diff --git a/companion/src/firmwares/er9x/er9xeeprom.cpp b/companion/src/firmwares/er9x/er9xeeprom.cpp
index 18eadd7f5..41fa1d36c 100644
--- a/companion/src/firmwares/er9x/er9xeeprom.cpp
+++ b/companion/src/firmwares/er9x/er9xeeprom.cpp
@@ -385,9 +385,9 @@ t_Er9xModelData::operator ModelData ()
   c9x.beepANACenter = beepANACenter;
   c9x.moduleData[0].ppmPulsePol = pulsePol;
   c9x.extendedLimits = extendedLimits;
-  c9x.swashRingData.invertELE = swashInvertELE;
-  c9x.swashRingData.invertAIL = swashInvertAIL;
-  c9x.swashRingData.invertCOL = swashInvertCOL;
+  c9x.swashRingData.elevatorWeight = swashInvertELE ? -100 : 100;
+  c9x.swashRingData.aileronWeight = swashInvertAIL ? -100 : 100;
+  c9x.swashRingData.collectiveWeight = swashInvertCOL ? -100 : 100;
   c9x.swashRingData.type = swashType;
   c9x.swashRingData.collectiveSource = er9xToSource(swashCollectiveSource);
   c9x.swashRingData.value = swashRingValue;
diff --git a/companion/src/firmwares/ersky9x/ersky9xeeprom.cpp b/companion/src/firmwares/ersky9x/ersky9xeeprom.cpp
index 7096a1ded..d13addaf3 100644
--- a/companion/src/firmwares/ersky9x/ersky9xeeprom.cpp
+++ b/companion/src/firmwares/ersky9x/ersky9xeeprom.cpp
@@ -517,9 +517,9 @@ t_Ersky9xModelData_v10::operator ModelData ()
   c9x.beepANACenter = beepANACenter;
   c9x.moduleData[0].ppmPulsePol = pulsePol;
   c9x.extendedLimits = extendedLimits;
-  c9x.swashRingData.invertELE = swashInvertELE;
-  c9x.swashRingData.invertAIL = swashInvertAIL;
-  c9x.swashRingData.invertCOL = swashInvertCOL;
+  c9x.swashRingData.elevatorWeight = swashInvertELE ? -100 : 100;
+  c9x.swashRingData.aileronWeight = swashInvertAIL ? -100 : 100;
+  c9x.swashRingData.collectiveWeight = swashInvertCOL ? -100 : 100;
   c9x.swashRingData.type = swashType;
   c9x.swashRingData.collectiveSource = ersky9xToSource_v10(swashCollectiveSource);
   c9x.swashRingData.value = swashRingValue;
@@ -632,9 +632,9 @@ t_Ersky9xModelData_v11::operator ModelData ()
   c9x.beepANACenter = beepANACenter;
   c9x.moduleData[0].ppmPulsePol = pulsePol;
   c9x.extendedLimits = extendedLimits;
-  c9x.swashRingData.invertELE = swashInvertELE;
-  c9x.swashRingData.invertAIL = swashInvertAIL;
-  c9x.swashRingData.invertCOL = swashInvertCOL;
+  c9x.swashRingData.elevatorWeight = swashInvertELE ? -100 : 100;
+  c9x.swashRingData.aileronWeight = swashInvertAIL ? -100 : 100;
+  c9x.swashRingData.collectiveWeight = swashInvertCOL ? -100 : 100;
   c9x.swashRingData.type = swashType;
   c9x.swashRingData.collectiveSource = ersky9xToSource_v11(swashCollectiveSource);
   c9x.swashRingData.value = swashRingValue;
diff --git a/companion/src/firmwares/gruvin9x/gruvin9xeeprom.cpp b/companion/src/firmwares/gruvin9x/gruvin9xeeprom.cpp
index 7beb76611..e477de7ef 100644
--- a/companion/src/firmwares/gruvin9x/gruvin9xeeprom.cpp
+++ b/companion/src/firmwares/gruvin9x/gruvin9xeeprom.cpp
@@ -338,9 +338,9 @@ t_Gruvin9xSwashRingData::t_Gruvin9xSwashRingData()
 t_Gruvin9xSwashRingData::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = gruvin9xToSource(collectiveSource);
   c9x.value = value;
diff --git a/companion/src/firmwares/opentx/open9xGruvin9xeeprom.cpp b/companion/src/firmwares/opentx/open9xGruvin9xeeprom.cpp
index 245b071c6..44de1ce22 100644
--- a/companion/src/firmwares/opentx/open9xGruvin9xeeprom.cpp
+++ b/companion/src/firmwares/opentx/open9xGruvin9xeeprom.cpp
@@ -410,9 +410,9 @@ t_Open9xGruvin9xCustomFunctionData_v210::operator CustomFunctionData ()
 t_Open9xGruvin9xSwashRingData_v208::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xV4207ToSource(collectiveSource);
   c9x.value = value;
@@ -422,9 +422,9 @@ t_Open9xGruvin9xSwashRingData_v208::operator SwashRingData ()
 t_Open9xGruvin9xSwashRingData_v209::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xV4209ToSource(collectiveSource);
   c9x.value = value;
diff --git a/companion/src/firmwares/opentx/open9xSky9xeeprom.cpp b/companion/src/firmwares/opentx/open9xSky9xeeprom.cpp
index 1b8a0ae0a..938b205c3 100644
--- a/companion/src/firmwares/opentx/open9xSky9xeeprom.cpp
+++ b/companion/src/firmwares/opentx/open9xSky9xeeprom.cpp
@@ -640,9 +640,9 @@ t_Open9xArmCustomFunctionData_v211::operator CustomFunctionData ()
 t_Open9xArmSwashRingData_v208::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xArm208ToSource(collectiveSource);
   c9x.value = value;
@@ -652,9 +652,9 @@ t_Open9xArmSwashRingData_v208::operator SwashRingData ()
 t_Open9xArmSwashRingData_v209::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xArm209ToSource(collectiveSource);
   c9x.value = value;
@@ -664,9 +664,9 @@ t_Open9xArmSwashRingData_v209::operator SwashRingData ()
 t_Open9xArmSwashRingData_v210::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xArm210ToSource(collectiveSource);
   c9x.value = value;
diff --git a/companion/src/firmwares/opentx/open9xStockeeprom.cpp b/companion/src/firmwares/opentx/open9xStockeeprom.cpp
index f42817d29..880ce420f 100644
--- a/companion/src/firmwares/opentx/open9xStockeeprom.cpp
+++ b/companion/src/firmwares/opentx/open9xStockeeprom.cpp
@@ -665,9 +665,9 @@ t_Open9xCustomFunctionData_v210::operator CustomFunctionData ()
 t_Open9xSwashRingData_v208::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9x208ToSource(collectiveSource);
   c9x.value = value;
@@ -677,9 +677,9 @@ t_Open9xSwashRingData_v208::operator SwashRingData ()
 t_Open9xSwashRingData_v209::operator SwashRingData ()
 {
   SwashRingData c9x;
-  c9x.invertELE = invertELE;
-  c9x.invertAIL = invertAIL;
-  c9x.invertCOL = invertCOL;
+  c9x.elevatorWeight = invertELE ? -100 : 100;
+  c9x.aileronWeight = invertAIL ? -100 : 100;
+  c9x.collectiveWeight = invertCOL ? -100 : 100;
   c9x.type = type;
   c9x.collectiveSource = open9xStock209ToSource(collectiveSource);
   c9x.value = value;
diff --git a/companion/src/firmwares/opentx/opentxGruvin9xsimulator.cpp b/companion/src/firmwares/opentx/opentxGruvin9xsimulator.cpp
index 629de0ee2..244a01e98 100644
--- a/companion/src/firmwares/opentx/opentxGruvin9xsimulator.cpp
+++ b/companion/src/firmwares/opentx/opentxGruvin9xsimulator.cpp
@@ -50,6 +50,7 @@
 #define FRSKY_STICKS
 #define OVERRIDE_CHANNEL_FUNCTION
 #define TIMERS 2
+#define THRTRACE
 
 #define FLAVOUR "gruvin9x"
 #define EEPROM_VARIANT 3
diff --git a/companion/src/firmwares/opentx/opentxM128simulator.cpp b/companion/src/firmwares/opentx/opentxM128simulator.cpp
index e02acb022..5fe968394 100644
--- a/companion/src/firmwares/opentx/opentxM128simulator.cpp
+++ b/companion/src/firmwares/opentx/opentxM128simulator.cpp
@@ -51,6 +51,7 @@
 #define OVERRIDE_CHANNEL_FUNCTION
 #define TIMERS 2
 #define GAUGES
+#define THRTRACE
 
 #define FLAVOUR "9x128"
 #define EEPROM_VARIANT SIMU_M128_VARIANTS
diff --git a/companion/src/firmwares/opentx/opentxM64simulator.cpp b/companion/src/firmwares/opentx/opentxM64simulator.cpp
index 7c5e62492..312303f17 100644
--- a/companion/src/firmwares/opentx/opentxM64simulator.cpp
+++ b/companion/src/firmwares/opentx/opentxM64simulator.cpp
@@ -55,6 +55,7 @@
 #define GAUGES
 #define TIMERS 2
 #define NUM_POTS  3
+#define THRTRACE
 
 #define FLAVOUR "9x"
 #define EEPROM_VARIANT SIMU_STOCK_VARIANTS
diff --git a/companion/src/firmwares/opentx/opentxSky9xsimulator.cpp b/companion/src/firmwares/opentx/opentxSky9xsimulator.cpp
index ecf04a744..53f8f2c78 100644
--- a/companion/src/firmwares/opentx/opentxSky9xsimulator.cpp
+++ b/companion/src/firmwares/opentx/opentxSky9xsimulator.cpp
@@ -57,6 +57,7 @@
 #define OVERRIDE_CHANNEL_FUNCTION
 #define NUM_POTS  3
 #define TIMERS 2
+#define THRTRACE
 
 #define EEPROM_VARIANT 3
 #define FLAVOUR "sky9x"
diff --git a/companion/src/firmwares/opentx/opentxTaranisSimulator.cpp b/companion/src/firmwares/opentx/opentxTaranisSimulator.cpp
index 331225fa4..9f7065c19 100644
--- a/companion/src/firmwares/opentx/opentxTaranisSimulator.cpp
+++ b/companion/src/firmwares/opentx/opentxTaranisSimulator.cpp
@@ -58,6 +58,7 @@
 #define REVPLUS
 #define OVERRIDE_CHANNEL_FUNCTION
 #define TIMERS 3
+#define THRTRACE
 
 #define EEPROM_VARIANT 3
 #define FLAVOUR "taranis-plus"
diff --git a/companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp b/companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp
index 5b3991bb0..775dcfb49 100755
--- a/companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp
+++ b/companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp
@@ -59,6 +59,7 @@
 #define REV9E
 #define OVERRIDE_CHANNEL_FUNCTION
 #define TIMERS 3
+#define THRTRACE
 
 #define EEPROM_VARIANT 3
 #define FLAVOUR "taranis-x9e"
diff --git a/companion/src/firmwares/opentx/opentxeeprom.cpp b/companion/src/firmwares/opentx/opentxeeprom.cpp
index e2685a69a..40a429a43 100644
--- a/companion/src/firmwares/opentx/opentxeeprom.cpp
+++ b/companion/src/firmwares/opentx/opentxeeprom.cpp
@@ -725,18 +725,33 @@ class HeliField: public StructField {
   public:
     HeliField(SwashRingData & heli, BoardEnum board, unsigned int version, unsigned int variant)
     {
-      Append(new BoolField<1>(heli.invertELE));
-      Append(new BoolField<1>(heli.invertAIL));
-      Append(new BoolField<1>(heli.invertCOL));
-      Append(new UnsignedField<5>(heli.type));
-      Append(new SourceField<8>(heli.collectiveSource, board, version, variant));
       if (IS_TARANIS(board) && version >= 217) {
+        Append(new UnsignedField<8>(heli.type));
+        Append(new UnsignedField<8>(heli.value));
+        Append(new SourceField<8>(heli.collectiveSource, board, version, variant));
         Append(new SourceField<8>(heli.aileronSource, board, version, variant));
         Append(new SourceField<8>(heli.elevatorSource, board, version, variant));
+        Append(new SignedField<8>(heli.collectiveWeight));
+        Append(new SignedField<8>(heli.aileronWeight));
+        Append(new SignedField<8>(heli.elevatorWeight));
+      }
+      else {
+        Append(new BoolField<1>(invertELE));
+        Append(new BoolField<1>(invertAIL));
+        Append(new BoolField<1>(invertCOL));
+        Append(new UnsignedField<5>(heli.type));
+        Append(new SourceField<8>(heli.collectiveSource, board, version, variant));
+        //, FLAG_NOSWITCHES)); Fix shift in collective
+        Append(new UnsignedField<8>(heli.value));
       }
-      //, FLAG_NOSWITCHES)); Fix shift in collective
-      Append(new UnsignedField<8>(heli.value));
     }
+
+  // TODO before + after
+
+  protected:
+    bool invertELE;
+    bool invertAIL;
+    bool invertCOL;
 };
 
 class FlightModeField: public TransformedField {
diff --git a/radio/src/gui/Taranis/gui.h b/radio/src/gui/Taranis/gui.h
index 48d357e78..a27e7a1ad 100755
--- a/radio/src/gui/Taranis/gui.h
+++ b/radio/src/gui/Taranis/gui.h
@@ -39,8 +39,7 @@
 
 #define DEFAULT_SCROLLBAR_X  (LCD_W-1)
 #define NUM_BODY_LINES       (LCD_LINES-1)
-#define MENU_TITLE_HEIGHT    FH
-#define MENU_NAVIG_HEIGHT    0
+#define MENU_HEADER_HEIGHT    FH
 
 struct MenuItem {
   const char *name;