diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 5d6316303..70f5f3cb3 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -447,286 +447,184 @@ When you change one, the other is updated.</string>
      <property name="sizeHint" stdset="0">
       <size>
        <width>20</width>
-       <height>10</height>
+       <height>5</height>
       </size>
      </property>
     </spacer>
    </item>
    <item>
-    <widget class="QFrame" name="piFactors">
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_4">
-        <item>
-         <widget class="QLabel" name="label_5">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Angle Limits:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label">
-          <property name="text">
-           <string>RollMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="rollMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_4">
-          <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>
-         <widget class="QLabel" name="label_2">
-          <property name="text">
-           <string>PitchMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="pitchMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <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>
-         <widget class="QLabel" name="label_3">
-          <property name="text">
-           <string>YawMax</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="yawMax">
-          <property name="maximum">
-           <number>180</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Stick range and limits</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetMinAndMaxSize</enum>
+      </property>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
       </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_5">
-        <item>
-         <widget class="QLabel" name="label_6">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Manual rate:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_7">
-          <property name="text">
-           <string>Roll</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualRoll">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_6">
-          <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>
-         <widget class="QLabel" name="label_22">
-          <property name="text">
-           <string>Pitch</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualPitch">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_7">
-          <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>
-         <widget class="QLabel" name="label_23">
-          <property name="text">
-           <string>Yaw</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="manualYaw">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_22">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
       </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_6">
-        <item>
-         <widget class="QLabel" name="label_24">
-          <property name="minimumSize">
-           <size>
-            <width>150</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Maximum rate:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_25">
-          <property name="text">
-           <string>Roll</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumRoll">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_8">
-          <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>
-         <widget class="QLabel" name="label_26">
-          <property name="text">
-           <string>Pitch</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumPitch">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer_9">
-          <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>
-         <widget class="QLabel" name="label_27">
-          <property name="text">
-           <string>Yaw</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QSpinBox" name="maximumYaw">
-          <property name="maximum">
-           <number>300</number>
-          </property>
-         </widget>
-        </item>
-       </layout>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_23">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="rollMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="pitchMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QSpinBox" name="yawMax">
+        <property name="maximum">
+         <number>180</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Full stick angle (deg)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="text">
+         <string>Full stick rate (deg/s)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSpinBox" name="manualRoll">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSpinBox" name="manualPitch">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QSpinBox" name="manualYaw">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_24">
+        <property name="minimumSize">
+         <size>
+          <width>150</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>50</weight>
+          <bold>false</bold>
+         </font>
+        </property>
+        <property name="toolTip">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Maximum rate in attitude mode (deg/s)</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QSpinBox" name="maximumRoll">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QSpinBox" name="maximumPitch">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="3">
+       <widget class="QSpinBox" name="maximumYaw">
+        <property name="maximum">
+         <number>300</number>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>