Years ago a company called RCD made a device called a "Master Onboard Multimixer". A very valuable add on for those interested in CCPM mixing or multi servo operations. I currently use one in my chopper to control the 120 degree swashplate mixing although it can be applied to any type of rotor system, v-tail planes, etc. But that is old technology. Now they use computerized radios to allow for mixing at the main transmitter to do the same thing. However, my thinking is that onboard mixing features could open up more stable altitude control for UAV helicopter systems because they are not dependent on the original settings and would provide true collective pitch, constant rotor speed and greater engine efficiency. It also affords adjustable cyclic control on the pitch and roll gyros. Maybe a good area to concentrate a little code development. Any thoughts?