diff --git a/ROMFS/px4fmu_common/init.d/24001_dodeca_cox b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
new file mode 100644
index 0000000000..fb2ed1301b
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/24001_dodeca_cox
@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Generic Dodecarotor cox geometry
+#
+# @type Dodecarotor cox
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 motor 5
+# @output MAIN6 motor 6
+#
+# @output AUX1 motor 7
+# @output AUX2 motor 8
+# @output AUX3 motor 9
+# @output AUX4 motor 10
+# @output AUX5 motor 11
+# @output AUX6 motor 12
+#
+# @maintainer Ian McNanie <ianmcnanie@gmail.com>
+# @maintainer William Peale <develop707@gmail.com>
+#
+
+set VEHICLE_TYPE mc
+
+if [ $AUTOCNF == yes ]
+then
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
+	param set PWM_MIN 1075
+	param set PWM_MAX 1950
+	param set PWM_RATE 400
+
+	param set RTL_LAND_DELAY 0
+fi
+
+set PWM_AUX_RATE 400
+# Note: May Have to set these parameters manually. They don't appear to save.
+set PWM_AUX_DISARMED 900
+param set PWM_AUX_MIN 1075
+param set PWM_AUX_MAX 1950
+
+set MIXER dodeca_top_cox
+set MIXER_AUX dodeca_bottom_cox
+
+# Need to set all 8 channels
+set PWM_OUT 12345678
+set PWM_AUX_OUT 123456
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix b/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix
new file mode 100644
index 0000000000..4f86498d69
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/dodeca_bottom_cox.aux.mix
@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6a 10000 10000 10000 0
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix b/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix
new file mode 100644
index 0000000000..97f136071d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/dodeca_top_cox.main.mix
@@ -0,0 +1,3 @@
+# Dodeca Cox
+
+R: 6m 10000 10000 10000 0
\ No newline at end of file
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index ccaa9ef8f7..ac5afbbb00 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -172,6 +172,13 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "8c")) {
 		geometry = MultirotorGeometry::OCTA_COX;
 
+	} else if (!strcmp(geomname, "6m")) {
+		geometry = MultirotorGeometry::DODECA_TOP_COX;
+
+	} else if (!strcmp(geomname, "6a")) {
+		geometry = MultirotorGeometry::DODECA_BOTTOM_COX;
+
+
 #if 0
 
 	} else if (!strcmp(geomname, "8cw")) {
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
index 1584ccf1de..6765efdfea 100755
--- a/src/modules/systemlib/mixer/multi_tables.py
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -195,8 +195,25 @@ tri_y = [
     [ 180, 0.0],
 ]
 
+dodeca_top_cox = [
+    [  90, CW],
+    [ -90, CCW],
+    [ -30, CW],
+    [ 150, CCW],
+    [  30, CCW],
+    [-150, CW],                                          
+]
 
-tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y]
+dodeca_bottom_cox = [
+    [  90, CCW],
+    [ -90, CW],
+    [ -30, CCW],
+    [ 150, CW],
+    [  30, CW],
+    [-150, CCW],
+]
+
+tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat, hex_x, hex_plus, hex_cox, hex_t, octa_x, octa_plus, octa_cox, octa_cox_wide, twin_engine, tri_y, dodeca_top_cox, dodeca_bottom_cox]
 
 def variableName(variable):
     for variableName, value in list(globals().items()):