diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
new file mode 100644
index 000000000..07717dd93
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ccattitude</class>
+ <widget class="QWidget" name="ccattitude">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QWidget" name="horizontalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>40</y>
+     <width>281</width>
+     <height>32</height>
+    </rect>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout">
+    <item>
+     <widget class="QPushButton" name="zeroBias">
+      <property name="text">
+       <string>Zero Accel Bias</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QProgressBar" name="zeroBiasProgress">
+      <property name="value">
+       <number>0</number>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>20</y>
+     <width>281</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Place aircraft flat before computing</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
new file mode 100644
index 000000000..a5ea90734
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -0,0 +1,114 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configccattitudewidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Configure Attitude module on CopterControl
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "configccattitudewidget.h"
+#include "ui_ccattitude.h"
+#include <QMutexLocker>
+#include <QErrorMessage>
+#include <QDebug>
+
+ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
+        ConfigTaskWidget(parent),
+        ui(new Ui_ccattitude)
+{
+    ui->setupUi(this);
+    connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
+}
+
+ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
+{
+    delete ui;
+}
+
+void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
+    QMutexLocker locker(&startStop);
+    UAVDataObject * attitudeRaw = dynamic_cast<UAVDataObject*>(obj);
+
+    ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
+
+    if(updates < NUM_ACCEL_UPDATES) {
+        updates++;
+        UAVObjectField * field = obj->getField(QString("accels"));
+        x_accum.append(field->getDouble(0));
+        y_accum.append(field->getDouble(1));
+        z_accum.append(field->getDouble(2));
+    } else {
+        timer.stop();
+        disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
+        disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
+
+        float x_bias = listMean(x_accum) / ACCEL_SCALE;
+        float y_bias = listMean(y_accum) / ACCEL_SCALE;
+        float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
+
+        obj->setMetadata(initialMdata);
+
+        UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
+        UAVObjectField * field = settings->getField("AccelBias");
+        field->setDouble(field->getDouble(0) + x_bias,0);
+        field->setDouble(field->getDouble(1) + y_bias,1);
+        field->setDouble(field->getDouble(2) + z_bias,2);
+        settings->updated();
+    }
+}
+
+void ConfigCCAttitudeWidget::timeout() {
+    QMutexLocker locker(&startStop);
+    UAVObjectManager * objMngr = getObjectManager();
+    UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
+    disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
+    disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
+
+    QErrorMessage errmsg;
+    errmsg.showMessage("Calibration timed out before receiving required updates");
+    errmsg.exec();
+}
+
+void ConfigCCAttitudeWidget::startAccelCalibration() {
+    QMutexLocker locker(&startStop);
+
+    qDebug() << "Click";
+    updates = 0;
+    x_accum.clear();
+    y_accum.clear();
+    z_accum.clear();
+
+    // Set up to receive updates
+    UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
+    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
+
+    // Set up timeout timer
+    timer.start(2000);
+    connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
+
+    // Speed up updates
+    initialMdata = obj->getMetadata();
+    UAVObject::Metadata mdata = initialMdata;
+    mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    mdata.flightTelemetryUpdatePeriod = 100;
+    obj->setMetadata(mdata);
+
+}
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
new file mode 100644
index 000000000..fc8983aae
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
@@ -0,0 +1,68 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configccattitudewidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Configure the properties of the attitude module in CopterControl
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef CCATTITUDEWIDGET_H
+#define CCATTITUDEWIDGET_H
+
+#include "ui_ccattitude.h"
+#include "configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QtGui/QWidget>
+#include <QTimer>
+#include <QMutex>
+
+class Ui_Widget;
+
+class ConfigCCAttitudeWidget : public ConfigTaskWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
+    ~ConfigCCAttitudeWidget();
+
+private slots:
+    void attitudeRawUpdated(UAVObject *);
+    void timeout();
+    void startAccelCalibration();
+
+private:
+    QMutex startStop;
+    Ui_ccattitude *ui;
+    QTimer timer;
+    UAVObject::Metadata initialMdata;
+
+    int updates;
+
+    QList<double> x_accum, y_accum, z_accum;
+
+    static const int NUM_ACCEL_UPDATES = 10;
+    static const float ACCEL_SCALE = 0.004f * 9.81f;
+};
+
+#endif // CCATTITUDEWIDGET_H