diff --git a/src/modules/systemlib/mixer/geoms/quad_x.toml b/src/modules/systemlib/mixer/geoms/quad_x.toml
index 8e7fc4be91..bb76f8bc9b 100644
--- a/src/modules/systemlib/mixer/geoms/quad_x.toml
+++ b/src/modules/systemlib/mixer/geoms/quad_x.toml
@@ -13,7 +13,7 @@ Cm        = 0.05
 
 [[rotors]]
 name      = "front_right"
-position  = [0.707107, 0.707107, 0.0]
+position  = [0.707107, 0.707107]#, 0.0]
 direction = "CCW"
 
 [[rotors]]
diff --git a/src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py b/src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py
index 46ed66bd3a..0b42276a2b 100644
--- a/src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py
+++ b/src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py
@@ -68,8 +68,6 @@ def parse_geom_toml(filename):
     Parses toml geometry file and returns a dictionary with curated list of rotors
     '''
 
-    import toml
-
     # Load toml file
     d = toml.load(filename)
 
@@ -79,6 +77,16 @@ def parse_geom_toml(filename):
     else:
         default = {}
 
+    # Check info section
+    if 'info' not in d:
+        raise AttributeError('{}: Error, missing info section'.format(filename))
+
+    # Check info section
+    for field in ['name', 'key', 'description']:
+        if field not in d['info']:
+            raise AttributeError('{}: Error, unspecified info field "{}"'.format(filename, field))
+
+
     # Convert rotors
     rotor_list = []
     if 'rotors' in d:
@@ -89,20 +97,28 @@ def parse_geom_toml(filename):
                     if field in default:
                         r[field] = default[field]
                     else:
-                        print(filename + ': Error, unspecified field ' + field + ' for rotor ' + r['name'])
+                        raise AttributeError('{}: Error, unspecified field "{}" for rotor "{}"'
+                                             .format(filename, field, r['name']))
 
-            # Check fields
+            # Check direction field
             r['direction'] = r['direction'].upper()
             if r['direction'] not in ['CW', 'CCW']:
-                print(filename + ': Error, invalid direction value "' + r['direction'] + '" for rotor ' + r['name'])
+                raise AttributeError('{}: Error, invalid direction value "{}" for rotor "{}"'
+                                     .format(filename, r['direction'], r['name']))
 
+            # Check vector3 fields
+            for field in ['position', 'axis']:
+                if len(r[field]) != 3:
+                    raise AttributeError('{}: Error, field "{}" for rotor "{}"'
+                                         .format(filename, field, r['name']) +
+                                         ' must be an array of length 3')
 
             # Add rotor to list
             rotor_list.append(r)
 
     # Clean dictionary
     geom = {'info': d['info'],
-           'rotors': rotor_list}
+            'rotors': rotor_list}
 
     return geom
 
@@ -111,7 +127,7 @@ def torque_matrix(center, axis, dirs, Ct, Cm):
     Compute torque generated by rotors
     '''
     # normalize rotor axis
-    ax     = axis / np.linalg.norm(axis, axis=1)[:,np.newaxis]
+    ax = axis / np.linalg.norm(axis, axis=1)[:, np.newaxis]
     torque = Ct * np.cross(center, ax) - Cm * ax * dirs
     return torque
 
@@ -124,7 +140,7 @@ def geom_to_torque_matrix(geom):
     Am = torque_matrix(center=np.array([rotor['position'] for rotor in geom['rotors']]),
                        axis=np.array([rotor['axis'] for rotor in geom['rotors']]),
                        dirs=np.array([[1.0 if rotor['direction'] == 'CCW' else -1.0]
-                                       for rotor in geom['rotors']]),
+                                      for rotor in geom['rotors']]),
                        Ct=np.array([[rotor['Ct']] for rotor in geom['rotors']]),
                        Cm=np.array([[rotor['Cm']] for rotor in geom['rotors']])).T
     return Am
@@ -134,7 +150,7 @@ def thrust_matrix(axis, Ct):
     Compute thrust generated by rotors
     '''
     # Normalize rotor axis
-    ax     = axis / np.linalg.norm(axis, axis=1)[:,np.newaxis]
+    ax = axis / np.linalg.norm(axis, axis=1)[:, np.newaxis]
     thrust = Ct * ax
     return thrust
 
@@ -175,8 +191,8 @@ def normalize_mix_px4(B):
     Normalize mix for PX4
     This is for compatibility only and should ideally not be used
     '''
-    B_norm = np.linalg.norm(B,axis=0)
-    B_max  = np.abs(B).max(axis=0)
+    B_norm = np.linalg.norm(B, axis=0)
+    B_max = np.abs(B).max(axis=0)
 
     # Same scale on roll and pitch
     B_norm[0] = max(B_norm[0], B_norm[1]) / np.sqrt(B.shape[0] / 2.0)
@@ -193,7 +209,7 @@ def normalize_mix_px4(B):
     B_norm[5] = B_max[5]
 
     # Normalize
-    B_norm[np.abs(B_norm)<1e-3] = 1
+    B_norm[np.abs(B_norm) < 1e-3] = 1
     B_px = (B / B_norm)
 
     return B_px
@@ -287,9 +303,9 @@ if __name__ == '__main__':
     parser.add_argument('-o', dest='outputfile',
                         help='output header file')
     parser.add_argument('--normalize', help='Use normalized mixers (compatibility mode)',
-            action='store_true')
+                        action='store_true')
     parser.add_argument('--sixdof', help='Use 6dof mixers',
-            action='store_true')
+                        action='store_true')
     args = parser.parse_args()
 
     # Find toml files
@@ -331,8 +347,8 @@ if __name__ == '__main__':
 
     # Generate header file
     header = generate_mixer_multirotor_header(geom_list,
-                                             use_normalized_mix=args.normalize,
-                                             use_6dof=args.sixdof)
+                                              use_normalized_mix=args.normalize,
+                                              use_6dof=args.sixdof)
     # print(header)
 
     # Write header file