diff --git a/ground/gcs/src/plugins/config/configinputwidget.cpp b/ground/gcs/src/plugins/config/configinputwidget.cpp
index 7bbe10bf8..b11baa679 100644
--- a/ground/gcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/gcs/src/plugins/config/configinputwidget.cpp
@@ -1645,6 +1645,46 @@ void ConfigInputWidget::moveFMSlider()
         pos = manualSettingsDataPriv.FlightModeNumber - 1;
     }
     ui->fmsSlider->setValue(pos);
+    highlightStabilizationMode(pos);
+}
+
+void ConfigInputWidget::highlightStabilizationMode(int pos)
+{
+    QComboBox *comboboxFm    = this->findChild<QComboBox *>("fmsModePos" + QString::number(pos + 1));
+    QString customStyleSheet = "border-radius: 4px; border:3px solid #feb103;";
+
+    if (comboboxFm) {
+        QString flightModeText = comboboxFm->currentText();
+        comboboxFm->setStyleSheet("");
+        for (uint8_t i = 0; i < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; i++) {
+            QLabel *label = this->findChild<QLabel *>("stab" + QString::number(i + 1) + "_label");
+            QComboBox *comboRoll   = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Roll");
+            QComboBox *comboPitch  = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Pitch");
+            QComboBox *comboYaw    = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Yaw");
+            QComboBox *comboThrust = this->findChild<QComboBox *>("fmsSsPos" + QString::number(i + 1) + "Thrust");
+            QComboBox *comboboxFm2 = this->findChild<QComboBox *>("fmsModePos" + QString::number(i + 1));
+            comboboxFm2->setStyleSheet("");
+
+            // Highlight current stabilization mode if any.
+            if ((flightModeText.contains("Stabilized", Qt::CaseInsensitive)) && (flightModeText.contains(QString::number(i + 1), Qt::CaseInsensitive))) {
+                label->setStyleSheet("QLabel {" + customStyleSheet + "}");
+                comboRoll->setStyleSheet("QComboBox {" + customStyleSheet + "}");
+                comboPitch->setStyleSheet("QComboBox {" + customStyleSheet + "}");
+                comboYaw->setStyleSheet("QComboBox {" + customStyleSheet + "}");
+                comboThrust->setStyleSheet("QComboBox {" + customStyleSheet + "}");
+            } else {
+                label->setStyleSheet("");
+                comboRoll->setStyleSheet("");
+                comboPitch->setStyleSheet("");
+                comboYaw->setStyleSheet("");
+                comboThrust->setStyleSheet("");
+                if (!flightModeText.contains("Stabilized", Qt::CaseInsensitive)) {
+                    // Highlight PosHold, Return to Base, ... flightmodes
+                    comboboxFm->setStyleSheet("QComboBox {" + customStyleSheet + "}");
+                }
+            }
+        }
+    }
 }
 
 void ConfigInputWidget::updatePositionSlider()
diff --git a/ground/gcs/src/plugins/config/configinputwidget.h b/ground/gcs/src/plugins/config/configinputwidget.h
index eb7778289..00e460f64 100644
--- a/ground/gcs/src/plugins/config/configinputwidget.h
+++ b/ground/gcs/src/plugins/config/configinputwidget.h
@@ -202,6 +202,8 @@ private:
     AccessoryDesired *getAccessoryDesiredInstance(int instance);
     float getAccessoryDesiredValue(int instance);
 
+    void highlightStabilizationMode(int pos);
+
 private slots:
     void wzNext();
     void wzNextDelayed();
diff --git a/ground/gcs/src/plugins/config/input.ui b/ground/gcs/src/plugins/config/input.ui
index 3d55eea17..eb6f8113e 100644
--- a/ground/gcs/src/plugins/config/input.ui
+++ b/ground/gcs/src/plugins/config/input.ui
@@ -752,62 +752,62 @@ font:bold;</string>
                   <number>1</number>
                  </property>
                  <item>
-                  <widget class="QLabel" name="label_14">
+                  <widget class="QLabel" name="stab1_label">
                    <property name="text">
                     <string>Stabilized 1</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_21">
+                  <widget class="QLabel" name="stab2_label">
                    <property name="text">
                     <string>Stabilized 2</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_22">
+                  <widget class="QLabel" name="stab3_label">
                    <property name="text">
                     <string>Stabilized 3</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_114">
+                  <widget class="QLabel" name="stab4_label">
                    <property name="text">
                     <string>Stabilized 4</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_121">
+                  <widget class="QLabel" name="stab5_label">
                    <property name="text">
                     <string>Stabilized 5</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_122">
+                  <widget class="QLabel" name="stab6_label">
                    <property name="text">
                     <string>Stabilized 6</string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>