diff --git a/libraries/AP_Scripting/applets/x-quad-cg-allocation.lua b/libraries/AP_Scripting/applets/x-quad-cg-allocation.lua
new file mode 100644
index 00000000000000..aa5a1bb1a92ca3
--- /dev/null
+++ b/libraries/AP_Scripting/applets/x-quad-cg-allocation.lua
@@ -0,0 +1,239 @@
+-- x-quad-cg-allocation.lua: Adjust the control allocation matrix for offset CoG.
+--
+-- WARNING: This script is applicable only to X-type quadrotors and quadplanes.
+--
+-- How To Use
+--   1. Place this script in the "scripts" directory.
+--   2. Set FRAME_CLASS or Q_FRAME_CLASS to 17 to enable the dynamic scriptable mixer.
+--   3. Enable Lua scripting via the SCR_ENABLE parameter.
+--   4. Reboot.
+--   5. Fly the vehicle.
+--   6. Adjust the value of the CGA_RATIO parameter.
+--
+-- How It Works
+--   1. The control allocation matrix is adjusted for thrust and pitch based on the ??? parameter value.
+
+--[[
+Global definitions.
+--]]
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+local SCRIPT_NAME = "CoG adjust script"
+local LOOP_RATE_HZ = 10
+local last_warning_time_ms = uint32_t() -- Time we last sent a warning message to the user.
+local WARNING_DEADTIME_MS = 1000 -- How often the user should be warned.
+local is_frame_mc_ok = false
+local is_frame_fw_ok = false
+local last_ratio = 1
+
+-- State machine states.
+local FSM_STATE = {
+    INACTIVE = 0,
+    INITIALIZE = 1,
+    ACTIVE = 2,
+}
+local current_state = FSM_STATE.INACTIVE
+local next_state = FSM_STATE.INACTIVE
+
+
+--[[
+New parameter declarations
+--]]
+local PARAM_TABLE_KEY = 139
+local PARAM_TABLE_PREFIX = "CGA_"
+
+-- Bind a parameter to a variable.
+function bind_param(name)
+    return Parameter(name)
+end
+
+-- Add a parameter and bind it to a variable.
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('Could not add param %s', name))
+    return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Add param table.
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 1), SCRIPT_NAME .. ': Could not add param table.')
+
+--[[
+  // @Param: CGA_RATIO
+  // @DisplayName: CoG adjustment ratio
+  // @Description: The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).
+  // @Range: 0.5 2
+  // @User: Advanced
+--]]
+CGA_RATIO = bind_add_param('RATIO', 1, 1)
+
+-- Bindings to existing parameters
+
+--[[
+Potential additions:
+--]]
+-- Warn the user, throttling the message rate.
+function warn_user(msg, severity)
+    severity = severity or MAV_SEVERITY.WARNING -- Optional severity argument.
+    if millis() - last_warning_time_ms > WARNING_DEADTIME_MS then
+            gcs:send_text(severity, SCRIPT_NAME .. ": " .. msg)
+        last_warning_time_ms = millis()
+    end
+end
+
+-- Decide if the given ratio value makes sense.
+function sanitize_ratio(ratio)
+    if (ratio < 0.5) or (ratio > 2) then
+        warn_user("CGA_RATIO value out of bounds.", MAV_SEVERITY.ERROR)
+        return 1.0 -- Return default.
+    else
+        return ratio
+    end
+end
+
+-- Adjust the dynamic motor mixer.
+function update_mixer(ratio)
+    local r1 = 1/(1+ratio)
+    local r2 = ratio/(1+ratio)
+
+    Motors_dynamic:add_motor(0, 1)
+    Motors_dynamic:add_motor(1, 3)
+    Motors_dynamic:add_motor(2, 4)
+    Motors_dynamic:add_motor(3, 2)
+
+    factors = motor_factor_table()
+
+    -- Roll stays as-is.
+    factors:roll(0, -0.5)
+    factors:roll(1,  0.5)
+    factors:roll(2,  0.5)
+    factors:roll(3, -0.5)
+
+    -- Pitch stays as-is.
+    factors:pitch(0, 0.5)
+    factors:pitch(1, -0.5)
+    factors:pitch(2, 0.5)
+    factors:pitch(3, -0.5)
+
+    -- Yaw stays as-is.
+    factors:yaw(0,  0.5)
+    factors:yaw(1,  0.5)
+    factors:yaw(2, -0.5)
+    factors:yaw(3, -0.5)
+
+    -- Throttle is modulated.
+    factors:throttle(0,  2*r2)
+    factors:throttle(1,  2*r1)
+    factors:throttle(2,  2*r2)
+    factors:throttle(3,  2*r1)
+
+    Motors_dynamic:load_factors(factors)
+
+    if not Motors_dynamic:init(4) then
+        warn_user("Failed to initialize motor matrix!", MAV_SEVERITY.EMERGENCY)
+    else
+        if ratio ~= last_ratio then
+            warn_user("Set ratio to " .. tostring(ratio), MAV_SEVERITY.INFO)
+            last_ratio = ratio
+        end
+    end
+
+end
+
+-- Decide if the UA is a Quad X quadplane.
+function inspect_frame_class_fw()
+    local result = false
+
+    Q_ENABLE = bind_param("Q_ENABLE")
+    Q_FRAME_CLASS = bind_param("Q_FRAME_CLASS")
+
+    if FWVersion:type()==3 then
+        -- Test for the validity of the parameters.
+        if Q_ENABLE:get()==1 and Q_FRAME_CLASS:get()==17 then
+            result = true
+        end
+    end
+    is_frame_fw_ok = result
+end
+
+-- Decide if the UA is a Quad X multicopter.
+function inspect_frame_class_mc()
+    local result = false
+
+    FRAME_CLASS = bind_param("FRAME_CLASS")
+
+    if FWVersion:type()==2 then 
+        if FRAME_CLASS:get()==17 then
+            result = true
+        end
+    end
+    is_frame_mc_ok = result
+end
+
+--[[
+Activation conditions
+--]]
+-- Check for script activating conditions here.
+-- Check frame types.
+function can_start()
+    result = is_frame_mc_ok or is_frame_fw_ok
+    return result
+end
+
+--[[
+Deactivation conditions
+--]]
+-- Check for script deactivating conditions here.
+function must_stop()
+    return false
+end
+
+--[[
+State machine
+--]]
+function fsm_step()
+    if current_state == FSM_STATE.INACTIVE then
+        if can_start() then
+            next_state = FSM_STATE.INITIALIZE
+        end
+
+    elseif current_state == FSM_STATE.INITIALIZE then
+        next_state = FSM_STATE.ACTIVE
+
+    elseif current_state == FSM_STATE.ACTIVE then
+        -- Assert the parameter limits.
+        local ratio = sanitize_ratio(CGA_RATIO:get())
+        -- Create the control allocation matrix parameters.
+        update_mixer(ratio)
+
+        if must_stop() then
+            next_state = FSM_STATE.INACTIVE
+        end
+    else
+        gcs:send_text(MAV_SEVERITY.CRITICAL, "Unexpected FSM state!")
+    end
+
+    current_state = next_state
+end
+
+--[[
+Main loop function
+--]]
+function update()
+    fsm_step()
+end
+
+-- Check once on boot if the frame type is suitable for this script.
+pcall(inspect_frame_class_mc)
+pcall(inspect_frame_class_fw)
+gcs:send_text(MAV_SEVERITY.INFO, SCRIPT_NAME .. string.format(" loaded."))
+
+-- Wrapper around update() to catch errors.
+function protected_wrapper()
+  local success, err = pcall(update)
+  if not success then
+     gcs:send_text(MAV_SEVERITY.EMERGENCY, "Internal Error: " .. err)
+     return protected_wrapper, 1000
+  end
+  return protected_wrapper, 1000.0/LOOP_RATE_HZ
+end
+
+-- Start running update loop
+return protected_wrapper()
\ No newline at end of file
diff --git a/libraries/AP_Scripting/applets/x-quad-cg-allocation.md b/libraries/AP_Scripting/applets/x-quad-cg-allocation.md
new file mode 100644
index 00000000000000..114bb61f86ebfa
--- /dev/null
+++ b/libraries/AP_Scripting/applets/x-quad-cg-allocation.md
@@ -0,0 +1,49 @@
+# Multicopter CoM compensation
+
+This script allows for adjusting the control allocation matrix.
+
+When the Center of Mass (CoM) of an airframe does not coincide with the center
+of its thrusters, then there is a lever arm between the thrust vector and the
+CoM. This often is the case in VTOL fixed-wing aircraft (quadplanes) where
+typically the CoM is more forward than the center of thrust. As a result, the
+thrust produces a pitch-down moment. This produces a disturbance in the pitch
+control and requires significant wind-up in the pitch integrator.
+
+To compensate for this issue, this script employs the dynamic control allocation
+matrix to request asymmeterical front and back thrust.
+
+WARNING: This script is applicable only to X-type quadrotors and quadplanes. Do
+not use in any other frame configuration!
+
+# Parameters
+
+The script adds 1 parameter to control it's behaviour.
+
+## CGA_RATIO
+
+This is the desired ratio between the front and back thrust. To have the front
+motors produce more lift that the rear, increase higher than 1.
+
+Reasonable extreme values are 2 (front works twice as hard as the rear) and 0.5
+(the inverse case). Given an out-of-bounds parameter value, the script will use
+the default 1.0. 
+
+# Operation
+
+How To Use
+  1. Place this script in the "scripts" directory.
+  2. Set `FRAME_CLASS` or `Q_FRAME_CLASS` (for quadplanes) to 17 to enable the
+  dynamic scriptable mixer.
+  3. Enable Lua scripting via the SCR_ENABLE parameter.
+  4. Reboot.
+  5. Fly the vehicle.
+  6. Adjust the value of the CGA_RATIO parameter. A good indicator of a good
+  tune is to monitor the telemetry value `PID_TUNE[1].I` (pitch rate controller
+  integrator) until it reaches zero during a stable hover.
+
+How It Works
+  1. The dynamic control allocation matrix is able to change the coefficients
+  that convert the throttle command to individual PWM commands for every motor.
+  These coefficients have a default value of 1.
+  2. The parameter `CGA_RATIO` is used to alter these coefficients, so that the
+  front and back thrust commands are not equal.
\ No newline at end of file