diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 21fa59f97..349edd2d1 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -140,6 +140,7 @@ endif
 
 ## UAVOBJECTS
 ifndef TESTAPP
+SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
 SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
 SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
 SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 63543c67a..4d499b10c 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -42,6 +42,7 @@
 #include "stabilizationdesired.h"
 #include "flighttelemetrystats.h"
 #include "flightstatus.h"
+#include "accessorydesired.h"
 
 // Private constants
 #if defined(PIOS_MANUAL_STACK_SIZE)
@@ -75,6 +76,7 @@ static ArmState_t armState;
 static portTickType lastSysTime;
 
 // Private functions
+static void updateAccessoryDesired(ManualControlCommandData * cmd);
 static void updateActuatorDesired(ManualControlCommandData * cmd);
 static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
 static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
@@ -294,17 +296,30 @@ static void manualControlTask(void *parameters)
 				break;
 			case FLIGHTMODE_MANUAL:
 				updateActuatorDesired(&cmd);
+				updateAccessoryDesired(&cmd);
 				break;
 			case FLIGHTMODE_STABILIZED:
 				updateStabilizationDesired(&cmd, &settings);
+				updateAccessoryDesired(&cmd);
 				break;
 			case FLIGHTMODE_GUIDANCE:
+				updateAccessoryDesired(&cmd);
 				// TODO: Implement
 				break;
 		}	
 	}
 }
 
+static void updateAccessoryDesired(ManualControlCommandData * cmd) 
+{
+	AccessoryDesiredData accessory;
+	AccessoryDesiredGet(&accessory);
+	accessory.Accessory1 = cmd->Accessory1;
+	accessory.Accessory2 = cmd->Accessory2;
+	accessory.Accessory3 = cmd->Accessory3;
+	AccessoryDesiredSet(&accessory);	
+}
+
 static void updateActuatorDesired(ManualControlCommandData * cmd) 
 {
 	ActuatorDesiredData actuator;
diff --git a/flight/OpenPilot/UAVObjects.inc b/flight/OpenPilot/UAVObjects.inc
index 4849367a9..3eb2fa571 100644
--- a/flight/OpenPilot/UAVObjects.inc
+++ b/flight/OpenPilot/UAVObjects.inc
@@ -24,6 +24,7 @@
 # (all architectures)
 
 UAVOBJSRCFILENAMES =
+UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 0fc7ccf73..4f2252237 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -2738,6 +2738,7 @@
 		65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
 		65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
 		65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
+		65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
 		65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
 		65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
 		65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
@@ -7418,6 +7419,7 @@
 		65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
 			isa = PBXGroup;
 			children = (
+				65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
 				65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
 				65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
 				65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index e895c74ea..8bd7420be 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -23,7 +23,8 @@ SOURCES += uavobject.cpp \
 OTHER_FILES += UAVObjects.pluginspec
 
 # Add in all of the synthetic/generated uavobject files
-HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
+HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
+    $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
     $$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.h \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.h \
@@ -69,7 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
     $$UAVOBJECT_SYNTHETICS/flightstatus.h \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.h
 
-SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
+SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
+    $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \