diff --git a/flight/libraries/math/mathmisc.h b/flight/libraries/math/mathmisc.h
index 0fc95f963..ba9062a0d 100644
--- a/flight/libraries/math/mathmisc.h
+++ b/flight/libraries/math/mathmisc.h
@@ -120,4 +120,19 @@ static inline float y_on_curve(float x, const pointf points[], int num_points)
     return y_on_line(x, &points[end_point - 1], &points[end_point]);
 }
 
+/**
+ * Ultrafast pow() aproximation needed for expo
+ * Based on Algorithm by Martin Ankerl
+ */
+static inline float fastPow(float a, float b)
+{
+    union {
+        double  d;
+        int32_t x[2];
+    } u = { (double)a };
+    u.x[1] = (int32_t)(b * (u.x[1] - 1072632447) + 1072632447);
+    u.x[0] = 0;
+    return (float)u.d;
+}
+
 #endif /* MATHMISC_H */
diff --git a/flight/libraries/math/pid.c b/flight/libraries/math/pid.c
index 6e78078ef..891bcbe03 100644
--- a/flight/libraries/math/pid.c
+++ b/flight/libraries/math/pid.c
@@ -89,9 +89,12 @@ float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float
     float diff  = ((deriv_gamma * setpoint - measured) - pid->lastErr);
     pid->lastErr = (deriv_gamma * setpoint - measured);
     if (pid->d > 0.0f && dT > 0.0f) {
+        // low pass filter derivative term. below formula is the same as
+        // dterm = (1-alpha)*pid->lastDer + alpha * (...)/dT
+        // with alpha = dT/(deriv_tau+dT)
         dterm = pid->lastDer + dT / (dT + deriv_tau) * ((scaler->d * diff * pid->d / dT) - pid->lastDer);
-        pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
-    } // 7.9577e-3  means 20 Hz f_cutoff
+        pid->lastDer = dterm;
+    }
 
     return (err * scaler->p * pid->p) + pid->iAccumulator / 1000.0f + dterm;
 }
diff --git a/flight/modules/ManualControl/inc/manualcontrol.h b/flight/modules/ManualControl/inc/manualcontrol.h
index e3a1d6405..caeea4c83 100644
--- a/flight/modules/ManualControl/inc/manualcontrol.h
+++ b/flight/modules/ManualControl/inc/manualcontrol.h
@@ -99,6 +99,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@@ -116,6 +117,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@@ -133,6 +135,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@@ -150,6 +153,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@@ -167,6 +171,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
@@ -184,6 +189,7 @@ void takeOffLocationHandlerInit();
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
+        ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
         ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
diff --git a/flight/modules/ManualControl/stabilizedhandler.c b/flight/modules/ManualControl/stabilizedhandler.c
index 582929425..de7d4ac8b 100644
--- a/flight/modules/ManualControl/stabilizedhandler.c
+++ b/flight/modules/ManualControl/stabilizedhandler.c
@@ -29,6 +29,7 @@
  */
 
 #include "inc/manualcontrol.h"
+#include <mathmisc.h>
 #include <manualcontrolcommand.h>
 #include <stabilizationdesired.h>
 #include <flightmodesettings.h>
@@ -39,6 +40,28 @@
 // Private types
 
 // Private functions
+static float applyExpo(float value, float expo);
+
+
+static float applyExpo(float value, float expo)
+{
+    // note: fastPow makes a small error, therefore result needs to be bound
+    float exp = boundf(fastPow(1.00695f, expo), 0.5f, 2.0f);
+
+    // magic number scales expo
+    // so that
+    // expo=100 yields value**10
+    // expo=0 yields value**1
+    // expo=-100 yields value**(1/10)
+    // (pow(2.0,1/100)~=1.00695)
+    if (value > 0.0f) {
+        return boundf(fastPow(value, exp), 0.0f, 1.0f);
+    } else if (value < -0.0f) {
+        return boundf(-fastPow(-value, exp), -1.0f, 0.0f);
+    } else {
+        return 0.0f;
+    }
+}
 
 
 /**
@@ -64,6 +87,9 @@ void stabilizedHandler(bool newinit)
     StabilizationBankData stabSettings;
     StabilizationBankGet(&stabSettings);
 
+    cmd.Roll  = applyExpo(cmd.Roll, stabSettings.StickExpo.Roll);
+    cmd.Pitch = applyExpo(cmd.Pitch, stabSettings.StickExpo.Pitch);
+    cmd.Yaw   = applyExpo(cmd.Yaw, stabSettings.StickExpo.Yaw);
     uint8_t *stab_settings;
     FlightStatusData flightStatus;
     FlightStatusGet(&flightStatus);
@@ -100,6 +126,7 @@ void stabilizedHandler(bool newinit)
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Roll :
+        (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Roll * stabSettings.ManualRate.Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll * stabSettings.RollMax :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
         (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Roll * stabSettings.RollMax :
@@ -112,6 +139,7 @@ void stabilizedHandler(bool newinit)
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Pitch :
+        (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
         (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
@@ -134,6 +162,7 @@ void stabilizedHandler(bool newinit)
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Yaw :
+            (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
             (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index 1f152c382..0ce96edc8 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -33,6 +33,7 @@
 
 #include <openpilot.h>
 #include <pid.h>
+#include <sin_lookup.h>
 #include <callbackinfo.h>
 #include <ratedesired.h>
 #include <actuatordesired.h>
@@ -281,6 +282,23 @@ static void stabilizationInnerloopTask()
                 pid_scaler scaler = create_pid_scaler(t);
                 actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], &scaler, rate[t], gyro_filtered[t], dT);
                 break;
+            case STABILIZATIONSTATUS_INNERLOOP_ACRO:
+            {
+                float stickinput[3];
+                stickinput[0] = boundf(rate[0] / stabSettings.stabBank.ManualRate.Roll, -1.0f, 1.0f);
+                stickinput[1] = boundf(rate[1] / stabSettings.stabBank.ManualRate.Pitch, -1.0f, 1.0f);
+                stickinput[2] = boundf(rate[2] / stabSettings.stabBank.ManualRate.Yaw, -1.0f, 1.0f);
+                rate[t] = boundf(rate[t],
+                                 -StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
+                                 StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
+                                 );
+                pid_scaler ascaler = create_pid_scaler(t);
+                ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
+                float arate  = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
+                float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor;
+                actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
+            }
+            break;
             case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
             default:
                 actuatorDesiredAxis[t] = rate[t];
@@ -311,6 +329,18 @@ static void stabilizationInnerloopTask()
             previous_mode[t] = 255;
         }
     }
+
+    if (stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
+        // attempted piro compensation - rotate pitch and yaw integrals (experimental)
+        float angleYaw = DEG2RAD(gyro_filtered[2] * dT);
+        float sinYaw   = sinf(angleYaw);
+        float cosYaw   = cosf(angleYaw);
+        float rollAcc  = stabSettings.innerPids[0].iAccumulator / stabSettings.innerPids[0].iLim;
+        float pitchAcc = stabSettings.innerPids[1].iAccumulator / stabSettings.innerPids[1].iLim;
+        stabSettings.innerPids[0].iAccumulator = stabSettings.innerPids[0].iLim * (cosYaw * rollAcc + sinYaw * pitchAcc);
+        stabSettings.innerPids[1].iAccumulator = stabSettings.innerPids[1].iLim * (cosYaw * pitchAcc - sinYaw * rollAcc);
+    }
+
     {
         uint8_t armed;
         FlightStatusArmedGet(&armed);
diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index 074496983..8236d6cf2 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -158,6 +158,10 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
             StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
             StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR;
             break;
+        case STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO:
+            StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
+            StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_ACRO;
+            break;
         case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
             StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE;
             StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
diff --git a/ground/openpilotgcs/src/plugins/config/config_dependencies.pri b/ground/openpilotgcs/src/plugins/config/config_dependencies.pri
index 9e5d4e4e7..d8117e555 100644
--- a/ground/openpilotgcs/src/plugins/config/config_dependencies.pri
+++ b/ground/openpilotgcs/src/plugins/config/config_dependencies.pri
@@ -7,3 +7,4 @@ include(../../plugins/uavobjectutil/uavobjectutil.pri)
 include(../../plugins/uavsettingsimportexport/uavsettingsimportexport.pri)
 include(../../plugins/uavobjectwidgetutils/uavobjectwidgetutils.pri)
 include(../../libs/version_info/version_info.pri)
+include(../../libs/qwt/qwt.pri)
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 9c8af326d..7c9fb0eae 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -43,12 +43,19 @@
 #include "altitudeholdsettings.h"
 #include "stabilizationsettings.h"
 
+#include "qwt/src/qwt.h"
+#include "qwt/src/qwt_plot.h"
+#include "qwt/src/qwt_plot_canvas.h"
+#include "qwt/src/qwt_scale_widget.h"
+
 ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent),
     boardModel(0), m_pidBankCount(0), m_currentPIDBank(0)
 {
     ui = new Ui_StabilizationWidget();
     ui->setupUi(this);
 
+    setupExpoPlot();
+
     StabilizationSettings *stabSettings = qobject_cast<StabilizationSettings *>(getObject("StabilizationSettings"));
     Q_ASSERT(stabSettings);
 
@@ -59,7 +66,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     m_pidTabBars.append(ui->advancedPIDBankTabBar);
     foreach(QTabBar * tabBar, m_pidTabBars) {
         for (int i = 0; i < m_pidBankCount; i++) {
-            tabBar->addTab(tr("PID Bank %1").arg(i + 1));
+            tabBar->addTab(tr("Settings Bank %1").arg(i + 1));
             tabBar->setTabData(i, QString("StabilizationSettingsBank%1").arg(i + 1));
         }
         tabBar->setExpanding(false);
@@ -144,6 +151,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
 
     connect(this, SIGNAL(autoPilotConnected()), this, SLOT(onBoardConnected()));
 
+    addWidget(ui->expoPlot);
+    connect(ui->expoSpinnerRoll, SIGNAL(valueChanged(int)), this, SLOT(replotExpoRoll(int)));
+    connect(ui->expoSpinnerPitch, SIGNAL(valueChanged(int)), this, SLOT(replotExpoPitch(int)));
+    connect(ui->expoSpinnerYaw, SIGNAL(valueChanged(int)), this, SLOT(replotExpoYaw(int)));
+
     disableMouseWheelEvents();
     updateEnableControls();
 }
@@ -218,6 +230,55 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
     field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE");
 }
 
+void ConfigStabilizationWidget::setupExpoPlot()
+{
+    ui->expoPlot->setMouseTracking(false);
+    ui->expoPlot->setAxisScale(QwtPlot::xBottom, 0, 100, 25);
+
+    QwtText title;
+    title.setText(tr("Input %"));
+    title.setFont(ui->expoPlot->axisFont(QwtPlot::xBottom));
+    ui->expoPlot->setAxisTitle(QwtPlot::xBottom, title);
+    ui->expoPlot->setAxisScale(QwtPlot::yLeft, 0, 100, 25);
+
+    title.setText(tr("Output %"));
+    title.setFont(ui->expoPlot->axisFont(QwtPlot::yLeft));
+    ui->expoPlot->setAxisTitle(QwtPlot::yLeft, title);
+    ui->expoPlot->canvas()->setFrameShape(QFrame::NoFrame);
+    ui->expoPlot->canvas()->setCursor(QCursor());
+
+
+    m_plotGrid.setMajPen(QColor(Qt::gray));
+    m_plotGrid.setMinPen(QColor(Qt::lightGray));
+    m_plotGrid.enableXMin(false);
+    m_plotGrid.enableYMin(false);
+    m_plotGrid.attach(ui->expoPlot);
+
+    m_expoPlotCurveRoll.setRenderHint(QwtPlotCurve::RenderAntialiased);
+    QColor rollColor(Qt::red);
+    rollColor.setAlpha(180);
+    m_expoPlotCurveRoll.setPen(QPen(rollColor, 2));
+    m_expoPlotCurveRoll.attach(ui->expoPlot);
+    replotExpoRoll(ui->expoSpinnerRoll->value());
+    m_expoPlotCurveRoll.show();
+
+    QColor pitchColor(Qt::green);
+    pitchColor.setAlpha(180);
+    m_expoPlotCurvePitch.setRenderHint(QwtPlotCurve::RenderAntialiased);
+    m_expoPlotCurvePitch.setPen(QPen(pitchColor, 2));
+    m_expoPlotCurvePitch.attach(ui->expoPlot);
+    replotExpoPitch(ui->expoSpinnerPitch->value());
+    m_expoPlotCurvePitch.show();
+
+    QColor yawColor(Qt::blue);
+    yawColor.setAlpha(180);
+    m_expoPlotCurveYaw.setRenderHint(QwtPlotCurve::RenderAntialiased);
+    m_expoPlotCurveYaw.setPen(QPen(yawColor, 2));
+    m_expoPlotCurveYaw.attach(ui->expoPlot);
+    replotExpoYaw(ui->expoSpinnerYaw->value());
+    m_expoPlotCurveYaw.show();
+}
+
 void ConfigStabilizationWidget::resetThrottleCurveToDefault()
 {
     UAVDataObject *defaultStabBank = (UAVDataObject *)getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
@@ -250,6 +311,37 @@ void ConfigStabilizationWidget::throttleCurveUpdated()
     setDirty(true);
 }
 
+void ConfigStabilizationWidget::replotExpo(int value, QwtPlotCurve &curve)
+{
+    double x[EXPO_CURVE_POINTS_COUNT] = { 0 };
+    double y[EXPO_CURVE_POINTS_COUNT] = { 0 };
+    double factor = pow(EXPO_CURVE_CONSTANT, value);
+    double step   = 1.0 / (EXPO_CURVE_POINTS_COUNT - 1);
+
+    for (int i = 0; i < EXPO_CURVE_POINTS_COUNT; i++) {
+        double val = i * step;
+        x[i] = val * 100.0;
+        y[i] = pow(val, factor) * 100.0;
+    }
+    curve.setSamples(x, y, EXPO_CURVE_POINTS_COUNT);
+    ui->expoPlot->replot();
+}
+
+void ConfigStabilizationWidget::replotExpoRoll(int value)
+{
+    replotExpo(value, m_expoPlotCurveRoll);
+}
+
+void ConfigStabilizationWidget::replotExpoPitch(int value)
+{
+    replotExpo(value, m_expoPlotCurvePitch);
+}
+
+void ConfigStabilizationWidget::replotExpoYaw(int value)
+{
+    replotExpo(value, m_expoPlotCurveYaw);
+}
+
 void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
 {
     ui->realTimeUpdates_6->setChecked(value);
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
index f8409c050..180700112 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
@@ -35,7 +35,8 @@
 #include "stabilizationsettings.h"
 #include <QWidget>
 #include <QTimer>
-
+#include "qwt/src/qwt_plot_curve.h"
+#include "qwt/src/qwt_plot_grid.h"
 
 class ConfigStabilizationWidget : public ConfigTaskWidget {
     Q_OBJECT
@@ -52,14 +53,23 @@ private:
     QString m_stabilizationObjectsString;
 
     // Milliseconds between automatic 'Instant Updates'
-    static const int AUTOMATIC_UPDATE_RATE = 500;
+    static const int AUTOMATIC_UPDATE_RATE   = 500;
+
+    static const int EXPO_CURVE_POINTS_COUNT = 100;
+    static const double EXPO_CURVE_CONSTANT = 1.00695;
 
     int boardModel;
     int m_pidBankCount;
     int m_currentPIDBank;
 
+    QwtPlotCurve m_expoPlotCurveRoll;
+    QwtPlotCurve m_expoPlotCurvePitch;
+    QwtPlotCurve m_expoPlotCurveYaw;
+    QwtPlotGrid m_plotGrid;
+
     void updateThrottleCurveFromObject();
     void updateObjectFromThrottleCurve();
+    void setupExpoPlot();
 protected:
     QString mapObjectName(const QString objectName);
 
@@ -75,5 +85,9 @@ private slots:
     void pidBankChanged(int index);
     void resetThrottleCurveToDefault();
     void throttleCurveUpdated();
+    void replotExpo(int value, QwtPlotCurve &curve);
+    void replotExpoRoll(int value);
+    void replotExpoPitch(int value);
+    void replotExpoYaw(int value);
 };
 #endif // ConfigStabilizationWidget_H
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 026bf60eb..bf1b8e7e6 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -116,8 +116,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>772</width>
-            <height>514</height>
+            <width>774</width>
+            <height>505</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -542,8 +542,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>724</width>
-            <height>497</height>
+            <width>758</width>
+            <height>542</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
@@ -1228,7 +1228,7 @@ margin:1px;
 font:bold;</string>
                 </property>
                 <property name="text">
-                 <string>PID Bank</string>
+                 <string>Settings Bank</string>
                 </property>
                 <property name="alignment">
                  <set>Qt::AlignCenter</set>
@@ -2044,8 +2044,8 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>407</width>
-            <height>138</height>
+            <width>565</width>
+            <height>159</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index f8a4a86b4..14dc71ae9 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>995</width>
-    <height>789</height>
+    <width>974</width>
+    <height>857</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -136,8 +136,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>952</width>
+            <height>771</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -166,2019 +166,640 @@ margin-top: -1px;
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
               <item>
-               <widget class="QGroupBox" name="basicResponsivenessGroupBox">
-                <property name="styleSheet">
-                 <string notr="true"/>
+               <widget class="QFrame" name="horizontalFrame_2">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>340</height>
+                 </size>
                 </property>
-                <property name="title">
-                 <string>Responsiveness</string>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>340</height>
+                 </size>
                 </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="flat">
-                 <bool>false</bool>
-                </property>
-                <property name="checkable">
-                 <bool>false</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0,0">
+                <layout class="QGridLayout" name="gridLayout_31">
                  <property name="leftMargin">
-                  <number>9</number>
+                  <number>0</number>
                  </property>
                  <property name="topMargin">
-                  <number>9</number>
+                  <number>0</number>
                  </property>
                  <property name="rightMargin">
-                  <number>9</number>
+                  <number>0</number>
                  </property>
-                 <property name="bottomMargin">
-                  <number>9</number>
-                 </property>
-                 <item row="1" column="4">
-                  <widget class="QPushButton" name="pushButton">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="toolTip">
-                    <string>Reset all values to GCS defaults</string>
-                   </property>
-                   <property name="text">
-                    <string>Default</string>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>button:default</string>
-                     <string>buttongroup:6</string>
-                    </stringlist>
+                 <item row="1" column="0">
+                  <widget class="QGroupBox" name="groupBox_9">
+                   <property name="title">
+                    <string>Acro+</string>
                    </property>
+                   <layout class="QGridLayout" name="gridLayout_26">
+                    <item row="0" column="1">
+                     <widget class="QPushButton" name="pushButton_21">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="maximumSize">
+                       <size>
+                        <width>16777215</width>
+                        <height>16777215</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Reset all values to GCS defaults</string>
+                      </property>
+                      <property name="autoFillBackground">
+                       <bool>false</bool>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true"/>
+                      </property>
+                      <property name="text">
+                       <string>Default</string>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>button:default</string>
+                        <string>buttongroup:77</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0" colspan="2">
+                     <layout class="QGridLayout" name="gridLayout_29">
+                      <property name="topMargin">
+                       <number>0</number>
+                      </property>
+                      <item row="1" column="1">
+                       <widget class="QSlider" name="AttitudeResponsivenessSlider_2">
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>25</height>
+                         </size>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Acro + slider can be adjusted to change the amount of manual control blending.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="minimum">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <number>100</number>
+                        </property>
+                        <property name="singleStep">
+                         <number>1</number>
+                        </property>
+                        <property name="value">
+                         <number>50</number>
+                        </property>
+                        <property name="orientation">
+                         <enum>Qt::Horizontal</enum>
+                        </property>
+                        <property name="tickPosition">
+                         <enum>QSlider::TicksBelow</enum>
+                        </property>
+                        <property name="tickInterval">
+                         <number>5</number>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:AcroInsanityFactor</string>
+                          <string>scale:0.01</string>
+                          <string>buttongroup:77</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="2">
+                       <widget class="QSpinBox" name="spinBox_3">
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>60</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="minimum">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <number>100</number>
+                        </property>
+                        <property name="value">
+                         <number>50</number>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:AcroInsanityFactor</string>
+                          <string>scale:0.01</string>
+                          <string>buttongroup:77</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="label_13">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>80</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Factor</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </item>
+                   </layout>
                   </widget>
                  </item>
-                 <item row="2" column="0" colspan="5">
-                  <widget class="QGroupBox" name="basicResponsivenessControls">
-                   <property name="styleSheet">
-                    <string>QGroupBox{border: 0px;}</string>
+                 <item row="0" column="1" rowspan="2">
+                  <widget class="QGroupBox" name="groupBox_7">
+                   <property name="maximumSize">
+                    <size>
+                     <width>300</width>
+                     <height>16777215</height>
+                    </size>
                    </property>
                    <property name="title">
-                    <string/>
+                    <string>Expo</string>
                    </property>
-                   <property name="flat">
-                    <bool>true</bool>
-                   </property>
-                   <layout class="QGridLayout" name="gridLayout_10">
-                    <property name="leftMargin">
-                     <number>0</number>
-                    </property>
+                   <layout class="QGridLayout" name="gridLayout_5">
                     <property name="rightMargin">
-                     <number>0</number>
+                     <number>9</number>
                     </property>
-                    <property name="bottomMargin">
-                     <number>0</number>
-                    </property>
-                    <item row="0" column="3">
-                     <widget class="QLabel" name="label_143">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                      <property name="palette">
-                       <palette>
-                        <active>
-                         <colorrole role="WindowText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Button">
-                          <brush brushstyle="LinearGradientPattern">
-                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                            <gradientstop position="0.208955000000000">
-                             <color alpha="255">
-                              <red>14</red>
-                              <green>200</green>
-                              <blue>14</blue>
-                             </color>
-                            </gradientstop>
-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>6</red>
-                              <green>150</green>
-                              <blue>6</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Light">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>58</red>
-                            <green>58</green>
-                            <blue>58</blue>
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-                         </colorrole>
-                         <colorrole role="Midlight">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>48</red>
-                            <green>48</green>
-                            <blue>48</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Dark">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>19</red>
-                            <green>19</green>
-                            <blue>19</blue>
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-                         </colorrole>
-                         <colorrole role="Mid">
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-                            <red>26</red>
-                            <green>26</green>
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-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                         </colorrole>
-                         <colorrole role="BrightText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                          </brush>
-                         </colorrole>
-                         <colorrole role="ButtonText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                         </colorrole>
-                         <colorrole role="Base">
-                          <brush brushstyle="LinearGradientPattern">
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-                             <color alpha="255">
-                              <red>14</red>
-                              <green>200</green>
-                              <blue>14</blue>
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-                            </gradientstop>
-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>6</red>
-                              <green>150</green>
-                              <blue>6</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Window">
-                          <brush brushstyle="LinearGradientPattern">
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-                              <red>14</red>
-                              <green>200</green>
-                              <blue>14</blue>
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-                            <gradientstop position="0.786070000000000">
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-                              <red>6</red>
-                              <green>150</green>
-                              <blue>6</blue>
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-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Shadow">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>0</red>
-                            <green>0</green>
-                            <blue>0</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="AlternateBase">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>19</red>
-                            <green>19</green>
-                            <blue>19</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="ToolTipBase">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>220</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="ToolTipText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>0</red>
-                            <green>0</green>
-                            <blue>0</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                        </active>
-                        <inactive>
-                         <colorrole role="WindowText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                         </colorrole>
-                         <colorrole role="Button">
-                          <brush brushstyle="LinearGradientPattern">
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-                              <green>200</green>
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-                            <gradientstop position="0.786070000000000">
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-                         </colorrole>
-                         <colorrole role="Light">
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-                            <green>58</green>
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-                         </colorrole>
-                         <colorrole role="Midlight">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>48</red>
-                            <green>48</green>
-                            <blue>48</blue>
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-                         </colorrole>
-                         <colorrole role="Dark">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>19</red>
-                            <green>19</green>
-                            <blue>19</blue>
-                           </color>
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-                         </colorrole>
-                         <colorrole role="Mid">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>26</red>
-                            <green>26</green>
-                            <blue>26</blue>
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-                         </colorrole>
-                         <colorrole role="Text">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
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-                         </colorrole>
-                         <colorrole role="BrightText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                         </colorrole>
-                         <colorrole role="ButtonText">
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-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                          </brush>
-                         </colorrole>
-                         <colorrole role="ButtonText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Base">
-                          <brush brushstyle="LinearGradientPattern">
-                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                            <gradientstop position="0.208955000000000">
-                             <color alpha="255">
-                              <red>200</red>
-                              <green>14</green>
-                              <blue>14</blue>
-                             </color>
-                            </gradientstop>
-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>160</red>
-                              <green>6</green>
-                              <blue>6</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Window">
-                          <brush brushstyle="LinearGradientPattern">
-                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                            <gradientstop position="0.208955000000000">
-                             <color alpha="255">
-                              <red>200</red>
-                              <green>14</green>
-                              <blue>14</blue>
-                             </color>
-                            </gradientstop>
-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>160</red>
-                              <green>6</green>
-                              <blue>6</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Shadow">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>0</red>
-                            <green>0</green>
-                            <blue>0</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="AlternateBase">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>39</red>
-                            <green>39</green>
-                            <blue>39</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="ToolTipBase">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>220</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="ToolTipText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>0</red>
-                            <green>0</green>
-                            <blue>0</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                        </disabled>
-                       </palette>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="toolTip">
-                       <string>Damn this is insane how quick it moves. Mostly used by the Pro's</string>
-                      </property>
-                      <property name="autoFillBackground">
-                       <bool>false</bool>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(200, 14, 14, 255), stop:0.78607 rgba(160	, 6, 6	, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                      </property>
-                      <property name="text">
-                       <string>Insane</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
                     <item row="1" column="0">
-                     <widget class="QLabel" name="label">
-                      <property name="minimumSize">
-                       <size>
-                        <width>78</width>
-                        <height>16</height>
-                       </size>
-                      </property>
-                      <property name="text">
-                       <string>Attitude mode</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                     <widget class="QFrame" name="basicResponsivenessControls_2">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
                       </property>
+                      <layout class="QGridLayout" name="gridLayout_30">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>1</number>
+                       </property>
+                       <property name="bottomMargin">
+                        <number>0</number>
+                       </property>
+                       <item row="1" column="5">
+                        <widget class="QSpinBox" name="expoSpinnerRoll">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Roll</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="0">
+                        <widget class="QLabel" name="label_14">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="palette">
+                          <palette>
+                           <active>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>255</red>
+                               <green>0</green>
+                               <blue>0</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </active>
+                           <inactive>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>255</red>
+                               <green>0</green>
+                               <blue>0</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </inactive>
+                           <disabled>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>120</red>
+                               <green>120</green>
+                               <blue>120</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </disabled>
+                          </palette>
+                         </property>
+                         <property name="text">
+                          <string>Roll</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="2" column="5">
+                        <widget class="QSpinBox" name="expoSpinnerPitch">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Pitch</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="0" column="0" colspan="6">
+                        <widget class="QwtPlot" name="expoPlot" native="true">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This graph shows the Expo curves for all axis. The color of the curves corresponds with the colors of the slider labels below.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="2" column="0">
+                        <widget class="QLabel" name="label_15">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="palette">
+                          <palette>
+                           <active>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>0</red>
+                               <green>170</green>
+                               <blue>0</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </active>
+                           <inactive>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>0</red>
+                               <green>170</green>
+                               <blue>0</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </inactive>
+                           <disabled>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>120</red>
+                               <green>120</green>
+                               <blue>120</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </disabled>
+                          </palette>
+                         </property>
+                         <property name="text">
+                          <string>Pitch</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="5">
+                        <widget class="QSpinBox" name="expoSpinnerYaw">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Yaw</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="0">
+                        <widget class="QLabel" name="label_16">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="palette">
+                          <palette>
+                           <active>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>0</red>
+                               <green>0</green>
+                               <blue>255</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </active>
+                           <inactive>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>0</red>
+                               <green>0</green>
+                               <blue>255</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </inactive>
+                           <disabled>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>120</red>
+                               <green>120</green>
+                               <blue>120</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </disabled>
+                          </palette>
+                         </property>
+                         <property name="text">
+                          <string>Yaw</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="1" colspan="4">
+                        <widget class="QSlider" name="RateYawResponsivenessSlider_2">
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>25</height>
+                          </size>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Roll Expo slider can be adjusted to change the amount of Expo to use on Roll axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>20</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Roll</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="1" colspan="4">
+                        <widget class="QSlider" name="RateYawResponsivenessSlider_4">
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>25</height>
+                          </size>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Yaw Expo slider can be adjusted to change the amount of Expo to use on Yaw axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>20</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Yaw</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="2" column="1" colspan="4">
+                        <widget class="QSlider" name="RateYawResponsivenessSlider_3">
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>25</height>
+                          </size>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Pitch Expo slider can be adjusted to change the amount of Expo to use on Pitch axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>-100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>100</number>
+                         </property>
+                         <property name="value">
+                          <number>0</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>20</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:StickExpo</string>
+                           <string>haslimits:yes</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:66</string>
+                           <string>element:Pitch</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                      </layout>
                      </widget>
                     </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_2">
-                      <property name="minimumSize">
-                       <size>
-                        <width>78</width>
-                        <height>16</height>
-                       </size>
+                    <item row="0" column="0" alignment="Qt::AlignRight">
+                     <widget class="QPushButton" name="pushButton_12">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
                       </property>
-                      <property name="text">
-                       <string>Rate mode</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1" colspan="5">
-                     <widget class="QSlider" name="AttitudeResponsivenessSlider">
                       <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Attitude Mode slider can be adjusted to value ranges whose responsivness is represented by the Moderate / Snappy / Insane bar&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="minimum">
-                       <number>10</number>
-                      </property>
-                      <property name="maximum">
-                       <number>180</number>
-                      </property>
-                      <property name="singleStep">
-                       <number>1</number>
-                      </property>
-                      <property name="value">
-                       <number>83</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollMax</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:6,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1" colspan="5">
-                     <widget class="QSlider" name="RateYawResponsivenessSlider">
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Rate mode Yaw slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="minimum">
-                       <number>100</number>
-                      </property>
-                      <property name="maximum">
-                       <number>800</number>
-                      </property>
-                      <property name="value">
-                       <number>400</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:ManualRate</string>
-                        <string>element:Yaw</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:6,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_5">
-                      <property name="minimumSize">
-                       <size>
-                        <width>78</width>
-                        <height>16</height>
-                       </size>
+                       <string>Reset all values to GCS defaults</string>
                       </property>
                       <property name="text">
-                       <string>Rate mode yaw</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="6">
-                     <widget class="QSpinBox" name="spinBox_5">
-                      <property name="minimumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="minimum">
-                       <number>100</number>
-                      </property>
-                      <property name="maximum">
-                       <number>800</number>
-                      </property>
-                      <property name="value">
-                       <number>400</number>
+                       <string>Default</string>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:ManualRate</string>
-                        <string>element:Yaw</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:6,20</string>
+                        <string>objname:StabilizationSettings</string>
+                        <string>button:default</string>
+                        <string>buttongroup:66</string>
                        </stringlist>
                       </property>
                      </widget>
@@ -2186,27 +807,2077 @@ border-radius: 5;</string>
                    </layout>
                   </widget>
                  </item>
-                 <item row="1" column="1" colspan="3">
-                  <spacer name="horizontalSpacer_37">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
+                 <item row="0" column="0">
+                  <widget class="QGroupBox" name="basicResponsivenessGroupBox">
+                   <property name="minimumSize">
                     <size>
-                     <width>40</width>
-                     <height>20</height>
+                     <width>550</width>
+                     <height>0</height>
                     </size>
                    </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QCheckBox" name="basicResponsivenessCheckBox">
-                   <property name="text">
-                    <string>Use Basic Configuration</string>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
                    </property>
-                   <property name="checked">
-                    <bool>true</bool>
+                   <property name="styleSheet">
+                    <string notr="true"/>
                    </property>
+                   <property name="title">
+                    <string>Responsiveness</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="flat">
+                    <bool>false</bool>
+                   </property>
+                   <property name="checkable">
+                    <bool>false</bool>
+                   </property>
+                   <layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0,0">
+                    <property name="leftMargin">
+                     <number>9</number>
+                    </property>
+                    <property name="topMargin">
+                     <number>9</number>
+                    </property>
+                    <property name="rightMargin">
+                     <number>9</number>
+                    </property>
+                    <property name="bottomMargin">
+                     <number>9</number>
+                    </property>
+                    <item row="1" column="1">
+                     <widget class="QPushButton" name="pushButton">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="toolTip">
+                       <string>Reset all values to GCS defaults</string>
+                      </property>
+                      <property name="text">
+                       <string>Default</string>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettings</string>
+                        <string>button:default</string>
+                        <string>buttongroup:6</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="0">
+                     <widget class="QCheckBox" name="basicResponsivenessCheckBox">
+                      <property name="text">
+                       <string>Use Basic Configuration</string>
+                      </property>
+                      <property name="checked">
+                       <bool>true</bool>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0" colspan="2">
+                     <widget class="QFrame" name="basicResponsivenessControls">
+                      <layout class="QGridLayout" name="gridLayout_10">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
+                        <number>0</number>
+                       </property>
+                       <item row="4" column="4">
+                        <widget class="QSpinBox" name="spinBox_2">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>800</number>
+                         </property>
+                         <property name="value">
+                          <number>400</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:ManualRate</string>
+                           <string>element:Roll</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="4" column="0">
+                        <widget class="QLabel" name="label_2">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>80</width>
+                           <height>16</height>
+                          </size>
+                         </property>
+                         <property name="text">
+                          <string>Rate</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="1">
+                        <widget class="QLabel" name="label_142">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>20</height>
+                          </size>
+                         </property>
+                         <property name="palette">
+                          <palette>
+                           <active>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>255</red>
+                               <green>255</green>
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+                            </colorrole>
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+                            <colorrole role="ToolTipBase">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>255</red>
+                               <green>255</green>
+                               <blue>220</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                            <colorrole role="ToolTipText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>0</red>
+                               <green>0</green>
+                               <blue>0</blue>
+                              </color>
+                             </brush>
+                            </colorrole>
+                           </disabled>
+                          </palette>
+                         </property>
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="toolTip">
+                          <string>Lazy Sunday afternoon flying, fly's nice and stable</string>
+                         </property>
+                         <property name="autoFillBackground">
+                          <bool>false</bool>
+                         </property>
+                         <property name="styleSheet">
+                          <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(34, 34, 200, 255), stop:0.78607 rgba(6, 6, 150, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                         </property>
+                         <property name="text">
+                          <string>Moderate</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="5" column="0">
+                        <widget class="QLabel" name="label_5">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>80</width>
+                           <height>16</height>
+                          </size>
+                         </property>
+                         <property name="text">
+                          <string>Rate yaw</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="2">
+                        <widget class="QLabel" name="label_143">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>20</height>
+                          </size>
+                         </property>
+                         <property name="palette">
+                          <palette>
+                           <active>
+                            <colorrole role="WindowText">
+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>255</red>
+                               <green>255</green>
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+                                 <green>150</green>
+                                 <blue>6</blue>
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+                               <green>19</green>
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+                               <green>19</green>
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+                               <green>255</green>
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+                               <green>58</green>
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+                               <green>48</green>
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+                             <brush brushstyle="SolidPattern">
+                              <color alpha="255">
+                               <red>19</red>
+                               <green>19</green>
+                               <blue>19</blue>
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+                               <green>255</green>
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+                             <brush brushstyle="SolidPattern">
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+                               <red>255</red>
+                               <green>255</green>
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+                               <green>39</green>
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+                               <green>255</green>
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+                             <brush brushstyle="SolidPattern">
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+                             </brush>
+                            </colorrole>
+                           </disabled>
+                          </palette>
+                         </property>
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="toolTip">
+                          <string>This thing really can preform, it is a lot more responsive this way</string>
+                         </property>
+                         <property name="autoFillBackground">
+                          <bool>false</bool>
+                         </property>
+                         <property name="styleSheet">
+                          <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(14, 200, 14, 255), stop:0.78607 rgba(6, 150, 6	, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                         </property>
+                         <property name="text">
+                          <string>Snappy</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="4">
+                        <widget class="QSpinBox" name="spinBox">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>10</number>
+                         </property>
+                         <property name="maximum">
+                          <number>180</number>
+                         </property>
+                         <property name="value">
+                          <number>83</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:RollMax</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="4" column="1" colspan="3">
+                        <widget class="QSlider" name="RateResponsivenessSlider">
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>25</height>
+                          </size>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Rate mode slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>800</number>
+                         </property>
+                         <property name="value">
+                          <number>400</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>20</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:ManualRate</string>
+                           <string>element:Roll</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="5" column="4">
+                        <widget class="QSpinBox" name="spinBox_5">
+                         <property name="minimumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="maximumSize">
+                          <size>
+                           <width>60</width>
+                           <height>22</height>
+                          </size>
+                         </property>
+                         <property name="minimum">
+                          <number>100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>800</number>
+                         </property>
+                         <property name="value">
+                          <number>400</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:ManualRate</string>
+                           <string>element:Yaw</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="0">
+                        <widget class="QLabel" name="label">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>80</width>
+                           <height>16</height>
+                          </size>
+                         </property>
+                         <property name="text">
+                          <string>Attitude</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="3" column="1" colspan="3">
+                        <widget class="QSlider" name="AttitudeResponsivenessSlider">
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>25</height>
+                          </size>
+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Attitude Mode slider can be adjusted to value ranges whose responsivness is represented by the Moderate / Snappy / Insane bar&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>10</number>
+                         </property>
+                         <property name="maximum">
+                          <number>180</number>
+                         </property>
+                         <property name="singleStep">
+                          <number>1</number>
+                         </property>
+                         <property name="value">
+                          <number>83</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>10</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:RollMax</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="1" column="3">
+                        <widget class="QLabel" name="label_144">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>0</width>
+                           <height>20</height>
+                          </size>
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+                         </property>
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="toolTip">
+                          <string>Damn this is insane how quick it moves. Mostly used by the Pro's</string>
+                         </property>
+                         <property name="autoFillBackground">
+                          <bool>false</bool>
+                         </property>
+                         <property name="styleSheet">
+                          <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(200, 14, 14, 255), stop:0.78607 rgba(160	, 6, 6	, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                         </property>
+                         <property name="text">
+                          <string>Insane</string>
+                         </property>
+                         <property name="alignment">
+                          <set>Qt::AlignCenter</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="5" column="1" colspan="3">
+                        <widget class="QSlider" name="RateYawResponsivenessSlider">
+                         <property name="minimumSize">
+                          <size>
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+                         </property>
+                         <property name="toolTip">
+                          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Rate mode Yaw slider can be adjusted to value ranges whose responsiveness is represented by the Moderate / Snappy / Insane bar&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         </property>
+                         <property name="minimum">
+                          <number>100</number>
+                         </property>
+                         <property name="maximum">
+                          <number>800</number>
+                         </property>
+                         <property name="value">
+                          <number>400</number>
+                         </property>
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="tickPosition">
+                          <enum>QSlider::TicksBelow</enum>
+                         </property>
+                         <property name="tickInterval">
+                          <number>20</number>
+                         </property>
+                         <property name="objrelation" stdset="0">
+                          <stringlist>
+                           <string>objname:StabilizationSettingsBankX</string>
+                           <string>fieldname:ManualRate</string>
+                           <string>element:Yaw</string>
+                           <string>haslimits:no</string>
+                           <string>scale:1</string>
+                           <string>buttongroup:6,20</string>
+                          </stringlist>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="2" column="1">
+                        <spacer name="verticalSpacer_9">
+                         <property name="orientation">
+                          <enum>Qt::Vertical</enum>
+                         </property>
+                         <property name="sizeHint" stdset="0">
+                          <size>
+                           <width>20</width>
+                           <height>40</height>
+                          </size>
+                         </property>
+                        </spacer>
+                       </item>
+                       <item row="0" column="1">
+                        <spacer name="verticalSpacer_10">
+                         <property name="orientation">
+                          <enum>Qt::Vertical</enum>
+                         </property>
+                         <property name="sizeHint" stdset="0">
+                          <size>
+                           <width>20</width>
+                           <height>40</height>
+                          </size>
+                         </property>
+                        </spacer>
+                       </item>
+                      </layout>
+                     </widget>
+                    </item>
+                   </layout>
                   </widget>
                  </item>
                 </layout>
@@ -2229,7 +2900,7 @@ border-radius: 5;</string>
                 <property name="maximumSize">
                  <size>
                   <width>16777215</width>
-                  <height>195</height>
+                  <height>160</height>
                  </size>
                 </property>
                 <property name="title">
@@ -2257,20 +2928,70 @@ border-radius: 5;</string>
                  <property name="horizontalSpacing">
                   <number>6</number>
                  </property>
-                 <item row="1" column="0" colspan="3">
-                  <widget class="QGroupBox" name="RateStabilizationGroup_16">
+                 <item row="0" column="0">
+                  <widget class="QCheckBox" name="checkBox_7">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch sliders to move together, thus giving same value for both roll &amp;amp; pitch when setting up a symetrical vehicle that requires both to be the same&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Link Roll and Pitch</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QPushButton" name="pushButton_20">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
                    <property name="minimumSize">
                     <size>
                      <width>0</width>
                      <height>0</height>
                     </size>
                    </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="toolTip">
+                    <string>Reset all values to GCS defaults</string>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Default</string>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>button:default</string>
+                     <string>buttongroup:1</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0" colspan="2">
+                  <widget class="QFrame" name="RateStabilizationGroup_16">
                    <property name="palette">
                     <palette>
                      <active>
@@ -2686,26 +3407,6 @@ border-radius: 5;</string>
                      </disabled>
                     </palette>
                    </property>
-                   <property name="font">
-                    <font>
-                     <weight>50</weight>
-                     <italic>false</italic>
-                     <bold>false</bold>
-                     <kerning>true</kerning>
-                    </font>
-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">QGroupBox{border: 0px;}</string>
-                   </property>
-                   <property name="title">
-                    <string/>
-                   </property>
-                   <property name="flat">
-                    <bool>true</bool>
-                   </property>
                    <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,0,0,0,0,0,0">
                     <property name="leftMargin">
                      <number>0</number>
@@ -2716,73 +3417,8 @@ border-radius: 5;</string>
                     <property name="bottomMargin">
                      <number>0</number>
                     </property>
-                    <item row="0" column="0">
-                     <spacer name="horizontalSpacer_44">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="4">
-                     <spacer name="horizontalSpacer_20">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="3" column="6">
-                     <widget class="QSpinBox" name="spinBox_10">
-                      <property name="minimumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>As a rule of thumb, you can set the Integral at roughly the same
-value as the Kp.</string>
-                      </property>
-                      <property name="maximum">
-                       <number>200</number>
-                      </property>
-                      <property name="value">
-                       <number>200</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawRatePID</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="5">
-                     <widget class="QSlider" name="horizontalSlider_81">
+                    <item row="3" column="1">
+                     <widget class="QSlider" name="horizontalSlider_79">
                       <property name="sizePolicy">
                        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                         <horstretch>0</horstretch>
@@ -2796,14 +3432,11 @@ value as the Kp.</string>
                        </size>
                       </property>
                       <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
+                       <enum>Qt::WheelFocus</enum>
                       </property>
                       <property name="toolTip">
                        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
                       <property name="maximum">
                        <number>100</number>
                       </property>
@@ -2817,62 +3450,12 @@ value as the Kp.</string>
                        <enum>QSlider::TicksBelow</enum>
                       </property>
                       <property name="tickInterval">
-                       <number>25</number>
+                       <number>20</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
                         <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawRatePID</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="3">
-                     <widget class="QSlider" name="horizontalSlider_80">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>25</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="maximum">
-                       <number>100</number>
-                      </property>
-                      <property name="sliderPosition">
-                       <number>50</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:PitchRatePID</string>
+                        <string>fieldname:RollRatePID</string>
                         <string>element:Ki</string>
                         <string>haslimits:yes</string>
                         <string>scale:0.0001</string>
@@ -2885,19 +3468,16 @@ value as the Kp.</string>
                      <widget class="QSpinBox" name="spinBox_9">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>As a rule of thumb, you can set the Integral at roughly the same
 value as the Kp.</string>
@@ -2920,6 +3500,705 @@ value as the Kp.</string>
                       </property>
                      </widget>
                     </item>
+                    <item row="3" column="2">
+                     <widget class="QSpinBox" name="spinBox_8">
+                      <property name="minimumSize">
+                       <size>
+                        <width>60</width>
+                        <height>22</height>
+                       </size>
+                      </property>
+                      <property name="maximumSize">
+                       <size>
+                        <width>60</width>
+                        <height>22</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                      </property>
+                      <property name="maximum">
+                       <number>200</number>
+                      </property>
+                      <property name="value">
+                       <number>200</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:RollRatePID</string>
+                        <string>element:Ki</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_141">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>110</width>
+                        <height>16</height>
+                       </size>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true"/>
+                      </property>
+                      <property name="text">
+                       <string>Proportional</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="3">
+                     <widget class="QSlider" name="PitchPSlider">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="sliderPosition">
+                       <number>50</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="tickPosition">
+                       <enum>QSlider::TicksBelow</enum>
+                      </property>
+                      <property name="tickInterval">
+                       <number>20</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:PitchRatePID</string>
+                        <string>element:Kp</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="5">
+                     <widget class="QSlider" name="horizontalSlider_78">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="sliderPosition">
+                       <number>50</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="tickPosition">
+                       <enum>QSlider::TicksBelow</enum>
+                      </property>
+                      <property name="tickInterval">
+                       <number>20</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:YawRatePID</string>
+                        <string>element:Kp</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="5">
+                     <widget class="QLabel" name="label_140">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                      <property name="palette">
+                       <palette>
+                        <active>
+                         <colorrole role="WindowText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Button">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Light">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>58</red>
+                            <green>58</green>
+                            <blue>58</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Midlight">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>48</red>
+                            <green>48</green>
+                            <blue>48</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Dark">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>19</red>
+                            <green>19</green>
+                            <blue>19</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Mid">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>26</red>
+                            <green>26</green>
+                            <blue>26</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Text">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="BrightText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ButtonText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Base">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Window">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Shadow">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="AlternateBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>19</red>
+                            <green>19</green>
+                            <blue>19</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>220</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                        </active>
+                        <inactive>
+                         <colorrole role="WindowText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Button">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Light">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>58</red>
+                            <green>58</green>
+                            <blue>58</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Midlight">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>48</red>
+                            <green>48</green>
+                            <blue>48</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Dark">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>19</red>
+                            <green>19</green>
+                            <blue>19</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Mid">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>26</red>
+                            <green>26</green>
+                            <blue>26</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Text">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="BrightText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ButtonText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Base">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Window">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Shadow">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="AlternateBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>19</red>
+                            <green>19</green>
+                            <blue>19</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>220</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                        </inactive>
+                        <disabled>
+                         <colorrole role="WindowText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Button">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Light">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>58</red>
+                            <green>58</green>
+                            <blue>58</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Midlight">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>48</red>
+                            <green>48</green>
+                            <blue>48</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Dark">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>19</red>
+                            <green>19</green>
+                            <blue>19</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Mid">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>26</red>
+                            <green>26</green>
+                            <blue>26</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Text">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="BrightText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ButtonText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>255</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Base">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Window">
+                          <brush brushstyle="LinearGradientPattern">
+                           <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                            <gradientstop position="0.208955000000000">
+                             <color alpha="255">
+                              <red>74</red>
+                              <green>74</green>
+                              <blue>74</blue>
+                             </color>
+                            </gradientstop>
+                            <gradientstop position="0.786070000000000">
+                             <color alpha="255">
+                              <red>36</red>
+                              <green>36</green>
+                              <blue>36</blue>
+                             </color>
+                            </gradientstop>
+                           </gradient>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="Shadow">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="AlternateBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>39</red>
+                            <green>39</green>
+                            <blue>39</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipBase">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>255</red>
+                            <green>255</green>
+                            <blue>220</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                         <colorrole role="ToolTipText">
+                          <brush brushstyle="SolidPattern">
+                           <color alpha="255">
+                            <red>0</red>
+                            <green>0</green>
+                            <blue>0</blue>
+                           </color>
+                          </brush>
+                         </colorrole>
+                        </disabled>
+                       </palette>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="autoFillBackground">
+                       <bool>false</bool>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                      </property>
+                      <property name="text">
+                       <string>Yaw</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
                     <item row="0" column="1">
                      <widget class="QLabel" name="label_138">
                       <property name="sizePolicy">
@@ -3470,579 +4749,28 @@ border-radius: 5;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="6">
-                     <spacer name="horizontalSpacer_45">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="2">
-                     <spacer name="horizontalSpacer_16">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="5">
-                     <widget class="QLabel" name="label_140">
+                    <item row="3" column="0">
+                     <widget class="QLabel" name="label_145">
                       <property name="sizePolicy">
-                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                         <horstretch>0</horstretch>
                         <verstretch>0</verstretch>
                        </sizepolicy>
                       </property>
                       <property name="minimumSize">
                        <size>
-                        <width>0</width>
-                        <height>20</height>
+                        <width>110</width>
+                        <height>0</height>
                        </size>
                       </property>
-                      <property name="palette">
-                       <palette>
-                        <active>
-                         <colorrole role="WindowText">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
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-                              <red>74</red>
-                              <green>74</green>
-                              <blue>74</blue>
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-                            <gradientstop position="0.786070000000000">
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-                              <red>36</red>
-                              <green>36</green>
-                              <blue>36</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
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-                            <green>58</green>
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-                            <red>48</red>
-                            <green>48</green>
-                            <blue>48</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
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-                            <green>19</green>
-                            <blue>19</blue>
-                           </color>
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-                            <green>26</green>
-                            <blue>26</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Text">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
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-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
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-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
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-                              <green>74</green>
-                              <blue>74</blue>
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-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>36</red>
-                              <green>36</green>
-                              <blue>36</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
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-                            <gradientstop position="0.208955000000000">
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-                              <green>74</green>
-                              <blue>74</blue>
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-                            <gradientstop position="0.786070000000000">
-                             <color alpha="255">
-                              <red>36</red>
-                              <green>36</green>
-                              <blue>36</blue>
-                             </color>
-                            </gradientstop>
-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Shadow">
-                          <brush brushstyle="SolidPattern">
-                           <color alpha="255">
-                            <red>0</red>
-                            <green>0</green>
-                            <blue>0</blue>
-                           </color>
-                          </brush>
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-                            <green>19</green>
-                            <blue>19</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
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-                            <red>255</red>
-                            <green>255</green>
-                            <blue>220</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
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-                            <green>0</green>
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-                            <green>255</green>
-                            <blue>255</blue>
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-                              <green>74</green>
-                              <blue>74</blue>
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-                            <gradientstop position="0.786070000000000">
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-                              <red>36</red>
-                              <green>36</green>
-                              <blue>36</blue>
-                             </color>
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-                           </gradient>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="Light">
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-                            <red>58</red>
-                            <green>58</green>
-                            <blue>58</blue>
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-                            <green>48</green>
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-                            <red>19</red>
-                            <green>19</green>
-                            <blue>19</blue>
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-                         <colorrole role="Mid">
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-                            <red>26</red>
-                            <green>26</green>
-                            <blue>26</blue>
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-                            <red>255</red>
-                            <green>255</green>
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-                            <red>255</red>
-                            <green>255</green>
-                            <blue>255</blue>
-                           </color>
-                          </brush>
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-                            <red>255</red>
-                            <green>255</green>
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-                             <color alpha="255">
-                              <red>74</red>
-                              <green>74</green>
-                              <blue>74</blue>
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-                          <brush brushstyle="SolidPattern">
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-                            <green>255</green>
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-                         </colorrole>
-                        </disabled>
-                       </palette>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="autoFillBackground">
-                       <bool>false</bool>
-                      </property>
                       <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
+                       <string notr="true"/>
                       </property>
                       <property name="text">
-                       <string>Yaw</string>
+                       <string>Integral</string>
                       </property>
                       <property name="alignment">
-                       <set>Qt::AlignCenter</set>
+                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                       </property>
                      </widget>
                     </item>
@@ -4596,8 +5324,8 @@ border-radius: 5;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="1">
-                     <widget class="QSlider" name="horizontalSlider_76">
+                    <item row="3" column="3">
+                     <widget class="QSlider" name="horizontalSlider_80">
                       <property name="sizePolicy">
                        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                         <horstretch>0</horstretch>
@@ -4610,146 +5338,9 @@ border-radius: 5;</string>
                         <height>25</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="maximum">
-                       <number>100</number>
-                      </property>
-                      <property name="value">
-                       <number>51</number>
-                      </property>
-                      <property name="sliderPosition">
-                       <number>51</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollRatePID</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="4">
-                     <widget class="QSpinBox" name="spinBox_PitchRateP">
-                      <property name="minimumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
-Then lower the value by 5 or so.</string>
-                      </property>
-                      <property name="maximum">
-                       <number>200</number>
-                      </property>
-                      <property name="value">
-                       <number>200</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:PitchRatePID</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="6">
-                     <widget class="QSpinBox" name="spinBox_12">
-                      <property name="minimumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>50</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
-Then lower the value by 5 or so.</string>
-                      </property>
-                      <property name="maximum">
-                       <number>200</number>
-                      </property>
-                      <property name="value">
-                       <number>200</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawRatePID</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1">
-                     <widget class="QSlider" name="horizontalSlider_79">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>25</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
                       <property name="maximum">
                        <number>100</number>
                       </property>
@@ -4763,12 +5354,12 @@ Then lower the value by 5 or so.</string>
                        <enum>QSlider::TicksBelow</enum>
                       </property>
                       <property name="tickInterval">
-                       <number>25</number>
+                       <number>20</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
                         <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollRatePID</string>
+                        <string>fieldname:PitchRatePID</string>
                         <string>element:Ki</string>
                         <string>haslimits:yes</string>
                         <string>scale:0.0001</string>
@@ -4777,42 +5368,20 @@ Then lower the value by 5 or so.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_145">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="text">
-                       <string>Integral</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="2">
-                     <widget class="QSpinBox" name="spinBox_8">
+                    <item row="3" column="6">
+                     <widget class="QSpinBox" name="spinBox_10">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>As a rule of thumb, you can set the Integral at roughly the same
 value as the Kp.</string>
@@ -4826,7 +5395,7 @@ value as the Kp.</string>
                       <property name="objrelation" stdset="0">
                        <stringlist>
                         <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollRatePID</string>
+                        <string>fieldname:YawRatePID</string>
                         <string>element:Ki</string>
                         <string>haslimits:yes</string>
                         <string>scale:0.0001</string>
@@ -4835,23 +5404,147 @@ value as the Kp.</string>
                       </property>
                      </widget>
                     </item>
+                    <item row="2" column="4">
+                     <widget class="QSpinBox" name="spinBox_PitchRateP">
+                      <property name="minimumSize">
+                       <size>
+                        <width>60</width>
+                        <height>22</height>
+                       </size>
+                      </property>
+                      <property name="maximumSize">
+                       <size>
+                        <width>60</width>
+                        <height>22</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                      </property>
+                      <property name="maximum">
+                       <number>200</number>
+                      </property>
+                      <property name="value">
+                       <number>200</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:PitchRatePID</string>
+                        <string>element:Kp</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="5">
+                     <widget class="QSlider" name="horizontalSlider_81">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="sliderPosition">
+                       <number>50</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="tickPosition">
+                       <enum>QSlider::TicksBelow</enum>
+                      </property>
+                      <property name="tickInterval">
+                       <number>20</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:YawRatePID</string>
+                        <string>element:Ki</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="1">
+                     <widget class="QSlider" name="horizontalSlider_76">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="value">
+                       <number>51</number>
+                      </property>
+                      <property name="sliderPosition">
+                       <number>51</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="tickPosition">
+                       <enum>QSlider::TicksBelow</enum>
+                      </property>
+                      <property name="tickInterval">
+                       <number>20</number>
+                      </property>
+                      <property name="objrelation" stdset="0">
+                       <stringlist>
+                        <string>objname:StabilizationSettingsBankX</string>
+                        <string>fieldname:RollRatePID</string>
+                        <string>element:Kp</string>
+                        <string>haslimits:yes</string>
+                        <string>scale:0.0001</string>
+                        <string>buttongroup:1,10</string>
+                       </stringlist>
+                      </property>
+                     </widget>
+                    </item>
                     <item row="2" column="2">
                      <widget class="QSpinBox" name="spinBox_7">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
 Then lower the value by 5 or so.</string>
@@ -4874,68 +5567,29 @@ Then lower the value by 5 or so.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_141">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
+                    <item row="2" column="6">
+                     <widget class="QSpinBox" name="spinBox_12">
                       <property name="minimumSize">
                        <size>
-                        <width>78</width>
-                        <height>16</height>
+                        <width>60</width>
+                        <height>22</height>
                        </size>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="text">
-                       <string>Proportional</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="5">
-                     <widget class="QSlider" name="horizontalSlider_78">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
+                      <property name="maximumSize">
                        <size>
-                        <width>0</width>
-                        <height>25</height>
+                        <width>60</width>
+                        <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
+                       <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
                       </property>
                       <property name="maximum">
-                       <number>100</number>
+                       <number>200</number>
                       </property>
-                      <property name="sliderPosition">
-                       <number>50</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
+                      <property name="value">
+                       <number>200</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
@@ -4949,137 +5603,9 @@ Then lower the value by 5 or so.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="3">
-                     <widget class="QSlider" name="PitchPSlider">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>25</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="maximum">
-                       <number>100</number>
-                      </property>
-                      <property name="sliderPosition">
-                       <number>50</number>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="tickPosition">
-                       <enum>QSlider::TicksBelow</enum>
-                      </property>
-                      <property name="tickInterval">
-                       <number>25</number>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:PitchRatePID</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:yes</string>
-                        <string>scale:0.0001</string>
-                        <string>buttongroup:1,10</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
                    </layout>
                   </widget>
                  </item>
-                 <item row="0" column="1">
-                  <spacer name="horizontalSpacer_3">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Preferred</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>497</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="0">
-                  <widget class="QCheckBox" name="checkBox_7">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch sliders to move together, thus giving same value for both roll &amp;amp; pitch when setting up a symetrical vehicle that requires both to be the same&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Link Roll and Pitch</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="2">
-                  <widget class="QPushButton" name="pushButton_20">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="toolTip">
-                    <string>Reset all values to GCS defaults</string>
-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Default</string>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>button:default</string>
-                     <string>buttongroup:1</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                 </layout>
                </widget>
               </item>
@@ -5100,7 +5626,7 @@ Then lower the value by 5 or so.</string>
                 <property name="maximumSize">
                  <size>
                   <width>16777215</width>
-                  <height>195</height>
+                  <height>135</height>
                  </size>
                 </property>
                 <property name="autoFillBackground">
@@ -5128,45 +5654,7 @@ Then lower the value by 5 or so.</string>
                  <property name="horizontalSpacing">
                   <number>6</number>
                  </property>
-                 <item row="0" column="0">
-                  <widget class="QCheckBox" name="checkBox_8">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch sliders to move together, thus giving same value for both roll &amp;amp; pitch when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Link Roll and Pitch</string>
-                   </property>
-                  </widget>
-                 </item>
                  <item row="0" column="1">
-                  <spacer name="horizontalSpacer_4">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Preferred</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>497</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="2">
                   <widget class="QPushButton" name="pushButton_22">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -5197,20 +5685,30 @@ Then lower the value by 5 or so.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="0" colspan="3">
-                  <widget class="QGroupBox" name="RateStabilizationGroup_18">
+                 <item row="0" column="0">
+                  <widget class="QCheckBox" name="checkBox_8">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>0</height>
-                    </size>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
                    </property>
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch sliders to move together, thus giving same value for both roll &amp;amp; pitch when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Link Roll and Pitch</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0" colspan="2">
+                  <widget class="QFrame" name="RateStabilizationGroup_18">
                    <property name="palette">
                     <palette>
                      <active>
@@ -5626,18 +6124,6 @@ Then lower the value by 5 or so.</string>
                      </disabled>
                     </palette>
                    </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">QGroupBox{border: 0px;}</string>
-                   </property>
-                   <property name="title">
-                    <string/>
-                   </property>
-                   <property name="flat">
-                    <bool>true</bool>
-                   </property>
                    <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1,0,1,0,1,0">
                     <property name="leftMargin">
                      <number>0</number>
@@ -7308,7 +7794,7 @@ border-radius: 5;</string>
                       </property>
                       <property name="minimumSize">
                        <size>
-                        <width>78</width>
+                        <width>110</width>
                         <height>16</height>
                        </size>
                       </property>
@@ -7337,15 +7823,9 @@ border-radius: 5;</string>
                         <height>25</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
                       <property name="maximum">
                        <number>100</number>
                       </property>
@@ -7359,7 +7839,7 @@ border-radius: 5;</string>
                        <enum>QSlider::TicksBelow</enum>
                       </property>
                       <property name="tickInterval">
-                       <number>25</number>
+                       <number>20</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
@@ -7377,19 +7857,16 @@ border-radius: 5;</string>
                      <widget class="QSpinBox" name="spinBox_13">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="maximum">
                        <number>200</number>
                       </property>
@@ -7422,15 +7899,9 @@ border-radius: 5;</string>
                         <height>25</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
                       <property name="maximum">
                        <number>100</number>
                       </property>
@@ -7444,7 +7915,7 @@ border-radius: 5;</string>
                        <enum>QSlider::TicksBelow</enum>
                       </property>
                       <property name="tickInterval">
-                       <number>25</number>
+                       <number>20</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
@@ -7462,19 +7933,16 @@ border-radius: 5;</string>
                      <widget class="QSpinBox" name="spinBox_14">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="maximum">
                        <number>200</number>
                       </property>
@@ -7507,15 +7975,9 @@ border-radius: 5;</string>
                         <height>25</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="toolTip">
                        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
                       <property name="maximum">
                        <number>100</number>
                       </property>
@@ -7529,7 +7991,7 @@ border-radius: 5;</string>
                        <enum>QSlider::TicksBelow</enum>
                       </property>
                       <property name="tickInterval">
-                       <number>25</number>
+                       <number>20</number>
                       </property>
                       <property name="objrelation" stdset="0">
                        <stringlist>
@@ -7547,19 +8009,16 @@ border-radius: 5;</string>
                      <widget class="QSpinBox" name="spinBox_15">
                       <property name="minimumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
                       <property name="maximumSize">
                        <size>
-                        <width>50</width>
+                        <width>60</width>
                         <height>22</height>
                        </size>
                       </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
                       <property name="maximum">
                        <number>200</number>
                       </property>
@@ -7578,58 +8037,6 @@ border-radius: 5;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="2">
-                     <spacer name="horizontalSpacer_2">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="4">
-                     <spacer name="horizontalSpacer_5">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="0">
-                     <spacer name="horizontalSpacer_46">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="0" column="6">
-                     <spacer name="horizontalSpacer_47">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>40</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
                     <item row="2" column="5">
                      <spacer name="horizontalSpacer_48">
                       <property name="orientation">
@@ -7837,8 +8244,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>954</width>
-            <height>732</height>
+            <width>952</width>
+            <height>771</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -7916,6 +8323,19 @@ border-radius: 5;</string>
                    <property name="horizontalSpacing">
                     <number>6</number>
                    </property>
+                   <item row="3" column="0">
+                    <spacer name="verticalSpacer_8">
+                     <property name="orientation">
+                      <enum>Qt::Vertical</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>20</width>
+                       <height>40</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
                    <item row="1" column="0" alignment="Qt::AlignTop">
                     <widget class="QCheckBox" name="advancedResponsivenessCheckBox">
                      <property name="sizePolicy">
@@ -7929,20 +8349,7 @@ border-radius: 5;</string>
                      </property>
                     </widget>
                    </item>
-                   <item row="1" column="1">
-                    <spacer name="horizontalSpacer_14">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item row="1" column="2" alignment="Qt::AlignTop">
+                   <item row="1" column="1" alignment="Qt::AlignTop">
                     <widget class="QPushButton" name="pushButton_3">
                      <property name="sizePolicy">
                       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -7980,8 +8387,8 @@ border-radius: 5;</string>
                      </property>
                     </widget>
                    </item>
-                   <item row="2" column="0" colspan="3">
-                    <widget class="QGroupBox" name="advancedResponsivenessControls">
+                   <item row="2" column="0" colspan="2">
+                    <widget class="QFrame" name="advancedResponsivenessControls">
                      <property name="enabled">
                       <bool>false</bool>
                      </property>
@@ -7991,12 +8398,6 @@ border-radius: 5;</string>
                        <verstretch>0</verstretch>
                       </sizepolicy>
                      </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>140</height>
-                      </size>
-                     </property>
                      <property name="palette">
                       <palette>
                        <active>
@@ -8412,19 +8813,7 @@ border-radius: 5;</string>
                        </disabled>
                       </palette>
                      </property>
-                     <property name="autoFillBackground">
-                      <bool>false</bool>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true">QGroupBox{border: 0px;}</string>
-                     </property>
-                     <property name="title">
-                      <string/>
-                     </property>
-                     <property name="flat">
-                      <bool>true</bool>
-                     </property>
-                     <layout class="QGridLayout" name="gridLayout_6" rowstretch="0,0,0,0" columnstretch="0,0,0,0,0,0,0">
+                     <layout class="QGridLayout" name="gridLayout_6" rowstretch="0,0,0,0" columnstretch="0,0,0,0">
                       <property name="leftMargin">
                        <number>0</number>
                       </property>
@@ -8440,1594 +8829,7 @@ border-radius: 5;</string>
                       <property name="verticalSpacing">
                        <number>0</number>
                       </property>
-                      <item row="2" column="4">
-                       <widget class="QDoubleSpinBox" name="ratePitchKi_4">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>22</height>
-                         </size>
-                        </property>
-                        <property name="maximumSize">
-                         <size>
-                          <width>16777215</width>
-                          <height>22</height>
-                         </size>
-                        </property>
-                        <property name="focusPolicy">
-                         <enum>Qt::StrongFocus</enum>
-                        </property>
-                        <property name="toolTip">
-                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true"/>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                        </property>
-                        <property name="decimals">
-                         <number>0</number>
-                        </property>
-                        <property name="maximum">
-                         <double>1000000.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="objrelation" stdset="0">
-                         <stringlist>
-                          <string>objname:StabilizationSettingsBankX</string>
-                          <string>fieldname:ManualRate</string>
-                          <string>element:Pitch</string>
-                          <string>haslimits:no</string>
-                          <string>scale:1</string>
-                          <string>buttongroup:6,20</string>
-                         </stringlist>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="0" column="2">
-                       <widget class="QLabel" name="label_33">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>20</height>
-                         </size>
-                        </property>
-                        <property name="palette">
-                         <palette>
-                          <active>
-                           <colorrole role="WindowText">
-                            <brush brushstyle="SolidPattern">
-                             <color alpha="255">
-                              <red>255</red>
-                              <green>255</green>
-                              <blue>255</blue>
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-                                <green>36</green>
-                                <blue>36</blue>
-                               </color>
-                              </gradientstop>
-                             </gradient>
-                            </brush>
-                           </colorrole>
-                           <colorrole role="Window">
-                            <brush brushstyle="LinearGradientPattern">
-                             <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                              <gradientstop position="0.208955000000000">
-                               <color alpha="255">
-                                <red>74</red>
-                                <green>74</green>
-                                <blue>74</blue>
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-                              </gradientstop>
-                              <gradientstop position="0.786070000000000">
-                               <color alpha="255">
-                                <red>36</red>
-                                <green>36</green>
-                                <blue>36</blue>
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-                             </gradient>
-                            </brush>
-                           </colorrole>
-                           <colorrole role="Shadow">
-                            <brush brushstyle="SolidPattern">
-                             <color alpha="255">
-                              <red>0</red>
-                              <green>0</green>
-                              <blue>0</blue>
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-                           </colorrole>
-                           <colorrole role="AlternateBase">
-                            <brush brushstyle="SolidPattern">
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-                              <red>39</red>
-                              <green>39</green>
-                              <blue>39</blue>
-                             </color>
-                            </brush>
-                           </colorrole>
-                           <colorrole role="ToolTipBase">
-                            <brush brushstyle="SolidPattern">
-                             <color alpha="255">
-                              <red>255</red>
-                              <green>255</green>
-                              <blue>220</blue>
-                             </color>
-                            </brush>
-                           </colorrole>
-                           <colorrole role="ToolTipText">
-                            <brush brushstyle="SolidPattern">
-                             <color alpha="255">
-                              <red>0</red>
-                              <green>0</green>
-                              <blue>0</blue>
-                             </color>
-                            </brush>
-                           </colorrole>
-                          </disabled>
-                         </palette>
-                        </property>
-                        <property name="font">
-                         <font>
-                          <weight>75</weight>
-                          <bold>true</bold>
-                         </font>
-                        </property>
-                        <property name="autoFillBackground">
-                         <bool>false</bool>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                        </property>
-                        <property name="text">
-                         <string>Pitch</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="2" column="5">
-                       <spacer name="horizontalSpacer_32">
-                        <property name="orientation">
-                         <enum>Qt::Horizontal</enum>
-                        </property>
-                        <property name="sizeType">
-                         <enum>QSizePolicy::Fixed</enum>
-                        </property>
-                        <property name="sizeHint" stdset="0">
-                         <size>
-                          <width>10</width>
-                          <height>10</height>
-                         </size>
-                        </property>
-                       </spacer>
-                      </item>
-                      <item row="3" column="4">
-                       <widget class="QDoubleSpinBox" name="ratePitchILimit_4">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>22</height>
-                         </size>
-                        </property>
-                        <property name="maximumSize">
-                         <size>
-                          <width>16777215</width>
-                          <height>22</height>
-                         </size>
-                        </property>
-                        <property name="focusPolicy">
-                         <enum>Qt::StrongFocus</enum>
-                        </property>
-                        <property name="toolTip">
-                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum rotation rate in degrees per second on an axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true"/>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                        </property>
-                        <property name="decimals">
-                         <number>0</number>
-                        </property>
-                        <property name="maximum">
-                         <double>1000000.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="objrelation" stdset="0">
-                         <stringlist>
-                          <string>objname:StabilizationSettingsBankX</string>
-                          <string>fieldname:MaximumRate</string>
-                          <string>element:Pitch</string>
-                          <string>haslimits:no</string>
-                          <string>scale:1</string>
-                          <string>buttongroup:6,20</string>
-                         </stringlist>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="0" column="6">
+                      <item row="0" column="3">
                        <widget class="QLabel" name="label_38">
                         <property name="sizePolicy">
                          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -10577,21 +9379,7 @@ border-radius: 5;</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="1" column="0">
-                       <widget class="QLabel" name="label_39">
-                        <property name="styleSheet">
-                         <string notr="true"/>
-                        </property>
-                        <property name="text">
-                         <string>Attitude mode
-response (deg)</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="1" column="4">
+                      <item row="1" column="2">
                        <widget class="QDoubleSpinBox" name="ratePitchKp_4">
                         <property name="sizePolicy">
                          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -10643,6 +9431,20 @@ response (deg)</string>
                         </property>
                        </widget>
                       </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="label_40">
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="text">
+                         <string>Rate mode
+response (deg/s)</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
                       <item row="3" column="0">
                        <widget class="QLabel" name="label_22">
                         <property name="styleSheet">
@@ -10657,22 +9459,1548 @@ response (deg)</string>
                         </property>
                        </widget>
                       </item>
+                      <item row="2" column="1">
+                       <widget class="QDoubleSpinBox" name="rateRollKi_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:ManualRate</string>
+                          <string>element:Roll</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QDoubleSpinBox" name="rateRollILimit_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum rotation rate in degrees per second on an axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:MaximumRate</string>
+                          <string>element:Roll</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="label_39">
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="text">
+                         <string>Attitude mode
+response (deg)</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="3">
+                       <widget class="QDoubleSpinBox" name="rateYawKp_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>180.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:YawMax</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="2">
+                       <widget class="QLabel" name="label_37">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                        <property name="palette">
+                         <palette>
+                          <active>
+                           <colorrole role="WindowText">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
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+                              <green>19</green>
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+                              <green>255</green>
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+                              <green>58</green>
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+                              <green>48</green>
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+                              <green>19</green>
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+                          </disabled>
+                         </palette>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Pitch</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="3">
+                       <widget class="QDoubleSpinBox" name="rateYawKi_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:ManualRate</string>
+                          <string>element:Yaw</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QLabel" name="label_33">
+                        <property name="sizePolicy">
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+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
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+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
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+                              <gradientstop position="0.208955000000000">
+                               <color alpha="255">
+                                <red>74</red>
+                                <green>74</green>
+                                <blue>74</blue>
+                               </color>
+                              </gradientstop>
+                              <gradientstop position="0.786070000000000">
+                               <color alpha="255">
+                                <red>36</red>
+                                <green>36</green>
+                                <blue>36</blue>
+                               </color>
+                              </gradientstop>
+                             </gradient>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Light">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>58</red>
+                              <green>58</green>
+                              <blue>58</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Midlight">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>48</red>
+                              <green>48</green>
+                              <blue>48</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Dark">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>19</red>
+                              <green>19</green>
+                              <blue>19</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Mid">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>26</red>
+                              <green>26</green>
+                              <blue>26</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Text">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
+                              <green>255</green>
+                              <blue>255</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="BrightText">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
+                              <green>255</green>
+                              <blue>255</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="ButtonText">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
+                              <green>255</green>
+                              <blue>255</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Base">
+                            <brush brushstyle="LinearGradientPattern">
+                             <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                              <gradientstop position="0.208955000000000">
+                               <color alpha="255">
+                                <red>74</red>
+                                <green>74</green>
+                                <blue>74</blue>
+                               </color>
+                              </gradientstop>
+                              <gradientstop position="0.786070000000000">
+                               <color alpha="255">
+                                <red>36</red>
+                                <green>36</green>
+                                <blue>36</blue>
+                               </color>
+                              </gradientstop>
+                             </gradient>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Window">
+                            <brush brushstyle="LinearGradientPattern">
+                             <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                              <gradientstop position="0.208955000000000">
+                               <color alpha="255">
+                                <red>74</red>
+                                <green>74</green>
+                                <blue>74</blue>
+                               </color>
+                              </gradientstop>
+                              <gradientstop position="0.786070000000000">
+                               <color alpha="255">
+                                <red>36</red>
+                                <green>36</green>
+                                <blue>36</blue>
+                               </color>
+                              </gradientstop>
+                             </gradient>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Shadow">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>0</red>
+                              <green>0</green>
+                              <blue>0</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="AlternateBase">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>39</red>
+                              <green>39</green>
+                              <blue>39</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="ToolTipBase">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
+                              <green>255</green>
+                              <blue>220</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="ToolTipText">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>0</red>
+                              <green>0</green>
+                              <blue>0</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                          </disabled>
+                         </palette>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Roll</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QDoubleSpinBox" name="rateRollKp_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum deg your vehicle will tilt at full stick input when in Attitude mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="buttonSymbols">
+                         <enum>QAbstractSpinBox::UpDownArrows</enum>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>180.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollMax</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="2">
+                       <widget class="QDoubleSpinBox" name="ratePitchILimit_4">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum rotation rate in degrees per second on an axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:MaximumRate</string>
+                          <string>element:Pitch</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="2">
+                       <widget class="QDoubleSpinBox" name="ratePitchKi_4">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the degrees per second that your vehicle will tilt/rotate at full stick input when in all modes except Attitude.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:ManualRate</string>
+                          <string>element:Pitch</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="3">
+                       <widget class="QDoubleSpinBox" name="rateYawILimit_3">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This sets the maximum rotation rate in degrees per second on an axis.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>0</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1000000.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:MaximumRate</string>
+                          <string>element:Yaw</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:6,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </widget>
                    </item>
-                   <item row="3" column="0">
-                    <spacer name="verticalSpacer_8">
-                     <property name="orientation">
-                      <enum>Qt::Vertical</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>20</width>
-                       <height>40</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
                   </layout>
                  </widget>
                 </item>
@@ -10732,6 +11060,12 @@ response (deg)</string>
                       </property>
                       <item>
                        <widget class="QCheckBox" name="enableThrustPIDScalingCheckBox">
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>27</height>
+                         </size>
+                        </property>
                         <property name="text">
                          <string>Enable TPS</string>
                         </property>
@@ -12480,2918 +12814,5290 @@ border-radius: 5;</string>
                </layout>
               </item>
               <item>
-               <widget class="QGroupBox" name="RateStabilizationGroup_8">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
+               <layout class="QHBoxLayout" name="horizontalLayout_6">
+                <property name="topMargin">
+                 <number>0</number>
                 </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="title">
-                 <string>Rate Stabilization (Inner Loop)</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="flat">
-                 <bool>false</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_16">
-                 <property name="leftMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="topMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="rightMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="bottomMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="horizontalSpacing">
-                  <number>6</number>
-                 </property>
-                 <item row="1" column="0" colspan="3">
-                  <widget class="QGroupBox" name="RateStabilizationGroup_9">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
+                <item alignment="Qt::AlignTop">
+                 <widget class="QGroupBox" name="RateStabilizationGroup_8">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="title">
+                   <string>Rate Stabilization (Inner Loop)</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                  </property>
+                  <property name="flat">
+                   <bool>false</bool>
+                  </property>
+                  <layout class="QGridLayout" name="gridLayout_16">
+                   <property name="leftMargin">
+                    <number>9</number>
                    </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>140</height>
-                    </size>
+                   <property name="topMargin">
+                    <number>9</number>
                    </property>
-                   <property name="palette">
-                    <palette>
-                     <active>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
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+                    <number>9</number>
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-                    <bool>false</bool>
+                   <property name="bottomMargin">
+                    <number>9</number>
                    </property>
-                   <property name="styleSheet">
-                    <string notr="true">QGroupBox{border: 0px;}</string>
+                   <property name="horizontalSpacing">
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                    </property>
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-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
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+                   <item row="0" column="1">
+                    <widget class="QPushButton" name="pushButton_4">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                       <horstretch>0</horstretch>
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+                       <height>0</height>
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+                     <property name="maximumSize">
+                      <size>
+                       <width>16777215</width>
+                       <height>16777215</height>
+                      </size>
+                     </property>
+                     <property name="toolTip">
+                      <string>Reset all values to GCS defaults</string>
+                     </property>
+                     <property name="styleSheet">
+                      <string notr="true"/>
+                     </property>
+                     <property name="text">
+                      <string>Default</string>
+                     </property>
+                     <property name="objrelation" stdset="0">
+                      <stringlist>
+                       <string>objname:StabilizationSettings</string>
+                       <string>button:default</string>
+                       <string>buttongroup:4</string>
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+                   <item row="0" column="0">
+                    <widget class="QCheckBox" name="checkBox_3">
+                     <property name="toolTip">
+                      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                     </property>
+                     <property name="styleSheet">
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+                     <property name="text">
+                      <string>Link Roll and Pitch</string>
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+                   <item row="1" column="0" colspan="2">
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                       </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
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                       </property>
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                       </property>
-                      <property name="focusPolicy">
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-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This
+                      <item row="2" column="1">
+                       <widget class="QDoubleSpinBox" name="RateRollKi_2">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                        <property name="decimals">
+                         <number>5</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000100000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
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+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollRatePID</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
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+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Pitch</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="3">
+                       <widget class="QDoubleSpinBox" name="RateYawKi">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>5</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000100000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:YawRatePID</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="3">
+                       <widget class="QDoubleSpinBox" name="RateYawKp">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>85</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
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+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Yaw</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="2">
+                       <widget class="QDoubleSpinBox" name="RatePitchKi">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>5</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000100000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:PitchRatePID</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="2">
+                       <widget class="QDoubleSpinBox" name="PitchRateKd">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
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+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This
                     makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>6</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000001000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:PitchRatePID</string>
+                          <string>element:Kd</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
+                         </stringlist>
+                        </property>
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+                      <item row="2" column="0">
+                       <widget class="QLabel" name="label_44">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="text">
+                         <string>Integral</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="2">
+                       <widget class="QDoubleSpinBox" name="RatePitchKp">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>85</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>5</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000100000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:PitchRatePID</string>
+                          <string>element:Kp</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="3">
+                       <widget class="QDoubleSpinBox" name="YawRateKd">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This makes the control output respond faster with fast stick movements or external disturbance like wind gusts. It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>6</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.000001000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:YawRatePID</string>
+                          <string>element:Kd</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
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 color: rgb(255, 255, 255);
 border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Roll</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QLabel" name="label_24">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+                          <height>0</height>
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+                          <height>16777215</height>
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+                        <property name="styleSheet">
+                         <string notr="true"/>
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+                        <property name="text">
+                         <string>Derivative</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QDoubleSpinBox" name="RateRollKp_2">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
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+                        <property name="minimumSize">
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+                          <width>85</width>
+                          <height>22</height>
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+                          <width>16777215</width>
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+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
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+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                        <property name="decimals">
+                         <number>5</number>
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+                        <property name="singleStep">
+                         <double>0.000100000000000</double>
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+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollRatePID</string>
+                          <string>element:Kp</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:4,20</string>
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+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QDoubleSpinBox" name="RollRateKd">
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+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                        <property name="minimumSize">
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+                          <height>22</height>
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+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
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+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This makes the control output respond faster with fast stick movements or external disturbance like wind gusts.It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
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+                        <property name="singleStep">
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+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollRatePID</string>
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+                          <string>haslimits:no</string>
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+                          <height>16</height>
+                         </size>
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+                        </property>
+                        <property name="text">
+                         <string>Proportional</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                </item>
+                <item alignment="Qt::AlignTop">
+                 <widget class="QGroupBox" name="RateStabilizationGroup_4">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="autoFillBackground">
+                   <bool>false</bool>
+                  </property>
+                  <property name="title">
+                   <string>Attitude Stabilization (Outer Loop)</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                  </property>
+                  <property name="flat">
+                   <bool>false</bool>
+                  </property>
+                  <layout class="QGridLayout" name="gridLayout_17">
+                   <property name="leftMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="topMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="rightMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="bottomMargin">
+                    <number>9</number>
+                   </property>
+                   <property name="horizontalSpacing">
+                    <number>6</number>
+                   </property>
+                   <item row="0" column="1">
+                    <widget class="QPushButton" name="pushButton_2">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>0</width>
+                       <height>0</height>
+                      </size>
+                     </property>
+                     <property name="maximumSize">
+                      <size>
+                       <width>16777215</width>
+                       <height>16777215</height>
+                      </size>
+                     </property>
+                     <property name="toolTip">
+                      <string>Reset all values to GCS defaults</string>
+                     </property>
+                     <property name="styleSheet">
+                      <string notr="true"/>
+                     </property>
+                     <property name="text">
+                      <string>Default</string>
+                     </property>
+                     <property name="objrelation" stdset="0">
+                      <stringlist>
+                       <string>objname:StabilizationSettings</string>
+                       <string>button:default</string>
+                       <string>buttongroup:5</string>
+                      </stringlist>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="0" column="0">
+                    <widget class="QCheckBox" name="checkBox_2">
+                     <property name="toolTip">
+                      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                     </property>
+                     <property name="styleSheet">
+                      <string notr="true"/>
+                     </property>
+                     <property name="text">
+                      <string>Link Roll and Pitch</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="1" column="0" colspan="2">
+                    <widget class="QFrame" name="RateStabilizationGroup_5">
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+                        </colorrole>
+                       </disabled>
+                      </palette>
+                     </property>
+                     <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0">
+                      <property name="leftMargin">
+                       <number>0</number>
                       </property>
-                      <property name="text">
-                       <string>Yaw</string>
+                      <property name="rightMargin">
+                       <number>0</number>
                       </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
+                      <property name="bottomMargin">
+                       <number>0</number>
                       </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_44">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="text">
-                       <string>Integral</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="6">
-                     <widget class="QDoubleSpinBox" name="RateYawKi">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
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-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>5</number>
-                      </property>
-                      <property name="singleStep">
-                       <double>0.000100000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawRatePID</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:4,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="4">
-                     <widget class="QDoubleSpinBox" name="RatePitchKi">
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-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
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-                       <size>
-                        <width>0</width>
-                        <height>22</height>
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-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
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-                       <enum>Qt::StrongFocus</enum>
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-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                      <property name="styleSheet">
-                       <string notr="true"/>
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-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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-                      <property name="decimals">
-                       <number>5</number>
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-                        <height>22</height>
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-                       <enum>Qt::StrongFocus</enum>
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-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                          <verstretch>0</verstretch>
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+                          <width>85</width>
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+                        <property name="maximumSize">
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+                          <width>16777215</width>
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+                         <enum>Qt::StrongFocus</enum>
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+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                          <string>scale:1</string>
+                          <string>buttongroup:5,20</string>
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+                      <item row="1" column="3">
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+                          <width>16777215</width>
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+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                        <property name="styleSheet">
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+                        <property name="objrelation" stdset="0">
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+                          <string>fieldname:YawPI</string>
+                          <string>element:Kp</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:5,20</string>
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+                        <property name="text">
+                         <string>Proportional</string>
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+                        <property name="text">
+                         <string>Roll</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
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+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QDoubleSpinBox" name="AttitudeRollKp">
+                        <property name="sizePolicy">
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+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
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+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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+                        <property name="decimals">
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+                        <property name="singleStep">
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+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollPI</string>
+                          <string>element:Kp</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
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+                          <weight>75</weight>
+                          <bold>true</bold>
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+                        <property name="autoFillBackground">
+                         <bool>false</bool>
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-                      <property name="text">
-                       <string>Roll</string>
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-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
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-                    <item row="2" column="5">
-                     <spacer name="horizontalSpacer_28">
-                      <property name="orientation">
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-                        <height>10</height>
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-                     <widget class="QLabel" name="label_43">
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-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
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-                      <property name="minimumSize">
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-                        <width>69</width>
-                        <height>16</height>
-                       </size>
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-                      <property name="styleSheet">
-                       <string notr="true"/>
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-                      <property name="text">
-                       <string>Proportional</string>
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-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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-                    <item row="1" column="2">
-                     <widget class="QDoubleSpinBox" name="RateRollKp_2">
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-                      <property name="minimumSize">
-                       <size>
-                        <width>85</width>
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-                       <enum>Qt::StrongFocus</enum>
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-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                     <widget class="QDoubleSpinBox" name="RatePitchKp">
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-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Rate mode (inner loop). Too much will make your vehicle oscillate in Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This makes the control output respond faster with fast stick movements or external disturbance like wind gusts.It also acts like a dampener, thus allowing higher KP settings. Only affects Rate mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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-                       <number>6</number>
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-                  <widget class="QCheckBox" name="checkBox_3">
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-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
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-                    <string>Link Roll and Pitch</string>
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-                  <widget class="QPushButton" name="pushButton_4">
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-                    <string>Reset all values to GCS defaults</string>
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-                   <property name="styleSheet">
-                    <string notr="true"/>
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-                   <property name="text">
-                    <string>Default</string>
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-                     <string>button:default</string>
-                     <string>buttongroup:4</string>
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-                  </widget>
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-                </layout>
-               </widget>
+                        </property>
+                        <property name="text">
+                         <string>Yaw</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="3">
+                       <widget class="QDoubleSpinBox" name="AttitudeYawKi">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>3</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.100000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:YawPI</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:5,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="2">
+                       <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>3</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.100000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:PitchPI</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:5,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QDoubleSpinBox" name="AttitudeRollKi">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>16777215</width>
+                          <height>22</height>
+                         </size>
+                        </property>
+                        <property name="focusPolicy">
+                         <enum>Qt::StrongFocus</enum>
+                        </property>
+                        <property name="toolTip">
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true"/>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                        <property name="decimals">
+                         <number>3</number>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.100000000000000</double>
+                        </property>
+                        <property name="objrelation" stdset="0">
+                         <stringlist>
+                          <string>objname:StabilizationSettingsBankX</string>
+                          <string>fieldname:RollPI</string>
+                          <string>element:Ki</string>
+                          <string>haslimits:no</string>
+                          <string>scale:1</string>
+                          <string>buttongroup:5,20</string>
+                         </stringlist>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="label_32">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="text">
+                         <string>Integral</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <spacer name="horizontalSpacer_8">
+                        <property name="orientation">
+                         <enum>Qt::Horizontal</enum>
+                        </property>
+                        <property name="sizeType">
+                         <enum>QSizePolicy::Preferred</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>50</width>
+                          <height>28</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item row="0" column="2">
+                       <widget class="QLabel" name="label_28">
+                        <property name="sizePolicy">
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+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>20</height>
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+                             </gradient>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="Shadow">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>0</red>
+                              <green>0</green>
+                              <blue>0</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="AlternateBase">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>39</red>
+                              <green>39</green>
+                              <blue>39</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="ToolTipBase">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>255</red>
+                              <green>255</green>
+                              <blue>220</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                           <colorrole role="ToolTipText">
+                            <brush brushstyle="SolidPattern">
+                             <color alpha="255">
+                              <red>0</red>
+                              <green>0</green>
+                              <blue>0</blue>
+                             </color>
+                            </brush>
+                           </colorrole>
+                          </disabled>
+                         </palette>
+                        </property>
+                        <property name="font">
+                         <font>
+                          <weight>75</weight>
+                          <bold>true</bold>
+                         </font>
+                        </property>
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                        </property>
+                        <property name="text">
+                         <string>Pitch</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </widget>
+                </item>
+               </layout>
               </item>
               <item>
-               <widget class="QGroupBox" name="RateStabilizationGroup_4">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="autoFillBackground">
-                 <bool>false</bool>
-                </property>
+               <widget class="QGroupBox" name="groupBox_10">
                 <property name="title">
-                 <string>Attitude Stabilization (Outer Loop)</string>
+                 <string>Pirouette Compensation</string>
                 </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="flat">
-                 <bool>false</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_17">
-                 <property name="leftMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="topMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="rightMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="bottomMargin">
-                  <number>9</number>
-                 </property>
-                 <property name="horizontalSpacing">
-                  <number>4</number>
-                 </property>
-                 <item row="0" column="0">
-                  <widget class="QCheckBox" name="checkBox_2">
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch values together, thus giving the same value for each when setting up a symetrical vehicle that requires both to be the same.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Link Roll and Pitch</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="1">
-                  <spacer name="horizontalSpacer_7">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>497</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="2">
-                  <widget class="QPushButton" name="pushButton_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
+                <layout class="QGridLayout" name="gridLayout_32">
+                 <item row="1" column="0">
+                  <widget class="QCheckBox" name="enableThrustPIDScalingCheckBox_2">
                    <property name="minimumSize">
                     <size>
                      <width>0</width>
-                     <height>0</height>
+                     <height>27</height>
                     </size>
                    </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
+                   <property name="text">
+                    <string>Enable pirouette compensation</string>
                    </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettingsBankX</string>
+                     <string>fieldname:EnablePiroComp</string>
+                     <string>buttongroup:55</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="0" alignment="Qt::AlignRight">
+                  <widget class="QPushButton" name="pushButton_13">
                    <property name="toolTip">
                     <string>Reset all values to GCS defaults</string>
                    </property>
@@ -15405,2536 +18111,11 @@ border-radius: 5;</string>
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
                      <string>button:default</string>
-                     <string>buttongroup:5</string>
+                     <string>buttongroup:55</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="0" colspan="3">
-                  <widget class="QGroupBox" name="RateStabilizationGroup_5">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>110</height>
-                    </size>
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-                            <green>19</green>
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-                         <colorrole role="Mid">
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-                         </colorrole>
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-                            <green>255</green>
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-                            <green>255</green>
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-                              <blue>74</blue>
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-                            </gradientstop>
-                            <gradientstop position="0.786070000000000">
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-                              <blue>74</blue>
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-                           </gradient>
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-                            <green>39</green>
-                            <blue>39</blue>
-                           </color>
-                          </brush>
-                         </colorrole>
-                         <colorrole role="ToolTipBase">
-                          <brush brushstyle="SolidPattern">
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-                            <red>255</red>
-                            <green>255</green>
-                            <blue>220</blue>
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-                         </colorrole>
-                         <colorrole role="ToolTipText">
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-                          </brush>
-                         </colorrole>
-                        </disabled>
-                       </palette>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="autoFillBackground">
-                       <bool>false</bool>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                      </property>
-                      <property name="text">
-                       <string>Yaw</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="label_31">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>69</width>
-                        <height>16</height>
-                       </size>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="text">
-                       <string>Proportional</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="2">
-                     <widget class="QDoubleSpinBox" name="AttitudeRollKp">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>3</number>
-                      </property>
-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollPI</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="4">
-                     <widget class="QDoubleSpinBox" name="AttitudePitchKp_2">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>3</number>
-                      </property>
-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:PitchPI</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="6">
-                     <widget class="QDoubleSpinBox" name="AttitudeYawKp">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much leveling stability is set into Attitude mode (outer loop). Too much will make your vehicle oscillate in Attitude Mode.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>3</number>
-                      </property>
-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawPI</string>
-                        <string>element:Kp</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_32">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="text">
-                       <string>Integral</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="1">
-                     <spacer name="horizontalSpacer_9">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>13</width>
-                        <height>13</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="2" column="2">
-                     <widget class="QDoubleSpinBox" name="AttitudeRollKi">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>3</number>
-                      </property>
-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:RollPI</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
-                       </stringlist>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="3">
-                     <spacer name="horizontalSpacer_10">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>13</width>
-                        <height>13</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="2" column="4">
-                     <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                      </property>
-                      <property name="decimals">
-                       <number>3</number>
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-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
-                      </property>
-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:PitchPI</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
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-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="5">
-                     <spacer name="horizontalSpacer_11">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
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-                        <height>13</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="2" column="6">
-                     <widget class="QDoubleSpinBox" name="AttitudeYawKi">
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
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-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>22</height>
-                       </size>
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-                      <property name="maximumSize">
-                       <size>
-                        <width>16777215</width>
-                        <height>22</height>
-                       </size>
-                      </property>
-                      <property name="focusPolicy">
-                       <enum>Qt::StrongFocus</enum>
-                      </property>
-                      <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Attitude Mode. Adding Ki in Attitude when Ki is present in Rate is not recommended.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true"/>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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-                      <property name="decimals">
-                       <number>3</number>
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-                      <property name="singleStep">
-                       <double>0.100000000000000</double>
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-                      <property name="objrelation" stdset="0">
-                       <stringlist>
-                        <string>objname:StabilizationSettingsBankX</string>
-                        <string>fieldname:YawPI</string>
-                        <string>element:Ki</string>
-                        <string>haslimits:no</string>
-                        <string>scale:1</string>
-                        <string>buttongroup:5,20</string>
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-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="7">
-                     <spacer name="horizontalSpacer_22">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>20</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
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                </widget>
               </item>
@@ -18055,8 +18236,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>952</width>
+            <height>771</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0">
@@ -18107,13 +18288,7 @@ border-radius: 5;</string>
                  </widget>
                 </item>
                 <item row="2" column="0" colspan="2">
-                 <widget class="QGroupBox" name="groupBox_7">
-                  <property name="styleSheet">
-                   <string notr="true">QGroupBox{border: 0px;}</string>
-                  </property>
-                  <property name="title">
-                   <string/>
-                  </property>
+                 <widget class="QFrame" name="frame_7">
                   <layout class="QGridLayout" name="gridLayout_9">
                    <item row="1" column="1">
                     <widget class="QDoubleSpinBox" name="WeakLevelingRate">
@@ -19332,19 +19507,6 @@ font:bold;</string>
                   </layout>
                  </widget>
                 </item>
-                <item row="1" column="0">
-                 <spacer name="horizontalSpacer_25">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
                </layout>
               </widget>
              </item>
@@ -19354,19 +19516,6 @@ font:bold;</string>
                 <string>Axis Lock</string>
                </property>
                <layout class="QGridLayout" name="gridLayout_27">
-                <item row="0" column="0">
-                 <spacer name="horizontalSpacer_34">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
                 <item row="0" column="1">
                  <widget class="QPushButton" name="pushButton_6">
                   <property name="sizePolicy">
@@ -19406,13 +19555,7 @@ font:bold;</string>
                  </widget>
                 </item>
                 <item row="3" column="0" colspan="2">
-                 <widget class="QGroupBox" name="groupBox_10">
-                  <property name="styleSheet">
-                   <string notr="true">QGroupBox{border: 0px;}</string>
-                  </property>
-                  <property name="title">
-                   <string/>
-                  </property>
+                 <widget class="QFrame" name="frame_10">
                   <layout class="QGridLayout" name="gridLayout_28">
                    <item row="1" column="0">
                     <widget class="QDoubleSpinBox" name="MaAxisLock">
@@ -21511,7 +21654,7 @@ border-radius: 5;</string>
                   </layout>
                  </widget>
                 </item>
-                <item row="0" column="2">
+                <item row="0" column="2" alignment="Qt::AlignRight">
                  <widget class="QPushButton" name="pushButton_11">
                   <property name="text">
                    <string>Default</string>
@@ -21525,19 +21668,6 @@ border-radius: 5;</string>
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="1">
-                 <spacer name="horizontalSpacer_12">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
                </layout>
               </widget>
              </item>
@@ -21564,22 +21694,6 @@ border-radius: 5;</string>
               <property name="bottomMargin">
                <number>9</number>
               </property>
-              <item row="0" column="0">
-               <spacer name="horizontalSpacer_40">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeType">
-                 <enum>QSizePolicy::Expanding</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>619</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
               <item row="0" column="1">
                <widget class="QPushButton" name="pushButton_5">
                 <property name="sizePolicy">
@@ -21619,25 +21733,7 @@ border-radius: 5;</string>
                </widget>
               </item>
               <item row="1" column="0" colspan="2">
-               <widget class="QGroupBox" name="RateStabilizationGroup_10">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>60</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>72</height>
-                 </size>
-                </property>
+               <widget class="QFrame" name="RateStabilizationGroup_10">
                 <property name="palette">
                  <palette>
                   <active>
@@ -22053,18 +22149,6 @@ border-radius: 5;</string>
                   </disabled>
                  </palette>
                 </property>
-                <property name="autoFillBackground">
-                 <bool>false</bool>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">QGroupBox{border: 0px;}</string>
-                </property>
-                <property name="title">
-                 <string/>
-                </property>
-                <property name="flat">
-                 <bool>true</bool>
-                </property>
                 <layout class="QGridLayout" name="gridLayout_14" columnstretch="1,1,1" columnminimumwidth="0,0,0">
                  <property name="leftMargin">
                   <number>9</number>
@@ -23998,8 +24082,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>952</width>
+            <height>771</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -24049,19 +24133,6 @@ font:bold;</string>
                <number>6</number>
               </property>
               <item row="0" column="1">
-               <spacer name="horizontalSpacer_49">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>497</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="0" column="2">
                <widget class="QPushButton" name="pushButton_7">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -24099,7 +24170,7 @@ font:bold;</string>
                 </property>
                </widget>
               </item>
-              <item row="1" column="0" colspan="3">
+              <item row="1" column="0" colspan="2">
                <widget class="QGroupBox" name="RateStabilizationGroup_12">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -24540,7 +24611,7 @@ font:bold;</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
+                <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0">
                  <property name="leftMargin">
                   <number>0</number>
                  </property>
@@ -24550,185 +24621,7 @@ font:bold;</string>
                  <property name="bottomMargin">
                   <number>0</number>
                  </property>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_54">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Velocity Proportional</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_56">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>16</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Altitude Proportional</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="label_25">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>58</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Velocity Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="2">
-                  <widget class="QSlider" name="AltKpSlider">
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How fast the vehicle should climb or descent to compensate a certain altitude difference. higher values could result in more accurate altitude hold but also more violent control actions, lower values are safer and ensure smoother flight. The default value should be fine for the majority of crafts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="value">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:AltitudePI</string>
-                     <string>element:Kp</string>
-                     <string>scale:0.01</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="2">
-                  <widget class="QSlider" name="AltKiSlider">
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How much the vehicle should throttle up or down to compensate or achieve a certain vertical speed. Higher values lead to more aggressive throttle changes and could lead to oscillations. This is the most likely candidate to change depending on the crafts engine thrust. Heavy craft with weak engines might require higher values.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="value">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:VelocityPI</string>
-                     <string>element:Kp</string>
-                     <string>scale:0.01</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="2">
-                  <widget class="QSlider" name="AltKdSlider">
-                   <property name="toolTip">
-                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How fast the vehicle should adjust its neutral throttle estimation. Altitude assumes that when engaged the throttle is in the range required to hover. If the throttle is a lot higher or lower, it needs to adjust this &amp;quot;throttle trim&amp;quot; Higher values make it do this adjustment faster, but this could lead to ugly oscillations. Leave at default unless you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                   </property>
-                   <property name="maximum">
-                    <number>1000</number>
-                   </property>
-                   <property name="value">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:VelocityPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.00001</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="1">
-                  <spacer name="horizontalSpacer_53">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="2">
+                 <item row="0" column="1">
                   <widget class="QLabel" name="label_55">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25278,7 +25171,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="3">
+                 <item row="1" column="2">
                   <widget class="QSpinBox" name="AltKp">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25325,7 +25218,111 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="3">
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_54">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Velocity Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_56">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Altitude Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_25">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>58</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Velocity Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="1">
+                  <widget class="QSlider" name="AltKdSlider">
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How fast the vehicle should adjust its neutral throttle estimation. Altitude assumes that when engaged the throttle is in the range required to hover. If the throttle is a lot higher or lower, it needs to adjust this &amp;quot;throttle trim&amp;quot; Higher values make it do this adjustment faster, but this could lead to ugly oscillations. Leave at default unless you know what you are doing.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="maximum">
+                    <number>1000</number>
+                   </property>
+                   <property name="value">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AltitudeHoldSettings</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.00001</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:98</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
                   <widget class="QSpinBox" name="AltKi">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25372,7 +25369,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="3" column="3">
+                 <item row="3" column="2">
                   <widget class="QSpinBox" name="AltKd">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25419,6 +25416,64 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="1" column="1">
+                  <widget class="QSlider" name="AltKpSlider">
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How fast the vehicle should climb or descent to compensate a certain altitude difference. higher values could result in more accurate altitude hold but also more violent control actions, lower values are safer and ensure smoother flight. The default value should be fine for the majority of crafts.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="value">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AltitudeHoldSettings</string>
+                     <string>fieldname:AltitudePI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:98</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="AltKiSlider">
+                   <property name="toolTip">
+                    <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;How much the vehicle should throttle up or down to compensate or achieve a certain vertical speed. Higher values lead to more aggressive throttle changes and could lead to oscillations. This is the most likely candidate to change depending on the crafts engine thrust. Heavy craft with weak engines might require higher values.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="value">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AltitudeHoldSettings</string>
+                     <string>fieldname:VelocityPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.01</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:98</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
                 </layout>
                </widget>
               </item>
@@ -25470,7 +25525,45 @@ border-radius: 5;</string>
               <property name="horizontalSpacing">
                <number>6</number>
               </property>
-              <item row="1" column="0" colspan="3">
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:AltitudeHoldSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:99</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="2">
                <widget class="QGroupBox" name="RateStabilizationGroup_14">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25911,7 +26004,7 @@ border-radius: 5;</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_15" columnstretch="0,0,0,0">
+                <layout class="QGridLayout" name="gridLayout_15" columnstretch="0,0,0">
                  <property name="leftMargin">
                   <number>0</number>
                  </property>
@@ -25921,82 +26014,7 @@ border-radius: 5;</string>
                  <property name="bottomMargin">
                   <number>0</number>
                  </property>
-                 <item row="2" column="2">
-                  <widget class="QSlider" name="AltThrRateSlider_2">
-                   <property name="maximum">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <number>1</number>
-                   </property>
-                   <property name="pageStep">
-                    <number>1</number>
-                   </property>
-                   <property name="value">
-                    <number>3</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>0</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:AltitudeHoldSettings</string>
-                     <string>fieldname:ThrustRate</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:99</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="1">
-                  <spacer name="horizontalSpacer_57">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_61">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>16</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Exponential</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="3">
+                 <item row="1" column="2">
                   <widget class="QDoubleSpinBox" name="AltThrExp_2">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -26070,7 +26088,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="3">
+                 <item row="2" column="2">
                   <widget class="QDoubleSpinBox" name="AltThrRate_2">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -26125,7 +26143,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="2">
+                 <item row="1" column="1">
                   <widget class="QSlider" name="AltThrExpSlider_2">
                    <property name="maximum">
                     <number>256</number>
@@ -26150,7 +26168,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="2">
+                 <item row="0" column="1">
                   <widget class="QLabel" name="label_64">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -26700,60 +26718,68 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="AltThrRateSlider_2">
+                   <property name="maximum">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <number>1</number>
+                   </property>
+                   <property name="pageStep">
+                    <number>1</number>
+                   </property>
+                   <property name="value">
+                    <number>3</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>0</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AltitudeHoldSettings</string>
+                     <string>fieldname:ThrustRate</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:99</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_61">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Exponential</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
                 </layout>
                </widget>
               </item>
-              <item row="0" column="1">
-               <spacer name="horizontalSpacer_52">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>497</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="0" column="2">
-               <widget class="QPushButton" name="pushButton_8">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>Reset all values to GCS defaults</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Default</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:AltitudeHoldSettings</string>
-                  <string>button:default</string>
-                  <string>buttongroup:99</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
              </layout>
             </widget>
            </item>
@@ -27029,12 +27055,35 @@ Useful if you have accidentally changed some settings.</string>
    <header location="global">mixercurvewidget.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>QwtPlot</class>
+   <extends>QWidget</extends>
+   <header>qwt/src/qwt_plot.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <tabstops>
-  <tabstop>stabilizationReloadBoardData_6</tabstop>
-  <tabstop>saveStabilizationToRAM_6</tabstop>
-  <tabstop>saveStabilizationToSD_6</tabstop>
-  <tabstop>pushButton_23</tabstop>
+  <tabstop>tabWidget</tabstop>
+  <tabstop>scrollArea</tabstop>
+  <tabstop>basicResponsivenessCheckBox</tabstop>
+  <tabstop>pushButton</tabstop>
+  <tabstop>AttitudeResponsivenessSlider</tabstop>
+  <tabstop>spinBox</tabstop>
+  <tabstop>RateResponsivenessSlider</tabstop>
+  <tabstop>spinBox_2</tabstop>
+  <tabstop>RateYawResponsivenessSlider</tabstop>
+  <tabstop>spinBox_5</tabstop>
+  <tabstop>pushButton_21</tabstop>
+  <tabstop>AttitudeResponsivenessSlider_2</tabstop>
+  <tabstop>spinBox_3</tabstop>
+  <tabstop>pushButton_12</tabstop>
+  <tabstop>RateYawResponsivenessSlider_2</tabstop>
+  <tabstop>expoSpinnerRoll</tabstop>
+  <tabstop>RateYawResponsivenessSlider_3</tabstop>
+  <tabstop>expoSpinnerPitch</tabstop>
+  <tabstop>RateYawResponsivenessSlider_4</tabstop>
+  <tabstop>expoSpinnerYaw</tabstop>
+  <tabstop>checkBox_7</tabstop>
   <tabstop>pushButton_20</tabstop>
   <tabstop>horizontalSlider_76</tabstop>
   <tabstop>spinBox_7</tabstop>
@@ -27048,6 +27097,7 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_9</tabstop>
   <tabstop>horizontalSlider_81</tabstop>
   <tabstop>spinBox_10</tabstop>
+  <tabstop>checkBox_8</tabstop>
   <tabstop>pushButton_22</tabstop>
   <tabstop>horizontalSlider_82</tabstop>
   <tabstop>spinBox_13</tabstop>
@@ -27056,25 +27106,9 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>horizontalSlider_84</tabstop>
   <tabstop>spinBox_15</tabstop>
   <tabstop>lowThrottleZeroIntegral_8</tabstop>
-  <tabstop>checkBox_7</tabstop>
-  <tabstop>checkBox_8</tabstop>
-  <tabstop>pushButton_4</tabstop>
-  <tabstop>RateRollKp_2</tabstop>
-  <tabstop>RatePitchKp</tabstop>
-  <tabstop>RateYawKp</tabstop>
-  <tabstop>RateRollKi_2</tabstop>
-  <tabstop>RatePitchKi</tabstop>
-  <tabstop>RateYawKi</tabstop>
-  <tabstop>RollRateKd</tabstop>
-  <tabstop>PitchRateKd</tabstop>
-  <tabstop>YawRateKd</tabstop>
-  <tabstop>pushButton_2</tabstop>
-  <tabstop>AttitudeRollKp</tabstop>
-  <tabstop>AttitudePitchKp_2</tabstop>
-  <tabstop>AttitudeYawKp</tabstop>
-  <tabstop>AttitudeRollKi</tabstop>
-  <tabstop>AttitudePitchKi_2</tabstop>
-  <tabstop>AttitudeYawKi</tabstop>
+  <tabstop>realTimeUpdates_8</tabstop>
+  <tabstop>scrollArea_2</tabstop>
+  <tabstop>advancedResponsivenessCheckBox</tabstop>
   <tabstop>pushButton_3</tabstop>
   <tabstop>rateRollKp_3</tabstop>
   <tabstop>ratePitchKp_4</tabstop>
@@ -27085,15 +27119,74 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>rateRollILimit_3</tabstop>
   <tabstop>ratePitchILimit_4</tabstop>
   <tabstop>rateYawILimit_3</tabstop>
+  <tabstop>enableThrustPIDScalingCheckBox</tabstop>
+  <tabstop>ThrustPIDSource</tabstop>
+  <tabstop>ThrustPIDTarget</tabstop>
+  <tabstop>ThrustPIDAxis</tabstop>
+  <tabstop>defaultThrottleCurveButton</tabstop>
   <tabstop>checkBox_3</tabstop>
+  <tabstop>pushButton_4</tabstop>
+  <tabstop>RateRollKp_2</tabstop>
+  <tabstop>RatePitchKp</tabstop>
+  <tabstop>RateYawKp</tabstop>
+  <tabstop>RateRollKi_2</tabstop>
+  <tabstop>RatePitchKi</tabstop>
+  <tabstop>RateYawKi</tabstop>
+  <tabstop>RollRateKd</tabstop>
+  <tabstop>PitchRateKd</tabstop>
+  <tabstop>YawRateKd</tabstop>
   <tabstop>checkBox_2</tabstop>
+  <tabstop>pushButton_2</tabstop>
+  <tabstop>AttitudeRollKp</tabstop>
+  <tabstop>AttitudePitchKp_2</tabstop>
+  <tabstop>AttitudeYawKp</tabstop>
+  <tabstop>AttitudeRollKi</tabstop>
+  <tabstop>AttitudePitchKi_2</tabstop>
+  <tabstop>AttitudeYawKi</tabstop>
+  <tabstop>enableThrustPIDScalingCheckBox_2</tabstop>
+  <tabstop>pushButton_13</tabstop>
+  <tabstop>realTimeUpdates_12</tabstop>
+  <tabstop>scrollArea_3</tabstop>
+  <tabstop>pushButton_9</tabstop>
+  <tabstop>WeakLevelingKp</tabstop>
+  <tabstop>WeakLevelingRate</tabstop>
+  <tabstop>pushButton_6</tabstop>
+  <tabstop>MaAxisLock</tabstop>
+  <tabstop>MaxAxisLockRate</tabstop>
+  <tabstop>pushButton_10</tabstop>
+  <tabstop>RattitudeModeTransition</tabstop>
+  <tabstop>pushButton_11</tabstop>
+  <tabstop>doubleSpinBox</tabstop>
+  <tabstop>doubleSpinBox_3</tabstop>
+  <tabstop>doubleSpinBox_4</tabstop>
+  <tabstop>comboBox</tabstop>
+  <tabstop>doubleSpinBox_7</tabstop>
+  <tabstop>doubleSpinBox_2</tabstop>
+  <tabstop>doubleSpinBox_5</tabstop>
+  <tabstop>comboBox_2</tabstop>
   <tabstop>pushButton_5</tabstop>
   <tabstop>GyroTau</tabstop>
   <tabstop>AccelKp</tabstop>
   <tabstop>AccelKi</tabstop>
   <tabstop>realTimeUpdates_6</tabstop>
-  <tabstop>tabWidget</tabstop>
-  <tabstop>scrollArea_2</tabstop>
+  <tabstop>scrollArea_4</tabstop>
+  <tabstop>pushButton_7</tabstop>
+  <tabstop>AltKpSlider</tabstop>
+  <tabstop>AltKp</tabstop>
+  <tabstop>AltKiSlider</tabstop>
+  <tabstop>AltKi</tabstop>
+  <tabstop>AltKdSlider</tabstop>
+  <tabstop>AltKd</tabstop>
+  <tabstop>pushButton_8</tabstop>
+  <tabstop>AltThrExpSlider_2</tabstop>
+  <tabstop>AltThrExp_2</tabstop>
+  <tabstop>AltThrRateSlider_2</tabstop>
+  <tabstop>AltThrRate_2</tabstop>
+  <tabstop>realTimeUpdates_7</tabstop>
+  <tabstop>pushButton_23</tabstop>
+  <tabstop>stabilizationReloadBoardData_6</tabstop>
+  <tabstop>saveStabilizationToRAM_6</tabstop>
+  <tabstop>saveStabilizationToSD_6</tabstop>
  </tabstops>
  <resources>
   <include location="../coreplugin/core.qrc"/>
diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index 5511345ae..73be0f423 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -7,69 +7,69 @@
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
         <field name="Stabilization1Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Attitude,Attitude,AxisLock,Manual"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization2Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Attitude,Attitude,Rate,Manual"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization3Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Rate,Rate,Rate,Manual"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization4Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization5Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Attitude,Attitude,Rate,CruiseControl"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization6Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
-		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
+		options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
 		defaultvalue="Rate,Rate,Rate,CruiseControl"
 		limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
-			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
+			%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude,\
+			%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
+			%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
 			/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
diff --git a/shared/uavobjectdefinition/stabilizationbank.xml b/shared/uavobjectdefinition/stabilizationbank.xml
index b1fbe5c13..23185c1c0 100644
--- a/shared/uavobjectdefinition/stabilizationbank.xml
+++ b/shared/uavobjectdefinition/stabilizationbank.xml
@@ -7,14 +7,19 @@
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
 
+	<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
+
+	<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+
 	<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"/>
 	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index 44cab2fcd..61ae5bfac 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="Thrust" units="%" type="float" elements="1"/>
 	<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml
index f3c1d654b..94d62265b 100644
--- a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml
@@ -7,14 +7,19 @@
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
 	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
+	<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
+
+	<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+
 	<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"/>
 	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml
index 09d60c57c..6ffda04cf 100644
--- a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml
@@ -7,14 +7,19 @@
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
 	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
+	<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
+
+	<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+
 	<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"/>
 	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml
index 787819fb2..12c8b56ff 100644
--- a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml
@@ -7,14 +7,19 @@
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="StickExpo" units="percent" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0" limits="%BE:-100:100; %BE:-100:100; %BE:-100:100"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.015; ; "/>
 	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.015 ; ; "/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
+	<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5" limits="%BE:0.0:1.0; %BE:0.0:1.0; %BE:0.0:1.0"/>
+
+	<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+
 	<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"/>
 	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
diff --git a/shared/uavobjectdefinition/stabilizationstatus.xml b/shared/uavobjectdefinition/stabilizationstatus.xml
index e0283c1cb..f5ce61dfa 100644
--- a/shared/uavobjectdefinition/stabilizationstatus.xml
+++ b/shared/uavobjectdefinition/stabilizationstatus.xml
@@ -11,7 +11,7 @@
 			<elementname>Thrust</elementname>
 		</elementnames>
 	</field>
-	<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,RelayTuning,AxisLock,Rate,CruiseControl">
+	<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,Acro+,RelayTuning,AxisLock,Rate,CruiseControl">
 		<elementnames>
 			<elementname>Roll</elementname>
 			<elementname>Pitch</elementname>