAX_SUPPORTED_SERVOS 8
-#endif
 
 // These must be consecutive, see 'reversedSources'
 enum {
@@ -132,8 +128,7 @@ extern int16_t servo[MAX_SUPPORTED_SERVOS];
 bool isServoOutputEnabled(void);
 bool isMixerUsingServos(void);
 void writeServos(void);
-void servoMixerLoadMix(int index);
-bool loadCustomServoMixer(void);
+void loadCustomServoMixer(void);
 int servoDirection(int servoIndex, int fromChannel);
 void servoMixer(float dT);
 void servoComputeScalingFactors(uint8_t servoIndex);
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index d299f036c13..712f0387f3c 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -60,7 +60,7 @@
 #define MSP_PROTOCOL_VERSION                0   // Same version over MSPv1 & MSPv2 - message format didn't change and it backward compatible
 
 #define API_VERSION_MAJOR                   2   // increment when major changes are made
-#define API_VERSION_MINOR                   1   // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   2   // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
 
 #define API_VERSION_LENGTH                  2
 
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index 5f799e35428..be7086d13fb 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -28,3 +28,6 @@
 #define MSP2_INAV_RATE_PROFILE                  0x2007
 #define MSP2_INAV_SET_RATE_PROFILE              0x2008
 #define MSP2_INAV_AIR_SPEED                     0x2009
+
+#define MSP2_INAV_MIXER                         0x2010
+#define MSP2_INAV_SET_MIXER                     0x2011
diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
index f8a15a3ad6e..02c9785f62a 100755
--- a/src/main/target/COLIBRI/config.c
+++ b/src/main/target/COLIBRI/config.c
@@ -31,7 +31,6 @@
 
 void targetConfiguration(void)
 {
-    mixerConfigMutable()->mixerMode = MIXER_HEX6X;
     rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
     rxConfigMutable()->receiverType = RX_TYPE_SERIAL;
     serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
diff --git a/src/main/target/CRAZEPONYMINI/target.h b/src/main/target/CRAZEPONYMINI/target.h_
similarity index 100%
rename from src/main/target/CRAZEPONYMINI/target.h
rename to src/main/target/CRAZEPONYMINI/target.h_
diff --git a/src/main/target/FALCORE/config.c b/src/main/target/FALCORE/config.c
index 85cf26bb127..2515a78c3d1 100755
--- a/src/main/target/FALCORE/config.c
+++ b/src/main/target/FALCORE/config.c
@@ -43,7 +43,7 @@
 void targetConfiguration(void)
 {
     systemConfigMutable()->asyncMode = ASYNC_MODE_NONE;
-    mixerConfigMutable()->mixerMode = MIXER_QUADX;
+    mixerConfigMutable()->platformType = PLATFORM_MULTIROTOR;
     
     featureSet(FEATURE_VBAT);
     featureSet(FEATURE_GPS);
diff --git a/src/main/target/FF_F35_LIGHTNING/config.c b/src/main/target/FF_F35_LIGHTNING/config.c
index 4edb0b6f7b7..d55462b72c8 100644
--- a/src/main/target/FF_F35_LIGHTNING/config.c
+++ b/src/main/target/FF_F35_LIGHTNING/config.c
@@ -50,5 +50,5 @@ void targetConfiguration(void)
     serialConfigMutable()->portConfigs[6].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
     telemetryConfigMutable()->smartportUartUnidirectional = 1;
 
-    mixerConfigMutable()->mixerMode = MIXER_AIRPLANE;
+    mixerConfigMutable()->platformType = PLATFORM_AIRPLANE;
 }
diff --git a/src/main/target/KFC32F3_INAV/target.h b/src/main/target/KFC32F3_INAV/target.h
index be5147b81c7..443360f6441 100755
--- a/src/main/target/KFC32F3_INAV/target.h
+++ b/src/main/target/KFC32F3_INAV/target.h
@@ -136,7 +136,6 @@
 // Number of available PWM outputs
 #define MAX_PWM_OUTPUT_PORTS    10
 #define TARGET_MOTOR_COUNT      10
-#define USE_SERVOS
 
 // IO - stm32f303cc in 48pin package
 #define TARGET_IO_PORTA         0xffff
diff --git a/src/main/target/MATEKF405SE/config.c b/src/main/target/MATEKF405SE/config.c
index 27d254478b7..324138e9e7f 100644
--- a/src/main/target/MATEKF405SE/config.c
+++ b/src/main/target/MATEKF405SE/config.c
@@ -34,7 +34,7 @@ void targetConfiguration(void)
 
     //featureSet(FEATURE_PWM_OUTPUT_ENABLE); // enable PWM outputs by default
     //mixerConfigMutable()->mixerMode = MIXER_FLYING_WING; // default mixer to flying wing
-    mixerConfigMutable()->mixerMode = MIXER_AIRPLANE;   // default mixer to Airplane
+    mixerConfigMutable()->platformType = PLATFORM_AIRPLANE;   // default mixer to Airplane
 
     serialConfigMutable()->portConfigs[7].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
 }
\ No newline at end of file
diff --git a/src/main/target/PIKOBLX/target.h b/src/main/target/PIKOBLX/target.h
index 21a6dce307a..72025d291e9 100644
--- a/src/main/target/PIKOBLX/target.h
+++ b/src/main/target/PIKOBLX/target.h
@@ -67,7 +67,6 @@
 #define USE_TELEMETRY
 #define USE_BLACKBOX
 #define USE_SERIAL_RX
-#define USE_SERVOS
 
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_ADC
diff --git a/src/main/target/common.h b/src/main/target/common.h
index da32a6e035f..2bb22c981d9 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -21,7 +21,6 @@
 #define I2C2_OVERCLOCK false
 #define USE_I2C_PULLUP          // Enable built-in pullups on all boards in case external ones are too week
 
-#define USE_SERVOS
 #define USE_CLI
 
 #define USE_RX_PWM
@@ -120,7 +119,6 @@
 #define SKIP_TASK_STATISTICS
 #define SKIP_CLI_COMMAND_HELP
 #define SKIP_CLI_RESOURCES
-#define DISABLE_UNCOMMON_MIXERS
 #define NAV_MAX_WAYPOINTS       30
 #define MAX_BOOTLOG_ENTRIES     32
 #endif
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 6cfabeb69c3..713a46d0056 100755
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -428,34 +428,24 @@ void mavlinkSendHUDAndHeartbeat(void)
         mavModes |= MAV_MODE_FLAG_SAFETY_ARMED;
 
     uint8_t mavSystemType;
-    switch (mixerConfig()->mixerMode)
+    switch (mixerConfig()->platformType)
     {
-        case MIXER_TRI:
-            mavSystemType = MAV_TYPE_TRICOPTER;
-            break;
-        case MIXER_QUADP:
-        case MIXER_QUADX:
-        case MIXER_Y4:
-        case MIXER_VTAIL4:
+        case PLATFORM_MULTIROTOR:
             mavSystemType = MAV_TYPE_QUADROTOR;
             break;
-        case MIXER_Y6:
-        case MIXER_HEX6:
-        case MIXER_HEX6X:
-            mavSystemType = MAV_TYPE_HEXAROTOR;
-            break;
-        case MIXER_OCTOX8:
-        case MIXER_OCTOFLATP:
-        case MIXER_OCTOFLATX:
-            mavSystemType = MAV_TYPE_OCTOROTOR;
+        case PLATFORM_TRICOPTER:
+            mavSystemType = MAV_TYPE_TRICOPTER;
             break;
-        case MIXER_FLYING_WING:
-        case MIXER_AIRPLANE:
-        case MIXER_CUSTOM_AIRPLANE:
+        case PLATFORM_AIRPLANE:
             mavSystemType = MAV_TYPE_FIXED_WING;
             break;
-        case MIXER_HELI_120_CCPM:
-        case MIXER_HELI_90_DEG:
+        case PLATFORM_ROVER:
+            mavSystemType = MAV_TYPE_GROUND_ROVER;
+            break;
+        case PLATFORM_BOAT:
+            mavSystemType = MAV_TYPE_SURFACE_BOAT;
+            break;
+        case PLATFORM_HELICOPTER:
             mavSystemType = MAV_TYPE_HELICOPTER;
             break;
         default:
diff --git a/src/test/unit/target.h b/src/test/unit/target.h
index b0df8b7ce0c..23987c9aabb 100755
--- a/src/test/unit/target.h
+++ b/src/test/unit/target.h
@@ -34,7 +34,6 @@
 #define USE_TELEMETRY_SMARTPORT
 #define USE_TELEMETRY_LTM
 #define USE_LED_STRIP
-#define USE_SERVOS
 #define TRANSPONDER
 #define USE_FAKE_GYRO
 #define USE_VCP