diff --git a/flight/Modules/TxPID/txpid.c b/flight/Modules/TxPID/txpid.c
index b3e8377a2..cff9c1d9e 100644
--- a/flight/Modules/TxPID/txpid.c
+++ b/flight/Modules/TxPID/txpid.c
@@ -193,12 +193,18 @@ static void updatePIDs(UAVObjEvent* ev)
 			case TXPIDSETTINGS_PIDS_ROLLRATEKD:
 				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
 				break;
+			case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
 				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
 				break;
 			case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
 				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
 				break;
+			case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_PITCHRATEKP:
 				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
 				break;
@@ -208,12 +214,18 @@ static void updatePIDs(UAVObjEvent* ev)
 			case TXPIDSETTINGS_PIDS_PITCHRATEKD:
 				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
 				break;
+			case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
 				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
 				break;
 			case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
 				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
 				break;
+			case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
 				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
 				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
@@ -226,6 +238,10 @@ static void updatePIDs(UAVObjEvent* ev)
 				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
 				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
 				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
 				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
 				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
@@ -234,6 +250,10 @@ static void updatePIDs(UAVObjEvent* ev)
 				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
 				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
 				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_YAWRATEKP:
 				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
 				break;
@@ -243,12 +263,18 @@ static void updatePIDs(UAVObjEvent* ev)
 			case TXPIDSETTINGS_PIDS_YAWRATEKD:
 				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
 				break;
+			case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
+				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
+				break;
 			case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
 				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
 				break;
 			case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
 				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
 				break;
+			case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
+				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
+				break;
 			default:
 				PIOS_Assert(0);
 			}
diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml
index 700db43fa..876ffccc7 100644
--- a/shared/uavobjectdefinition/txpidsettings.xml
+++ b/shared/uavobjectdefinition/txpidsettings.xml
@@ -13,8 +13,10 @@
 			Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp, 
 			Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
 			Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
+			Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
 			Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
-			Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki"
+			Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
+			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
 		defaultvalue="Disabled"/>
         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>