diff --git a/ArducopterNG/Arducopter.h b/ArducopterNG/Arducopter.h
index 5c634241cb..2fbf05dde7 100644
--- a/ArducopterNG/Arducopter.h
+++ b/ArducopterNG/Arducopter.h
@@ -462,6 +462,20 @@ unsigned long elapsedTime			= 0;		// for doing custom events
 #define MODE3           3
 #define MODE4           4
 
+// Frame models
+#define QUAD            0            // Normal Quad 
+#define QUADCOAX        1            // Quad with double motors as coax
+#define HEXA            2            // Hexa
+#define HEXARADIAL      3
+#define HEXACOAX        4
+#define OCTO            5
+
+#define PWM             0
+#define I2C             1
+#define UART            2
+
+
+
 // Following variables stored in EEPROM
 float KP_QUAD_ROLL;
 float KI_QUAD_ROLL;
diff --git a/ArducopterNG/ArducopterNG.pde b/ArducopterNG/ArducopterNG.pde
index 8ca0362d53..543cb4f0eb 100644
--- a/ArducopterNG/ArducopterNG.pde
+++ b/ArducopterNG/ArducopterNG.pde
@@ -74,6 +74,31 @@
 //#define GPSDEVICE  GPSDEV_NMEA       // For general NMEA compatible GPSEs
 //#dedine GPSDEVICE  GPSDEV_IMU        // For IMU Simulations only
 
+
+////////////////////////////////////////
+// Frame / Motor / ESC definitions
+
+// Introducing new frame / Motor / ESC definitions for future expansion. Currently these are not in 
+// use but they need to be here so implementation work can continue.
+
+                             // New frame model definitions. (not in use yet, 28-11-10 jp)
+#define FRAME_MODEL QUAD     // Quad frame model 
+//#define FRAME_MODEL HEXA     // Quad frame model 
+//#define FRAME_MODEL OCTO     // Quad frame model 
+
+
+                             // New motor definition for different frame type (not in use yet, 28-11-10 jp)
+#define MAX_MOTORS  4        // Are we using more motors than 4, possible choises are 4, 6, 8
+                             // This has to be on main .pde to get included on all other header etc files
+
+                             // Not in use yet, 28-11-10 jp
+#define MOTORTYPE  PWM       // Traditional PWM ESC's controlling motors
+//#define MOTORTYPE  I2C     // I2C style ESC's controlling motors
+//#define MOTORTYPE UART     // UART style ESC's controlling motors
+
+
+
+
 ////////////////////
 // Serial ports & speeds
 
diff --git a/ArducopterNG/CLI.pde b/ArducopterNG/CLI.pde
index e63d9d1129..ec01102171 100644
--- a/ArducopterNG/CLI.pde
+++ b/ArducopterNG/CLI.pde
@@ -226,18 +226,27 @@ void CALIB_AccOffset() {
 
   xx = xx / (loopy - 1);
   xy = xy / (loopy - 1);
-  xz = xz / (loopy - 1) ;
-
+  xz = xz / (loopy - 1);
+  xz += 500;               // Z-Axis correction
+  
   SerPriln("Averages as follows");
   SerPri("  ");
   tab();
   SerPri(xx);
+  
   tab();
   SerPri(xy);
   tab();
   SerPri(xz);
   SerPriln();
 
+    acc_offset_y = xy;
+    acc_offset_x = xx;
+    acc_offset_z = xz;
+
+    AN_OFFSET[3] = acc_offset_x;
+    AN_OFFSET[4] = acc_offset_y;
+    AN_OFFSET[5] = acc_offset_z;
 
 
 }
diff --git a/ArducopterNG/Mixer.pde b/ArducopterNG/Mixer.pde
index f65ec8fd64..c6227cbdd2 100644
--- a/ArducopterNG/Mixer.pde
+++ b/ArducopterNG/Mixer.pde
@@ -6,9 +6,9 @@
  File     : Mixer.pde
  Version  : v1.0, Aug 27, 2010
  Author(s): ArduCopter Team
-             Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
-             Jani Hirvinen, Ken McEwans, Roberto Navoni,          
-             Sandro Benigno, Chris Anderson
+ Jose Julio, Jordi Muñoz,
+ Jani Hirvinen, Roberto Navoni,          
+ Sandro Benigno, Chris Anderson
  
  This program is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
@@ -22,13 +22,307 @@
  
  You should have received a copy of the GNU General Public License
  along with this program. If not, see <http://www.gnu.org/licenses/>.
+ 
+ * ************************************************************** *
+ ChangeLog:
+ 
+ 
+ * ************************************************************** *
+ TODO:
+ 
+ 
+ * ************************************************************** */
+#ifdef USEMIXER
 
-* ************************************************************** *
-ChangeLog:
+#include <stdlib.h>
+
+float MotorPitch[MAX_MOTORS];
+float MotorRoll[MAX_MOTORS];
+float MotorYaw[MAX_MOTORS];
+float MotorGas[MAX_MOTORS];
+float motorAxisCommandPitch[MAX_MOTORS];
+float motorAxisCommandRoll[MAX_MOTORS];
+float motorAxisCommandYaw[MAX_MOTORS];
+//float motorAxisCommand[3]; // Command on Roll YAW PITCH Recived from IMU
 
 
-* ************************************************************** *
-TODO:
+#if FRAME_MODEL == QUAD
+// This is an example of QuadX configuration for mixertable
+void init_mixer_table()
+{
+  // Example for Quad configuration
+  MotorGas[0]     = 100;
+  MotorPitch[0]   = -100;  
+  MotorRoll[0]    = 100;  
+  MotorYaw[0]     = 100;  
+
+  MotorGas[1]     = 100;
+  MotorPitch[1]   = 100;  
+  MotorRoll[1]    = -100;  
+  MotorYaw[1]     = 100;  
+
+  MotorGas[2]     = 100;
+  MotorPitch[2]   = -100; 
+  MotorRoll[2]    = -100;  
+  MotorYaw[2]     = -100;  
+
+  MotorGas[3]     = 100;
+  MotorPitch[3]   = 100; 
+  MotorRoll[3]    = 100; 
+  MotorYaw[3]     = -100;  
+}
+
+#elif FRAME_MODEL == HEXA
+void init_mixer_table()
+{
+  // Hexa configuration
+  MotorPitch[0]   = -100;  
+  MotorRoll[0]    = 0;  
+  MotorYaw[0]     = 100;  
+
+  MotorPitch[1]   = -50;  
+  MotorRoll[1]    = -100;  
+  MotorYaw[1]     = -100;  
+
+  MotorPitch[2]   = +50; 
+  MotorRoll[2]    = -100;  
+  MotorYaw[2]     = 100;  
+
+  MotorPitch[3]   =  +100;  
+  MotorRoll[3]    =  0;  
+  MotorYaw[3]     = -100;  
 
 
-* ************************************************************** */
+  MotorPitch[4]   = +50;  
+  MotorRoll[4]    =  100;  
+  MotorYaw[4]     =  100;  
+
+  MotorPitch[5]   =  -50;  
+  MotorRoll[5]    =  100;  
+  MotorYaw[5]     =  -100;  
+}
+#elif FRAME_MODEL == HEXARADIAL
+void init_mixer_table()
+{
+  // Example for Hexa configuration
+  MotorGas[0]     = 100;
+  MotorPitch[0]   = -100;  
+  MotorRoll[0]    = 0;  
+  MotorYaw[0]     = 100;  
+
+  MotorGas[1]     = 100;
+  MotorPitch[1]   = -50;  
+  MotorRoll[1]    = -100;  
+  MotorYaw[1]     = -100;  
+
+  MotorGas[2]     = 100;
+  MotorPitch[2]   = +50; 
+  MotorRoll[2]    = -100;  
+  MotorYaw[2]     = 100;  
+
+  MotorGas[3]     = 100;
+  MotorPitch[3]   = +100;  
+  MotorRoll[3]    = 0;  
+  MotorYaw[3]     = -100;  
+
+  MotorGas[4]     = 100;
+  MotorPitch[4]   = +50;  
+  MotorRoll[4]    =  100;  
+  MotorYaw[4]     =  100;  
+
+  MotorGas[5]     = 100;
+  MotorPitch[5]   = -50;  
+  MotorRoll[5]    = 100;  
+  MotorYaw[5]     = -100;  
+}
+
+#elif FRAME_MODEL == HEXACOAXIAL
+void init_mixer_table()
+{
+  // Example for Hexa configuration
+  MotorGas[0]     = 95;
+  MotorPitch[0]   = 100;  
+  MotorRoll[0]    = 0;  
+  MotorYaw[0]     = 100; 
+
+  MotorGas[1]     = 100;
+  MotorPitch[1]   = 100;  
+  MotorRoll[1]    = 0;  
+  MotorYaw[1]     = -100;  
+
+  MotorGas[2]     = 95;
+  MotorPitch[2]   = -50; 
+  MotorRoll[2]    =  100;  
+  MotorYaw[2]     =  -100;  
+
+  MotorGas[3]     = 100;
+  MotorPitch[3]   =  -50;  
+  MotorRoll[3]    =  100;  
+  MotorYaw[3]     =  100;  
+
+  MotorGas[4]     = 95;
+  MotorPitch[4]   = -50;  
+  MotorRoll[4]    =  -100; 
+  MotorYaw[4]     =  -100;  
+
+  MotorGas[5]     = 100;
+  MotorPitch[5]   =  -50;  
+  MotorRoll[5]    =  -100;  
+  MotorYaw[5]     =  100;  
+}
+
+#elif FRAME_MODEL == OCTO
+void init_mixer_table()
+{
+  // Octo configuration. Motors are numberd CW viewed from above starting at front = 1 (CW prop rotation)
+  // Motor rotation is CCW for odd numbered motors
+  MotorGas[0]     = 100;
+  MotorPitch[0]   = 100;  
+  MotorRoll[0]    = 0;  
+  MotorYaw[0]     = -100;  
+
+  MotorGas[1]     = 100;
+  MotorPitch[1]   = 100;  
+  MotorRoll[1]    = -100;  
+  MotorYaw[1]     = 100;  
+
+  MotorGas[2]     = 100;
+  MotorPitch[2]   = 0; 
+  MotorRoll[2]    = -100;  
+  MotorYaw[2]     = -100;  
+
+  MotorGas[3]     = 100;
+  MotorPitch[3]   = -100; 
+  MotorRoll[3]    = -100; 
+  MotorYaw[3]     = 100;  
+
+  MotorGas[4]     = 100;
+  MotorPitch[4]   = -100; 
+  MotorRoll[4]    = 0; 
+  MotorYaw[4]     = -100;  
+
+  MotorGas[5]     = 100;
+  MotorPitch[5]   = -100; 
+  MotorRoll[5]    = 100; 
+  MotorYaw[5]     = 100;  
+
+  MotorGas[6]     = 100;
+  MotorPitch[6]   = 0; 
+  MotorRoll[6]    = 100; 
+  MotorYaw[6]     = -100; 
+
+  MotorGas[7]     = 100;
+  MotorPitch[7]   = 100; 
+  MotorRoll[7]    = 100; 
+  MotorYaw[7]     = 100;  
+}
+#else
+# error You need define your frame configuration on ArduUser.h
+#endif
+
+
+
+void motor_axis_correction()
+{
+  int i;
+  for (i=0;i<MAX_MOTORS;i++)
+  {
+    motorAxisCommandPitch[i] = (control_pitch / 100.0) * MotorPitch[i];
+    motorAxisCommandRoll[i] = (control_roll / 100.0) * MotorRoll[i];
+    motorAxisCommandYaw[i] = (control_yaw / 100.0) * MotorYaw[i];
+  }
+}
+
+
+//After that we can mix them together:
+void motor_matrix_command()
+{
+  int i;
+  float valuemotor;
+  for (i=0;i<MAX_MOTORS;i++)
+  {
+    valuemotor = ((ch_throttle* MotorGas[i])/100) + motorAxisCommandPitch[i] + motorAxisCommandYaw[i] + motorAxisCommandRoll[i];
+    //valuemotor = Throttle + motorAxisCommandPitch[i] + motorAxisCommandYaw[i] + motorAxisCommandRoll[i]; // OLD VERSION WITHOUT GAS CONOL ON Mixertable
+      valuemotor = constrain(valuemotor, 1000, 2000);
+    motorCommand[i]=valuemotor;
+  }
+}
+
+
+void matrix_debug()
+{
+
+  Serial.println();
+  Serial.println("--------------------------");
+  Serial.println("        Motori Mixertable " );
+  Serial.println("--------------------------");
+  Serial.println();
+  Serial.println("--------------------------");
+  Serial.println("   Quad  Motor Debug     " );
+  Serial.println("--------------------------");
+
+  Serial.print("AIL:");
+  Serial.print(ch_roll);
+  Serial.print(" ELE:");
+  Serial.print(ch_pitch);
+  Serial.print(" THR:");
+  Serial.print( ch_throttle);
+  Serial.print(" YAW:");
+  Serial.print( ch_yaw);
+  Serial.print(" AUX:");
+  Serial.print(ch_aux);
+  Serial.print(" AUX2:");
+  Serial.print(ch_aux2);
+  Serial.println();
+  Serial.print("CONTROL_ROLL:");
+  Serial.print(control_roll);
+  Serial.print(" CONTROL_PITCH:");
+  Serial.print(control_pitch);
+  Serial.print(" CONTROL_YAW:");
+  Serial.print(control_yaw);
+  Serial.print(" SONAR_VALUE:");
+  //  Serial.print(sonar_value);
+  //  Serial.print(" TARGET_SONAR_VALUE:");
+  //  Serial.print(target_sonar_altitude);
+  //  Serial.print(" ERR_SONAR_VALUE:");
+  //  Serial.print(err_altitude);
+  //  Serial.println();
+  //  Serial.print("latitude:");
+  //  Serial.print(GPS_np.Lattitude);
+  //  Serial.print(" longitude:");
+  //  Serial.print(GPS_np.Longitude);
+  Serial.print(" command gps roll:");
+  Serial.print(command_gps_roll);
+  Serial.print(" command gps pitch:");
+  Serial.print(command_gps_pitch);
+  //  Serial.print(" Lon_diff:");
+  //  Serial.print(Lon_diff);
+  //  Serial.print(" Lon_diff");
+  //  Serial.print(command_gps_pitch);
+  Serial.println();
+  Serial.print("AP MODE:");
+  Serial.print((int)AP_mode);
+  Serial.println();
+
+#ifdef HEXARADIAL
+  Serial.println();
+  Serial.print((unsigned int)MotorI2C[5]);
+  comma();
+  Serial.print((unsigned int)MotorI2C[0]);
+  comma();
+  Serial.print((unsigned int)MotorI2C[1]);
+  comma();
+  Serial.println();
+  Serial.print((unsigned int)MotorI2C[4]);
+  comma();
+  Serial.print((unsigned int)MotorI2C[3]);
+  comma();
+  Serial.println((unsigned int)MotorI2C[2]);
+  Serial.println("---------------");
+  Serial.println();
+#endif
+
+}
+
+
+#endif    // usemixer
diff --git a/ArducopterNG/Motors.pde b/ArducopterNG/Motors.pde
index e7a2068dd2..65384c9eb1 100644
--- a/ArducopterNG/Motors.pde
+++ b/ArducopterNG/Motors.pde
@@ -74,6 +74,7 @@ void motor_output()
     command_rx_yaw = ToDeg(yaw);
   }
 
+//#if MOTORTYPE == PWM
   // Send commands to motors
   APM_RC.OutputCh(0, rightMotor);
   APM_RC.OutputCh(1, leftMotor);
@@ -83,7 +84,11 @@ void motor_output()
   // InstantPWM => Force inmediate output on PWM signals
   APM_RC.Force_Out0_Out1();
   APM_RC.Force_Out2_Out3();
-  
+//#elif MOTORTYPE == I2C
+
+//#else
+//# error You need to define your motor type on ArduUder.pde file
+//#endif    
 }