diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 73b75b8a43..80a1bdb0f9 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -33,6 +33,13 @@ RC_Channel::set_angle(int angle)
 	_high 	= angle;
 }
 
+void
+RC_Channel::set_reverse(bool reverse)
+{
+	if (reverse) _reverse = -1;
+	else _reverse = 1;
+}
+
 void
 RC_Channel::set_filter(bool filter)
 {
@@ -138,9 +145,27 @@ int16_t
 RC_Channel::pwm_to_angle()
 {
 	if(radio_in < radio_trim)
-		return _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
+		return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
 	else
-		return _high * ((float)(radio_in - radio_trim) / (float)(radio_max  - radio_trim));
+		return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max  - radio_trim));
+}
+
+float 
+RC_Channel::norm_input()
+{
+	if(radio_in < radio_trim)
+		return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
+	else
+		return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max  - radio_trim);
+}
+
+float 
+RC_Channel::norm_output()
+{
+	if(radio_out < radio_trim)
+		return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
+	else
+		return (float)(radio_out - radio_trim) / (float)(radio_max  - radio_trim);
 }
 
 int16_t
@@ -157,7 +182,7 @@ RC_Channel::angle_to_pwm()
 int16_t
 RC_Channel::pwm_to_range()
 {
-	return _low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min)));
+	return _reverse * (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min))));
 }
 
 int16_t
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 06fa01512a..717b2b2ddc 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -44,6 +44,7 @@ class RC_Channel{
 	// setup the control preferences
 	void 		set_range(int low, int high);
 	void 		set_angle(int angle);
+	void 		set_reverse(bool reverse);
 
 	// read input from APM_RC - create a control_in value
 	void 		set_pwm(int pwm);
@@ -81,12 +82,15 @@ class RC_Channel{
 	//int16_t 	get_radio_out(void);
 
 	int16_t		pwm_to_angle();
+	float		norm_input();
+	float		norm_output();
 	int16_t		angle_to_pwm();
 	int16_t		pwm_to_range();
 	int16_t		range_to_pwm();
 	
   private:
 	bool		_filter;
+	int8_t 		_reverse;
 
 	int16_t		_address;			///< EEPROM address for save/restore of P/I/D
 	bool 		_type;