diff --git a/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/inc/stabilization.h b/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/inc/stabilization.h
new file mode 100644
index 000000000..33ff3e875
--- /dev/null
+++ b/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/inc/stabilization.h
@@ -0,0 +1,43 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Stabilization PID loops in an airframe type independent manner
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the 
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{ 
+ *
+ * @file       stabilization.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef STABILIZATION_H
+#define STABILIZATION_H
+
+int32_t StabilizationInitialize();
+
+#endif // STABILIZATION_H
+
+/**
+  * @}
+  * @}
+  */
\ No newline at end of file
diff --git a/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c b/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
new file mode 100644
index 000000000..2c160ceba
--- /dev/null
+++ b/flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
@@ -0,0 +1,193 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Stabilization PID loops in an airframe type independent manner
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the 
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{ 
+ *
+ * @file       stabilization.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilization.h"
+#include "stabilizationsettings.h"
+#include "actuatordesired.h"
+#include "attitudedesired.h"
+#include "attitudeactual.h"
+#include "manualcontrolcommand.h"
+#include "systemsettings.h"
+
+
+// Private constants
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define PITCH_INTEGRAL_LIMIT 0.5
+#define ROLL_INTEGRAL_LIMIT 0.5
+#define YAW_INTEGRAL_LIMIT 0.5
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void stabilizationTask(void* parameters);
+static float bound(float val, float min, float max);
+
+/**
+ * Module initialization
+ */
+int32_t StabilizationInitialize()
+{
+	// Initialize variables
+
+	// Start main task
+	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module task
+ */
+static void stabilizationTask(void* parameters)
+{
+	StabilizationSettingsData stabSettings;
+	ActuatorDesiredData actuatorDesired;
+	AttitudeDesiredData attitudeDesired;
+	AttitudeActualData attitudeActual;
+	ManualControlCommandData manualControl;
+	SystemSettingsData systemSettings;
+	portTickType lastSysTime;
+	float pitchError, pitchErrorLast;
+	float rollError, rollErrorLast;
+	float yawError, yawErrorLast;
+	float pitchDerivative;
+	float rollDerivative;
+	float yawDerivative;
+	float pitchIntegral, pitchIntegralLimit;
+	float rollIntegral, rollIntegralLimit;
+	float yawIntegral, yawIntegralLimit;
+
+	// Initialize
+	pitchIntegral = 0.0;
+	rollIntegral = 0.0;
+	yawIntegral = 0.0;
+	pitchErrorLast = 0.0;
+	rollErrorLast = 0.0;
+	yawErrorLast = 0.0;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+		// Read settings and other objects
+		StabilizationSettingsGet(&stabSettings);
+		SystemSettingsGet(&systemSettings);
+		ManualControlCommandGet(&manualControl);
+		AttitudeDesiredGet(&attitudeDesired);
+		AttitudeActualGet(&attitudeActual);
+
+		// Pitch stabilization control loop
+		pitchError = bound(attitudeDesired.Pitch, -stabSettings.PitchMax, stabSettings.PitchMax) - attitudeActual.Pitch;
+		pitchDerivative = pitchError - pitchErrorLast;
+		pitchIntegralLimit = PITCH_INTEGRAL_LIMIT / stabSettings.PitchKi;
+		pitchIntegral = bound(pitchIntegral+pitchError*stabSettings.UpdatePeriod, -pitchIntegralLimit, pitchIntegralLimit);
+		actuatorDesired.Pitch = stabSettings.PitchKp*pitchError + stabSettings.PitchKi*pitchIntegral + stabSettings.PitchKd*pitchDerivative;
+		actuatorDesired.Pitch = bound(actuatorDesired.Pitch, -1.0, 1.0);
+		pitchErrorLast = pitchError;
+
+		// Roll stabilization control loop
+		rollError = bound(attitudeDesired.Roll, -stabSettings.RollMax, stabSettings.RollMax) - attitudeActual.Roll;
+		rollDerivative = rollError - rollErrorLast;
+		rollIntegralLimit = ROLL_INTEGRAL_LIMIT / stabSettings.RollKi;
+		rollIntegral = bound(rollIntegral+rollError*stabSettings.UpdatePeriod, -rollIntegralLimit, rollIntegralLimit);
+		actuatorDesired.Roll = stabSettings.RollKp*rollError + stabSettings.RollKi*rollIntegral + stabSettings.RollKd*rollDerivative;
+		actuatorDesired.Roll = bound(actuatorDesired.Roll, -1.0, 1.0);
+		rollErrorLast = rollError;
+
+		// Yaw stabilization control loop (only enabled on VTOL airframes)
+		if ( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )
+		{
+			yawError = attitudeDesired.Yaw - attitudeActual.Yaw;
+			yawDerivative = yawError - yawErrorLast;
+			yawIntegralLimit = YAW_INTEGRAL_LIMIT / stabSettings.YawKi;
+			yawIntegral = bound(yawIntegral+yawError*stabSettings.UpdatePeriod, -yawIntegralLimit, yawIntegralLimit);
+			actuatorDesired.Yaw = stabSettings.YawKp*yawError + stabSettings.YawKi*yawIntegral + stabSettings.YawKd*yawDerivative;;
+			actuatorDesired.Yaw = bound(actuatorDesired.Yaw, -1.0, 1.0);
+			yawErrorLast = yawError;
+		}
+		else
+		{
+			actuatorDesired.Yaw = 0.0;
+		}
+
+		// Setup throttle
+		actuatorDesired.Throttle = bound(attitudeDesired.Throttle, 0.0, stabSettings.ThrottleMax);
+
+		// Write actuator desired (if not in manual mode)
+		if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
+		{
+			ActuatorDesiredSet(&actuatorDesired);
+		}
+		else
+		{
+			pitchIntegral = 0.0;
+			rollIntegral = 0.0;
+			yawIntegral = 0.0;
+			pitchErrorLast = 0.0;
+			rollErrorLast = 0.0;
+			yawErrorLast = 0.0;
+		}
+
+		// Clear alarms
+		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
+
+		// Wait until next update
+		vTaskDelayUntil(&lastSysTime, stabSettings.UpdatePeriod / portTICK_RATE_MS );
+	}
+}
+
+/**
+ * Bound input value between limits
+ */
+static float bound(float val, float min, float max)
+{
+	if ( val < min )
+	{
+		val = min;
+	}
+	else if ( val > max )
+	{
+		val = max;
+	}
+	return val;
+}
+
+/** 
+  * @}
+  * @}
+  */