diff --git a/files/images/px4/calibration/radioCenter.png b/files/images/px4/calibration/mode1/radioCenter.png
similarity index 100%
rename from files/images/px4/calibration/radioCenter.png
rename to files/images/px4/calibration/mode1/radioCenter.png
diff --git a/files/images/px4/calibration/mode1/radioHome.png b/files/images/px4/calibration/mode1/radioHome.png
new file mode 100644
index 0000000000000000000000000000000000000000..d76983650f46d404f8f5a1050182162a513eba76
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioHome.png differ
diff --git a/files/images/px4/calibration/mode1/radioPitchDown.png b/files/images/px4/calibration/mode1/radioPitchDown.png
new file mode 100644
index 0000000000000000000000000000000000000000..56f8d6af9c515c8f495e3bce9b378a9588f43607
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioPitchDown.png differ
diff --git a/files/images/px4/calibration/mode1/radioPitchUp.png b/files/images/px4/calibration/mode1/radioPitchUp.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1f954ae39a34d430b44112d2f50b1af37652264
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioPitchUp.png differ
diff --git a/files/images/px4/calibration/mode1/radioRollLeft.png b/files/images/px4/calibration/mode1/radioRollLeft.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fed7e5061d350cbe1555876faa672d45fa7ec13
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioRollLeft.png differ
diff --git a/files/images/px4/calibration/mode1/radioRollRight.png b/files/images/px4/calibration/mode1/radioRollRight.png
new file mode 100644
index 0000000000000000000000000000000000000000..b532961f3b4baaef14b9352a66f75d5d8823415e
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioRollRight.png differ
diff --git a/files/images/px4/calibration/radioSwitchMinMax.png b/files/images/px4/calibration/mode1/radioSwitchMinMax.png
similarity index 100%
rename from files/images/px4/calibration/radioSwitchMinMax.png
rename to files/images/px4/calibration/mode1/radioSwitchMinMax.png
diff --git a/files/images/px4/calibration/mode1/radioThrottleDown.png b/files/images/px4/calibration/mode1/radioThrottleDown.png
new file mode 100644
index 0000000000000000000000000000000000000000..d76983650f46d404f8f5a1050182162a513eba76
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioThrottleDown.png differ
diff --git a/files/images/px4/calibration/mode1/radioThrottleUp.png b/files/images/px4/calibration/mode1/radioThrottleUp.png
new file mode 100644
index 0000000000000000000000000000000000000000..768aa44f52ac2937ecaf433fb47f55c93687333b
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioThrottleUp.png differ
diff --git a/files/images/px4/calibration/mode1/radioYawLeft.png b/files/images/px4/calibration/mode1/radioYawLeft.png
new file mode 100644
index 0000000000000000000000000000000000000000..489478e444c5a2b3b92e743c677a3a8c0a54fa0c
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioYawLeft.png differ
diff --git a/files/images/px4/calibration/mode1/radioYawRight.png b/files/images/px4/calibration/mode1/radioYawRight.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e86faa96f840a90eb7bb551a7eba07950afc492
Binary files /dev/null and b/files/images/px4/calibration/mode1/radioYawRight.png differ
diff --git a/files/images/px4/calibration/mode2/radioCenter.png b/files/images/px4/calibration/mode2/radioCenter.png
new file mode 100644
index 0000000000000000000000000000000000000000..556321ec4b1c3142dc40acaf8068b4fb57e923a5
Binary files /dev/null and b/files/images/px4/calibration/mode2/radioCenter.png differ
diff --git a/files/images/px4/calibration/radioHome.png b/files/images/px4/calibration/mode2/radioHome.png
similarity index 100%
rename from files/images/px4/calibration/radioHome.png
rename to files/images/px4/calibration/mode2/radioHome.png
diff --git a/files/images/px4/calibration/radioPitchDown.png b/files/images/px4/calibration/mode2/radioPitchDown.png
similarity index 100%
rename from files/images/px4/calibration/radioPitchDown.png
rename to files/images/px4/calibration/mode2/radioPitchDown.png
diff --git a/files/images/px4/calibration/radioPitchUp.png b/files/images/px4/calibration/mode2/radioPitchUp.png
similarity index 100%
rename from files/images/px4/calibration/radioPitchUp.png
rename to files/images/px4/calibration/mode2/radioPitchUp.png
diff --git a/files/images/px4/calibration/radioRollLeft.png b/files/images/px4/calibration/mode2/radioRollLeft.png
similarity index 100%
rename from files/images/px4/calibration/radioRollLeft.png
rename to files/images/px4/calibration/mode2/radioRollLeft.png
diff --git a/files/images/px4/calibration/radioRollRight.png b/files/images/px4/calibration/mode2/radioRollRight.png
similarity index 100%
rename from files/images/px4/calibration/radioRollRight.png
rename to files/images/px4/calibration/mode2/radioRollRight.png
diff --git a/files/images/px4/calibration/mode2/radioSwitchMinMax.png b/files/images/px4/calibration/mode2/radioSwitchMinMax.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb284219df1c7158b4c5b9f5b9d7a5ef6004cb50
Binary files /dev/null and b/files/images/px4/calibration/mode2/radioSwitchMinMax.png differ
diff --git a/files/images/px4/calibration/radioThrottleDown.png b/files/images/px4/calibration/mode2/radioThrottleDown.png
similarity index 100%
rename from files/images/px4/calibration/radioThrottleDown.png
rename to files/images/px4/calibration/mode2/radioThrottleDown.png
diff --git a/files/images/px4/calibration/radioThrottleUp.png b/files/images/px4/calibration/mode2/radioThrottleUp.png
similarity index 100%
rename from files/images/px4/calibration/radioThrottleUp.png
rename to files/images/px4/calibration/mode2/radioThrottleUp.png
diff --git a/files/images/px4/calibration/radioYawLeft.png b/files/images/px4/calibration/mode2/radioYawLeft.png
similarity index 100%
rename from files/images/px4/calibration/radioYawLeft.png
rename to files/images/px4/calibration/mode2/radioYawLeft.png
diff --git a/files/images/px4/calibration/radioYawRight.png b/files/images/px4/calibration/mode2/radioYawRight.png
similarity index 100%
rename from files/images/px4/calibration/radioYawRight.png
rename to files/images/px4/calibration/mode2/radioYawRight.png
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index ee2f4254acea26e25284b4f7b809c646fe108b65..c0b6c33e804ec26bff25ebb4cb6ee349a9d11629 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -175,17 +175,28 @@
         <file>files/images/px4/calibration/accel_z-.png</file>
         <file>files/images/px4/calibration/accel_y+.png</file>
         <file>files/images/px4/calibration/mag_calibration_figure8.png</file>
-        <file>files/images/px4/calibration/radioCenter.png</file>
-        <file>files/images/px4/calibration/radioHome.png</file>
-        <file>files/images/px4/calibration/radioRollLeft.png</file>
-        <file>files/images/px4/calibration/radioRollRight.png</file>
-        <file>files/images/px4/calibration/radioPitchUp.png</file>
-        <file>files/images/px4/calibration/radioPitchDown.png</file>
-        <file>files/images/px4/calibration/radioYawLeft.png</file>
-        <file>files/images/px4/calibration/radioYawRight.png</file>
-        <file>files/images/px4/calibration/radioThrottleUp.png</file>
-        <file>files/images/px4/calibration/radioThrottleDown.png</file>
-        <file>files/images/px4/calibration/radioSwitchMinMax.png</file>
+        <file>files/images/px4/calibration/mode1/radioCenter.png</file>
+        <file>files/images/px4/calibration/mode1/radioHome.png</file>
+        <file>files/images/px4/calibration/mode1/radioRollLeft.png</file>
+        <file>files/images/px4/calibration/mode1/radioRollRight.png</file>
+        <file>files/images/px4/calibration/mode1/radioPitchUp.png</file>
+        <file>files/images/px4/calibration/mode1/radioPitchDown.png</file>
+        <file>files/images/px4/calibration/mode1/radioYawLeft.png</file>
+        <file>files/images/px4/calibration/mode1/radioYawRight.png</file>
+        <file>files/images/px4/calibration/mode1/radioThrottleUp.png</file>
+        <file>files/images/px4/calibration/mode1/radioThrottleDown.png</file>
+        <file>files/images/px4/calibration/mode1/radioSwitchMinMax.png</file>
+        <file>files/images/px4/calibration/mode2/radioCenter.png</file>
+        <file>files/images/px4/calibration/mode2/radioHome.png</file>
+        <file>files/images/px4/calibration/mode2/radioRollLeft.png</file>
+        <file>files/images/px4/calibration/mode2/radioRollRight.png</file>
+        <file>files/images/px4/calibration/mode2/radioPitchUp.png</file>
+        <file>files/images/px4/calibration/mode2/radioPitchDown.png</file>
+        <file>files/images/px4/calibration/mode2/radioYawLeft.png</file>
+        <file>files/images/px4/calibration/mode2/radioYawRight.png</file>
+        <file>files/images/px4/calibration/mode2/radioThrottleUp.png</file>
+        <file>files/images/px4/calibration/mode2/radioThrottleDown.png</file>
+        <file>files/images/px4/calibration/mode2/radioSwitchMinMax.png</file>
         <file>files/images/px4/menu/sensors.png</file>
         <file>files/images/px4/menu/firmware_upgrade.png</file>
         <file>files/images/px4/menu/plane.png</file>
diff --git a/src/ui/px4_configuration/PX4RCCalibration.cc b/src/ui/px4_configuration/PX4RCCalibration.cc
index 15788203d2295cb7325a8d52bf417d5a1fa528d4..ee18f459b68088989bbc16501801b3dbba1e18a0 100644
--- a/src/ui/px4_configuration/PX4RCCalibration.cc
+++ b/src/ui/px4_configuration/PX4RCCalibration.cc
@@ -26,6 +26,7 @@
 ///     @author Don Gagne <don@thegagnes.com
 
 #include <QMessageBox>
+#include <QSettings>
 
 #include "PX4RCCalibration.h"
 #include "UASManager.h"
@@ -45,6 +46,9 @@ const int PX4RCCalibration::_rcCalMinDelta = 100;             ///< Amount of del
 const int PX4RCCalibration::_stickDetectSettleMSecs = 500;
 
 const char*  PX4RCCalibration::_imageFilePrefix = ":files/images/px4/calibration/";
+const char*  PX4RCCalibration::_imageFileMode1Dir = "mode1/";
+const char*  PX4RCCalibration::_imageFileMode2Dir = "mode2/";
+const char*  PX4RCCalibration::_imageCenter = "radioCenter.png";
 const char*  PX4RCCalibration::_imageHome = "radioHome.png";
 const char*  PX4RCCalibration::_imageThrottleUp = "radioThrottleUp.png";
 const char*  PX4RCCalibration::_imageThrottleDown = "radioThrottleDown.png";
@@ -56,6 +60,9 @@ const char*  PX4RCCalibration::_imagePitchUp = "radioPitchUp";
 const char*  PX4RCCalibration::_imagePitchDown = "radioPitchDown";
 const char*  PX4RCCalibration::_imageSwitchMinMax = "radioSwitchMinMax";
 
+const char* PX4RCCalibration::_settingsGroup = "RadioCalibration";
+const char* PX4RCCalibration::_settingsKeyTransmitterMode = "TransmitterMode";
+
 const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX4RCCalibration::rcCalFunctionMax] = {
     //Parameter          required
     { "RC_MAP_ROLL" },
@@ -74,6 +81,7 @@ const struct PX4RCCalibration::FunctionInfo PX4RCCalibration::_rgFunctionInfo[PX
 PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
     QWidget(parent),
     _currentStep(-1),
+    _transmitterMode(2),
     _chanCount(0),
     _rcCalState(rcCalStateChannelWait),
     _mav(NULL),
@@ -136,11 +144,27 @@ PX4RCCalibration::PX4RCCalibration(QWidget *parent) :
     connect(_ui->pitchTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
     connect(_ui->throttleTrim, &QPushButton::clicked, this, &PX4RCCalibration::_trimNYI);
     
+    _loadSettings();
+
+    if (_transmitterMode == 1) {
+        _ui->mode1->setChecked(true);
+        _mode1Toggled(true);
+    } else if (_transmitterMode == 2) {
+        _ui->mode2->setChecked(true);
+        _mode2Toggled(true);
+    } else {
+        Q_ASSERT(false);
+    }
+    
+    connect(_ui->mode1, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode1Toggled);
+    connect(_ui->mode2, &QAbstractButton::toggled, this, &PX4RCCalibration::_mode2Toggled);
+    
     _stopCalibration();
 }
 
 PX4RCCalibration::~PX4RCCalibration()
 {
+    _storeSettings();
 }
 
 /// @brief Returns the state machine entry for the specified state.
@@ -219,7 +243,8 @@ void PX4RCCalibration::_setupCurrentState(void)
    const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
     
     _ui->rcCalStatus->setText(state->instructions);
-    _ui->radioIcon->setPixmap(QPixmap(QString(_imageFilePrefix) + state->image));
+    
+    _setHelpImage(state->image);
     
     _stickDetectChannel = _chanMax;
     _stickDetectSettleStarted = false;
@@ -976,6 +1001,8 @@ void PX4RCCalibration::_stopCalibration(void)
     _ui->rcCalNext->setEnabled(true);
     _ui->rcCalCancel->setEnabled(false);
     _ui->rcCalSkip->setEnabled(false);
+    
+    _setHelpImage(_imageCenter);
 }
 
 /// @brief Saves the current channel values, so that we can detect when the use moves an input.
@@ -1051,3 +1078,65 @@ void PX4RCCalibration::_parameterListUpToDate(void)
         _setInternalCalibrationValuesFromParameters();
     }
 }
+
+void PX4RCCalibration::_loadSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    _transmitterMode = settings.value(_settingsKeyTransmitterMode, 2).toInt();
+    settings.endGroup();
+    
+    if (_transmitterMode != 1 || _transmitterMode != 2) {
+        _transmitterMode = 2;
+    }
+}
+
+void PX4RCCalibration::_storeSettings(void)
+{
+    QSettings settings;
+    
+    settings.beginGroup(_settingsGroup);
+    settings.setValue(_settingsKeyTransmitterMode, _transmitterMode);
+    settings.endGroup();
+}
+
+void PX4RCCalibration::_mode1Toggled(bool checked)
+{
+    if (checked) {
+        _transmitterMode = 1;
+        if (_currentStep != -1) {
+            const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+            _setHelpImage(state->image);
+        }
+    }
+}
+
+void PX4RCCalibration::_mode2Toggled(bool checked)
+{
+    if (checked) {
+        _transmitterMode = 2;
+        if (_currentStep != -1) {
+            const stateMachineEntry* state = _getStateMachineEntry(_currentStep);
+            _setHelpImage(state->image);
+        }
+    }
+}
+
+void PX4RCCalibration::_setHelpImage(const char* imageFile)
+{
+    QString file = _imageFilePrefix;
+    
+    if (_transmitterMode == 1) {
+        file += _imageFileMode1Dir;
+    } else if (_transmitterMode == 2) {
+        file += _imageFileMode2Dir;
+    } else {
+        Q_ASSERT(false);
+    }
+    file += imageFile;
+    
+    //qDebug() << "_setHelpImage" << file;
+    
+    _ui->radioIcon->setPixmap(QPixmap(file));
+}
diff --git a/src/ui/px4_configuration/PX4RCCalibration.h b/src/ui/px4_configuration/PX4RCCalibration.h
index e5cdbc419f432852e1e229ddb3167b2419f06735..49ba54c6f785a507c304dbf2e956693af00cf6c9 100644
--- a/src/ui/px4_configuration/PX4RCCalibration.h
+++ b/src/ui/px4_configuration/PX4RCCalibration.h
@@ -63,6 +63,9 @@ private slots:
     void _skipButton(void);
     void _spektrumBind(void);
     
+    void _mode1Toggled(bool checked);
+    void _mode2Toggled(bool checked);
+    
     void _trimNYI(void);
     
     void _updateView(void);
@@ -184,12 +187,20 @@ private:
     void _showMinMaxOnRadioWidgets(bool show);
     void _showTrimOnRadioWidgets(bool show);
     
+    void _setHelpImage(const char* imageFile);
+    
+    void _loadSettings(void);
+    void _storeSettings(void);
+    
     // @brief Called by unit test code to set the mode to unit testing
     void _setUnitTestMode(void){ _unitTestMode = true; }
     
     // Member variables
 
+    static const char* _imageFileMode1Dir;
+    static const char* _imageFileMode2Dir;
     static const char* _imageFilePrefix;
+    static const char* _imageCenter;
     static const char* _imageHome;
     static const char* _imageThrottleUp;
     static const char* _imageThrottleDown;
@@ -201,6 +212,11 @@ private:
     static const char* _imagePitchDown;
     static const char* _imageSwitchMinMax;
     
+    static const char* _settingsGroup;
+    static const char* _settingsKeyTransmitterMode;
+    
+    int _transmitterMode;   ///< 1: transmitter is mode 1, 2: transmitted is mode 2
+    
     static const int _updateInterval;   ///< Interval for ui update timer
     
     static const struct FunctionInfo _rgFunctionInfo[rcCalFunctionMax]; ///< Information associated with each function.
diff --git a/src/ui/px4_configuration/PX4RCCalibration.ui b/src/ui/px4_configuration/PX4RCCalibration.ui
index 6a43cf186996c6db6942b1e341f8b3b9d7b5c8e4..a2231c6d9acba54bcbe2ebe9de354e0d9f5ad755 100644
--- a/src/ui/px4_configuration/PX4RCCalibration.ui
+++ b/src/ui/px4_configuration/PX4RCCalibration.ui
@@ -546,11 +546,53 @@ background-color: rgb(80, 80, 80);s</string>
       </widget>
      </item>
      <item>
-      <widget class="QLabel" name="label_9">
-       <property name="text">
-        <string>Calibration Help</string>
+      <layout class="QHBoxLayout" name="horizontalLayout_3">
+       <property name="spacing">
+        <number>-1</number>
        </property>
-      </widget>
+       <property name="sizeConstraint">
+        <enum>QLayout::SetDefaultConstraint</enum>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Calibration Help</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="mode1">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Mode 1</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QRadioButton" name="mode2">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>Mode 2</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
      </item>
      <item>
       <widget class="QLabel" name="radioIcon">
@@ -570,7 +612,7 @@ background-color: rgb(80, 80, 80);s</string>
         <string/>
        </property>
        <property name="pixmap">
-        <pixmap resource="../../../qgroundcontrol.qrc">:/files/images/px4/calibration/radioCenter.png</pixmap>
+        <pixmap>:/files/images/px4/calibration/radioCenter.png</pixmap>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
@@ -594,7 +636,7 @@ background-color: rgb(80, 80, 80);s</string>
       </widget>
      </item>
      <item>
-      <widget class="QLabel" name="label_3">
+      <widget class="QLabel" name="monitorLabel">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -1172,8 +1214,6 @@ background-color: rgb(179, 179, 179);</string>
    <container>1</container>
   </customwidget>
  </customwidgets>
- <resources>
-  <include location="../../../qgroundcontrol.qrc"/>
- </resources>
+ <resources/>
  <connections/>
 </ui>