diff --git a/Firmware b/Firmware
new file mode 120000
index 0000000000..8463fb52fd
--- /dev/null
+++ b/Firmware
@@ -0,0 +1 @@
+/home/trent/bigdata/Dropbox/Research-cloud/Projects/PX4/Firmware/
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
new file mode 100644
index 0000000000..257e2f9bbd
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/14001_tri_y_yaw+
@@ -0,0 +1,14 @@
+#!nsh
+#
+# Generic Tricopter Y Geometry
+# Yaw Servo +Output ==> +Yaw
+#
+# Trent Lukaczyk <aerialhedgehog@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER tri_y_yaw+
+
+set PWM_OUT 1234
+
diff --git a/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw- b/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
new file mode 100644
index 0000000000..66eb5e9673
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/14002_tri_y_yaw-
@@ -0,0 +1,15 @@
+#!nsh
+#
+# Generic Tricopter Y Geometry
+# Yaw Servo +Output ==> -Yaw
+#
+# Trent Lukaczyk <aerialhedgehog@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+set MIXER tri_y_yaw-
+
+set PWM_OUT 1234 
+
+
diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
new file mode 100644
index 0000000000..5aaa6c2012
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw+.main.mix
@@ -0,0 +1,12 @@
+
+
+# Tricopter Y-Configuration Mixer
+# Yaw Servo +Output ==> +Yaw
+
+# Motors
+R: 3y 10000 10000 10000 0
+
+# Yaw Servo
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
new file mode 100644
index 0000000000..b4e2e859c5
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/tri_y_yaw-.main.mix
@@ -0,0 +1,13 @@
+
+
+# Tricopter Y-Configuration Mixer
+# Yaw Servo +Output ==> -Yaw
+
+# Motors
+R: 3y 10000 10000 10000 0
+
+# Yaw Servo
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+