diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index cad5d065d..3dc4c53bc 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -589,6 +589,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@@ -597,6 +598,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@@ -605,6 +607,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     0; // this is an invalid mode
 
 	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 43bb9b0d5..c49f5c103 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -36,6 +36,7 @@
 #include "stabilizationsettings.h"
 #include "actuatordesired.h"
 #include "ratedesired.h"
+#include "relaytuningsettings.h"
 #include "stabilizationdesired.h"
 #include "attitudeactual.h"
 #include "gyros.h"
@@ -231,6 +232,7 @@ static void stabilizationTask(void* parameters)
 		{
 			switch(stabDesired.StabilizationMode[i])
 			{
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
@@ -317,6 +319,16 @@ static void stabilizationTask(void* parameters)
 		{
 			switch(stabDesired.StabilizationMode[i])
 			{
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
+				{
+					RelayTuningSettingsData relay;
+					RelayTuningSettingsGet(&relay);
+					float error = rateDesiredAxis[i] - gyro_filtered[i];
+					float command = error > 0 ? relay.Amplitude : -relay.Amplitude;
+					actuatorDesiredAxis[i] = bound(command);
+					break;
+					break;
+				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 09d4ca618..8a52b3b23 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -18,9 +18,9 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index 02c63cd90..f24dd9eeb 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>