diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index a79798b4c..5f42cdfa6 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -3,53 +3,56 @@
     <object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
         <description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
 
-	<!-- Note: The number of elements here must match the number of available flight mode switch positions -->
-	<field name="FlightModeMap" units="" type="enum"
-	    options="Bank1,Bank2,Bank3"
-	    elements="6"
-	    defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
+    <!-- Note: The number of elements here must match the number of available flight mode switch positions -->
+    <field name="FlightModeMap" units="" type="enum"
+        options="Bank1,Bank2,Bank3"
+        elements="6"
+        defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
 
-	<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
-	<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
-	<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
-	<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
-	<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
-	<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
-	<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
-	<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
+    <field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
+    <field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
+    <field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
+    <field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
+    <field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
+    <field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
+    <field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+    <field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
 
-	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
-	<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
-	<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
+    <field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
+    <field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
+    <field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
 
-	<field name="AxisLockKp" units="" type="float" elements="1" defaultvalue="2.5"/>
-	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
-	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
+    <field name="AxisLockKp" units="" type="float" elements="1" defaultvalue="2.5"/>
+    <field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
+    <field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
 
-	<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
-	<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
+    <field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
+    <field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
 
-	<field name="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/>
+    <field name="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/>
 
-	<field name="CruiseControlMinThrust"           units="%"   type="int8"  elements="1" defaultvalue="5"/>
-	<field name="CruiseControlMaxThrust"           units="%"   type="uint8" elements="1" defaultvalue="90"/>
-	<field name="CruiseControlMaxAngle"            units="deg" type="uint8" elements="1" defaultvalue="105"/>
-	<field name="CruiseControlMaxPowerFactor"      units="x"   type="float" elements="1" defaultvalue="3.0"/>
-	<field name="CruiseControlPowerTrim"           units="%"   type="float" elements="1" defaultvalue="100.0"/>
-	<field name="CruiseControlPowerDelayComp"      units="sec" type="float" elements="1" defaultvalue="0.25"/>
-	<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
+    <field name="CruiseControlMinThrust"           units="%"   type="int8"  elements="1" defaultvalue="5"/>
+    <field name="CruiseControlMaxThrust"           units="%"   type="uint8" elements="1" defaultvalue="90"/>
+    <field name="CruiseControlMaxAngle"            units="deg" type="uint8" elements="1" defaultvalue="105"/>
+    <field name="CruiseControlMaxPowerFactor"      units="x"   type="float" elements="1" defaultvalue="3.0"/>
+    <field name="CruiseControlPowerTrim"           units="%"   type="float" elements="1" defaultvalue="100.0"/>
+    <field name="CruiseControlPowerDelayComp"      units="sec" type="float" elements="1" defaultvalue="0.25"/>
+    <field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
 
-	<field name="CruiseControlInvertedThrustReversing" units="" type="enum" elements="1" options="Unreversed,Reversed" defaultvalue="Unreversed"/>
-	<field name="CruiseControlInvertedPowerOutput"     units="" type="enum" elements="1" options="Zero,Normal,Boosted" defaultvalue="Zero"/>
+    <field name="CruiseControlInvertedThrustReversing" units="" type="enum" elements="1" options="Unreversed,Reversed" defaultvalue="Unreversed"/>
+    <field name="CruiseControlInvertedPowerOutput"     units="" type="enum" elements="1" options="Zero,Normal,Boosted" defaultvalue="Zero"/>
 
-	<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+    <field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
 
-	<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
-	<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
+    <field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
+    <field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
 
-	<access gcs="readwrite" flight="readwrite"/>
-	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
-	<telemetryflight acked="true" updatemode="onchange" period="0"/>
-	<logging updatemode="manual" period="0"/>
+    <field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+    <field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
+
+    <access gcs="readwrite" flight="readwrite"/>
+    <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+    <telemetryflight acked="true" updatemode="onchange" period="0"/>
+    <logging updatemode="manual" period="0"/>
     </object>
 </xml>