diff --git a/boards/varmint_h7 b/boards/varmint_h7
index f7a80658..1165c798 160000
--- a/boards/varmint_h7
+++ b/boards/varmint_h7
@@ -1 +1 @@
-Subproject commit f7a80658ef924d81974ce13329d5da5d8640d7f6
+Subproject commit 1165c7986da8d3bb3adda4286d9036a5858837a7
diff --git a/include/board.h b/include/board.h
index 2b350b97..15dbe117 100644
--- a/include/board.h
+++ b/include/board.h
@@ -116,8 +116,10 @@ class Board
 
   // PWM
   virtual void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) = 0;
+  virtual void pwm_init_multi(const float * rate, uint32_t channels) = 0;
   virtual void pwm_disable() = 0;
   virtual void pwm_write(uint8_t channel, float value) = 0;
+  virtual void pwm_write_multi(float * value, uint32_t channels) = 0;
 
   // non-volatile memory
   virtual void memory_init() = 0;
diff --git a/include/mixer.h b/include/mixer.h
index d11359b6..7a0b7a13 100644
--- a/include/mixer.h
+++ b/include/mixer.h
@@ -45,7 +45,7 @@ class Mixer : public ParamListenerInterface
 {
 public:
   static constexpr uint8_t NUM_TOTAL_OUTPUTS = 14;
-  static constexpr uint8_t NUM_MIXER_OUTPUTS = 8;
+  static constexpr uint8_t NUM_MIXER_OUTPUTS = 10;
 
   enum
   {
@@ -62,7 +62,8 @@ class Mixer : public ParamListenerInterface
     FIXEDWING = 10,
     PASSTHROUGH = 11,
     VTAIL = 12,
-    CUSTOM = 13,
+    QUADPLANE = 13,
+    CUSTOM = 14,
     NUM_MIXERS,
     INVALID_MIXER = 255
   };
@@ -78,11 +79,11 @@ class Mixer : public ParamListenerInterface
   typedef struct
   {
     output_type_t output_type[NUM_MIXER_OUTPUTS];
+    float default_pwm_rate[NUM_MIXER_OUTPUTS];
     float F[NUM_MIXER_OUTPUTS];
     float x[NUM_MIXER_OUTPUTS];
     float y[NUM_MIXER_OUTPUTS];
     float z[NUM_MIXER_OUTPUTS];
-    uint32_t default_pwm_rate;
   } mixer_t;
 
   typedef struct
@@ -107,143 +108,148 @@ class Mixer : public ParamListenerInterface
   void write_motor(uint8_t index, float value);
   void write_servo(uint8_t index, float value);
 
-  const mixer_t esc_calibration_mixing = {{M, M, M, M, M, M, NONE, NONE},
+  // clang-format off
 
-                                          {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // F Mix
-                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                          {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                          490};
+  const mixer_t esc_calibration_mixing = {
+    {   M,    M,    M,    M,    M,    M, NONE, NONE, NONE, NONE},  // output type
+    {  50,   50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
+    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},  // F Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // X Mix
 
   const mixer_t quadcopter_plus_mixing = {
-    {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},   // F Mix
-    {0.0f, -1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {1.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
-    490};
-
-  const mixer_t quadcopter_x_mixing = {{M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
-
-                                       {1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},   // F Mix
-                                       {-1.0f, -1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                       {1.0f, -1.0f, -1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-                                       {1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
-                                       490};
+    {   M,     M,     M,     M, NONE, NONE, NONE, NONE, NONE, NONE},  // output_type
+    { 490,   490,   490,   490,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
+    {1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {0.0f, -1.0f,  0.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {1.0f,  0.0f, -1.0f,  0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+
+  const mixer_t quadcopter_x_mixing = {
+    {    M,     M,     M,     M, NONE, NONE, NONE, NONE, NONE, NONE},  // output_type
+    {  490,   490,   490,   490,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
+    { 1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {-1.0f, -1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    { 1.0f, -1.0f, -1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    { 1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t hex_plus_mixing = {
-    {M, M, M, M, M, M, M, M}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},                       //  F  Mix
-    {0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f}, //  X  Mix
-    {1.0f, 0.5f, -0.5f, -1.0f, -0.5f, 0.5f, 0.0f, 0.0f},                    //  Y  Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},                    //  Z  Mix
-    490};
+    {   M,          M,          M,     M,         M,         M, NONE, NONE, NONE, NONE},  // output_type
+    { 490,        490,        490,   490,       490,       490,   50,   50,   50,   50},  // Rate (Hz)
+    {1.0f,       1.0f,       1.0f,  1.0f,      1.0f,      1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {0.0f, -0.866025f, -0.866025f,  0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {1.0f,       0.5f,      -0.5f, -1.0f,     -0.5f,      0.5f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {1.0f,      -1.0f,       1.0f, -1.0f,      1.0f,     -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t hex_x_mixing = {
-    {M, M, M, M, M, M, M, M}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},                       //  F  Mix
-    {-0.5f, -1.0f, -0.5f, 0.5f, 1.0f, 0.5f, 0.0f, 0.0f},                    //  X  Mix
-    {0.866025f, 0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f}, //  Y  Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},                    //  Z  Mix
-    490};
+    {        M,     M,          M,          M,    M,         M, NONE, NONE, NONE, NONE},  // output_type
+    {      490,   490,        490,        490,  490,       490,   50,   50,   50,   50},  // Rate (Hz)
+    {     1.0f,  1.0f,       1.0f,       1.0f, 1.0f,      1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {    -0.5f, -1.0f,      -0.5f,       0.5f, 1.0f,      0.5f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.866025f,  0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {     1.0f, -1.0f,       1.0f,      -1.0f, 1.0f,     -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t octocopter_plus_mixing = {
-    {M, M, M, M, M, M, M, M}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},            //  F  Mix
-    {0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 1.0f, 0.707f}, //  X  Mix
-    {1.0f, 0.707f, 0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f}, //  Y  Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f},        //  Z  Mix
-    490};
+    {   M,       M,     M,       M,     M,       M,    M,      M, NONE, NONE},  // output_type
+    { 490,     490,   490,     490,   490,     490,  490,    490,   50,   50},  // Rate (Hz)
+    {1.0f,    1.0f,  1.0f,    1.0f,  1.0f,    1.0f, 1.0f,   1.0f, 0.0f, 0.0f},  // F Mix
+    {0.0f, -0.707f, -1.0f, -0.707f,  0.0f,  0.707f, 1.0f, 0.707f, 0.0f, 0.0f},  // X Mix
+    {1.0f,  0.707f,  0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 0.0f, 0.0f},  // Y Mix
+    {1.0f,   -1.0f,  1.0f,   -1.0f,  1.0f,   -1.0f, 1.0f,  -1.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t octocopter_x_mixing = {
-    {M, M, M, M, M, M, M, M}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},            // F Mix
-    {-0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0f, 1.0f, 0.414}, // X Mix
-    {1.0f, 0.414f, -0.414f, -1.0f, -1.0f, -0.414f, 0.414f, 1.0}, // Y Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f},        // Z Mix
-    490};
+    {      M,      M,       M,       M,      M,       M,      M,     M, NONE, NONE},  // output_type
+    {    490,    490,     490,     490,    490,     490,    490,   490,   50,   50},  // Rate (Hz)
+    {   1.0f,   1.0f,    1.0f,    1.0f,   1.0f,    1.0f,   1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
+    {-0.414f,  -1.0f,   -1.0f, -0.414f, 0.414f,    1.0f,   1.0f, 0.414, 0.0f, 0.0f},  // X Mix
+    {   1.0f, 0.414f, -0.414f,   -1.0f,  -1.0f, -0.414f, 0.414f,   1.0, 0.0f, 0.0f},  // Y Mix
+    {   1.0f,  -1.0f,    1.0f,   -1.0f,   1.0f,   -1.0f,   1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t Y6_mixing = {
-    {M, M, M, M, M, M, NONE, NONE}, // output_type
-
-    {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f},               // F Mix
-    {-1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f},             // X Mix
-    {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f}, // Y Mix
-    {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f},            // Z Mix
-    490};
-
-  const mixer_t X8_mixing = {{M, M, M, M, M, M, M, M}, // output_type
-
-                             {1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},     // F Mix
-                             {-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f}, // X Mix
-                             {1.0f, 1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, 1.0f}, // Y Mix
-                             {1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, -1.0f}, // Z Mix
-                             490};
+    {     M,      M,       M,       M,      M,      M, NONE, NONE, NONE, NONE},  // output_type
+    {   490,    490,     490,     490,    490,    490,   50,   50,   50,   50},  // Rate (Hz)
+    {  1.0f,   1.0f,    1.0f,    1.0f,   1.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    { -1.0f,  -1.0f,    0.0f,    0.0f,   1.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {  1.0f,  -1.0f,    1.0f,   -1.0f,   1.0f,  -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+
+  const mixer_t X8_mixing = {
+    {    M,     M,     M,     M,     M,     M,    M,     M, NONE, NONE},  // output_type
+    {  490,   490,   490,   490,   490,   490,  490,  490,   50,   50},  // Rate (Hz)
+    { 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
+    {-1.0f, -1.0f, -1.0f, -1.0f,  1.0f,  1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // X Mix
+    { 1.0f,  1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // Y Mix
+    { 1.0f, -1.0f,  1.0f, -1.0f,  1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t tricopter_mixing = {
-    {M, M, M, S, NONE, NONE, NONE, NONE}, // output_type
-
-    {1.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},        // F Mix
-    {-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},       // X Mix
-    {0.667f, 0.0f, 0.667f, -1.333f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-    {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},        // Z Mix
-    490};
-
-  const mixer_t fixedwing_mixing = {{S, S, M, S, S, M, NONE, NONE}, // output type
-
-                                    {0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
-                                    {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                    {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-                                    {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
-                                    50};
-
-  const mixer_t passthrough_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},
-
-                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
-                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-                                      {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
-                                      50};
+    {      M,       M,      M,    NONE,        S,   NONE,   NONE,   NONE,   NONE,   NONE},  // output_type
+    {    490,     490,    490,      50,       50,     50,     50,     50,     50,     50},  // Rate (Hz)
+    { 1.000f,  0.000f, 1.000f,  0.000f,   1.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // F Mix
+    {-1.000f,  0.000f, 0.000f,  0.000f,   1.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // X Mix
+    { 0.667f,  0.000f, 0.667f,  0.000f,  -1.333f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // Y Mix
+    { 0.000f,  1.000f, 0.000f,  0.000f,   0.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f} }; // Z Mix
+
+  const mixer_t fixedwing_mixing = {
+    {   S,    S,    S, NONE,    M, NONE, NONE, NONE, NONE, NONE},  // output type
+    { 50,    50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
+    {0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t fixedwing_vtail_mixing = {
-    {S, S, M, S, NONE, NONE, NONE, NONE}, // Ailerons, LRuddervator, Motor, RRuddervator
-
-    {0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {0.0f, -0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-    {0.0f, 0.5f, 0.0f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f},  // Z Mix
-    50};
-
-  const mixer_t custom_mixing = {{NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE}, // output type
-
-                                 {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // F Mix
-                                 {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // X Mix
-                                 {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Y Mix
-                                 {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}, // Z Mix
-                                 50};
+    {   S,     S,    S, NONE,    M, NONE, NONE, NONE, NONE, NONE},  // Ailerons, LRuddervator, RRuddervator, Motor
+    {  50,    50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
+    {0.0f,  0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {1.0f,  0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {0.0f,  0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+
+  const mixer_t quadplane_mixing = {
+    {   S,     S,    S,    M,    M,     M,     M,     M, NONE, NONE},  // Ailerons, Rudder, Elevator, Tractor Motor, Quadrotors
+    {  50,    50,   50,   50,  490,   490,   490,   490,   50,   50},  // Rate (Hz)
+    {0.0f,  0.0f, 0.0f, 1.0f, 1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
+    {1.0f,  0.0f, 0.0f, 0.0f, 0.0f, -1.0f,  0.0f,  1.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f,  1.0f, 0.0f, 0.0f, 1.0f,  0.0f, -1.0f,  0.0f, 0.0f, 0.0f},  // Y Mix
+    {0.0f,  0.0f, 1.0f, 0.0f, 1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
+
+  const mixer_t passthrough_mixing = {
+    {NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},
+    {  50,   50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz or kHz)
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+
+  const mixer_t custom_mixing = {
+    {NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},  // output type
+    {  50,   50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz or kHz)
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
+    {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
   const mixer_t * mixer_to_use_;
 
-  // clang-format off
-  const mixer_t* array_of_mixers_[NUM_MIXERS] = {&esc_calibration_mixing,
-                                                 &quadcopter_plus_mixing,
-                                                 &quadcopter_x_mixing,
-                                                 &hex_plus_mixing,
-                                                 &hex_x_mixing,
-                                                 &octocopter_plus_mixing,
-                                                 &octocopter_x_mixing,
-                                                 &Y6_mixing,
-                                                 &X8_mixing,
-                                                 &tricopter_mixing,
-                                                 &fixedwing_mixing,
-                                                 &passthrough_mixing,
-                                                 &fixedwing_vtail_mixing,
-                                                 &custom_mixing};
+  const mixer_t* array_of_mixers_[NUM_MIXERS] = {
+    &esc_calibration_mixing,
+    &quadcopter_plus_mixing,
+    &quadcopter_x_mixing,
+    &hex_plus_mixing,
+    &hex_x_mixing,
+    &octocopter_plus_mixing,
+    &octocopter_x_mixing,
+    &Y6_mixing,
+    &X8_mixing,
+    &tricopter_mixing,
+    &fixedwing_mixing,
+    &passthrough_mixing,
+    &fixedwing_vtail_mixing,
+    &quadplane_mixing,
+    &custom_mixing
+  };
+
   // clang-format on
 
 public:
diff --git a/src/mixer.cpp b/src/mixer.cpp
index 2df2c9cc..1115eb7a 100644
--- a/src/mixer.cpp
+++ b/src/mixer.cpp
@@ -88,15 +88,11 @@ void Mixer::init_mixing()
 
 void Mixer::init_PWM()
 {
-  uint32_t refresh_rate = RF_.params_.get_param_int(PARAM_MOTOR_PWM_SEND_RATE);
-  if (refresh_rate == 0 && mixer_to_use_ != nullptr) {
-    refresh_rate = mixer_to_use_->default_pwm_rate;
+  if (mixer_to_use_ != nullptr) {
+    RF_.board_.pwm_init_multi(mixer_to_use_->default_pwm_rate, NUM_MIXER_OUTPUTS);
+  } else {
+    RF_.board_.pwm_init_multi(passthrough_mixing.default_pwm_rate, NUM_MIXER_OUTPUTS);
   }
-  int16_t off_pwm = 1000;
-
-  if (mixer_to_use_ == nullptr || refresh_rate == 0) RF_.board_.pwm_init(50, 0);
-  else
-    RF_.board_.pwm_init(refresh_rate, off_pwm);
 }
 
 void Mixer::write_motor(uint8_t index, float value)
@@ -172,7 +168,7 @@ void Mixer::mix_output()
   // Perform Motor Output Scaling
   for (uint8_t i = 0; i < NUM_MIXER_OUTPUTS; i++) {
     // scale all motor outputs by scale factor (this is usually 1.0, unless we saturated)
-    outputs_[i] *= scale_factor;
+    if (mixer_to_use_->output_type[i] == M) { outputs_[i] *= scale_factor; }
   }
 
   // Insert AUX Commands, and assemble combined_output_types array (Does not override mixer values)
@@ -196,12 +192,31 @@ void Mixer::mix_output()
 
   // Write to outputs
   for (uint8_t i = 0; i < NUM_TOTAL_OUTPUTS; i++) {
+    float value = outputs_[i];
     if (combined_output_type_[i] == S) {
-      write_servo(i, outputs_[i]);
+      if (value > 1.0) {
+        value = 1.0;
+      } else if (value < -1.0) {
+        value = -1.0;
+      }
+      raw_outputs_[i] = value * 0.5 + 0.5;
     } else if (combined_output_type_[i] == M) {
-      write_motor(i, outputs_[i]);
+      if (RF_.state_manager_.state().armed) {
+        if (value > 1.0) {
+          value = 1.0;
+        } else if (value < RF_.params_.get_param_float(PARAM_MOTOR_IDLE_THROTTLE)
+                   && RF_.params_.get_param_int(PARAM_SPIN_MOTORS_WHEN_ARMED)) {
+          value = RF_.params_.get_param_float(PARAM_MOTOR_IDLE_THROTTLE);
+        } else if (value < 0.0) {
+          value = 0.0;
+        }
+      } else {
+        value = 0.0;
+      }
+      raw_outputs_[i] = value;
     }
   }
+  RF_.board_.pwm_write_multi(raw_outputs_, NUM_TOTAL_OUTPUTS);
 }
 
 } // namespace rosflight_firmware
diff --git a/test/test_board.cpp b/test/test_board.cpp
index adfbc0e6..ba53dd90 100644
--- a/test/test_board.cpp
+++ b/test/test_board.cpp
@@ -154,7 +154,9 @@ float testBoard::rc_read(uint8_t channel)
   return static_cast<float>(rc_values[channel] - 1000) / 1000.0;
 }
 void testBoard::pwm_write(uint8_t channel, float value) {}
+void testBoard::pwm_write_multi(float * value, uint32_t channels) {}
 void testBoard::pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) {}
+void testBoard::pwm_init_multi(const float * rate, uint32_t channels) {}
 void testBoard::pwm_disable() {}
 
 // non-volatile memory
diff --git a/test/test_board.h b/test/test_board.h
index e61fa9da..5d0e19b1 100644
--- a/test/test_board.h
+++ b/test/test_board.h
@@ -109,8 +109,10 @@ class testBoard : public Board
 
   // PWM
   void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) override;
+  void pwm_init_multi(const float * rate, uint32_t channels) override;
   void pwm_disable() override;
   void pwm_write(uint8_t channel, float value) override;
+  void pwm_write_multi(float * value, uint32_t channels) override;
 
   // non-volatile memory
   void memory_init() override;