diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index b25596def..57afeb56a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -32,13 +32,13 @@ Rectangle {
                 source: "image://svg/pfd.svg!rollscale"
                 sourceSize: background.sourceSize
                 smooth: true
-		anchors.centerIn: parent
-                 //rotate it around the center of scene
-		transform: Rotation {
-		angle: -AttitudeActual.Roll
-		origin.x : sceneItem.width/2 - x
-		origin.y : sceneItem.height/2 - y
-		}
+                anchors.centerIn: parent
+                //rotate it around the center of scene
+                transform: Rotation {
+                    angle: -AttitudeActual.Roll
+                    origin.x : sceneItem.width/2 - x
+                    origin.y : sceneItem.height/2 - y
+                }
             }
 
             Image {
@@ -78,6 +78,11 @@ Rectangle {
                 sourceSize: background.sourceSize
             }
 
+            VsiScale {
+                anchors.fill: parent
+                sourceSize: background.sourceSize
+            }
+
             PfdIndicators {
                 anchors.fill: parent
                 sourceSize: background.sourceSize
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
new file mode 100644
index 000000000..455104462
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
@@ -0,0 +1,85 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sourceSize
+
+    Image {
+        id: vsi_bg
+        source: "image://svg/pfd.svg!vsi-bg"
+        sourceSize: sceneItem.sourceSize
+        clip: true
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-bg")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Image {
+            id: vsi_bar
+
+            source: "image://svg/pfd.svg!vsi-bar"
+            sourceSize: sceneItem.sourceSize
+
+            //the scale in 1000 ft/min with height == 5200 ft/min
+            height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
+
+
+            anchors.bottom: parent.verticalCenter
+            anchors.left: parent.left
+        }
+
+        Image {
+            id: vsi_scale
+
+            source: "image://svg/pfd.svg!vsi-scale"
+            sourceSize: sceneItem.sourceSize
+
+            anchors.verticalCenter: parent.verticalCenter
+            anchors.left: parent.left
+
+            //Text labels
+            Column {
+                anchors.verticalCenter: parent.verticalCenter
+                anchors.left: parent.right
+
+                Repeater {
+                    model: [2, 1, 0, 1, 2]
+                    Item {
+                        height: vsi_scale.height / 5.2 //the scale height is 5200
+                        width: vsi_bg.width - vsi_scale.width //fill area right to scale
+
+                        Text {
+                            text: modelData
+                            visible: modelData !== 0 //hide "0" label
+                            color: "white"
+                            font.pixelSize: parent.height / 4
+                            font.family: "Arial"
+
+                            anchors.centerIn: parent
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    Image {
+        id: vsi_window
+        clip: true
+        smooth: true
+
+        source: "image://svg/pfd.svg!vsi-window"
+        sourceSize: sceneItem.sourceSize
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-window")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index 95724c8b8..94fa89f92 100755
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -15,11 +15,11 @@
    id="svg2"
    version="1.1"
    inkscape:version="0.48.3.1 r9886"
-   sodipodi:docname="pfd.svg"
+   sodipodi:docname="pfd-4.svg"
    style="display:inline"
-   inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
-   inkscape:export-xdpi="269.53"
-   inkscape:export-ydpi="269.53">
+   inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
+   inkscape:export-xdpi="71.993568"
+   inkscape:export-ydpi="71.993568">
   <defs
      id="defs4">
     <marker
@@ -1615,18 +1615,18 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.73067675"
-     inkscape:cx="431.15187"
-     inkscape:cy="372.16908"
+     inkscape:zoom="1.1193346"
+     inkscape:cx="509.61927"
+     inkscape:cy="365.39566"
      inkscape:document-units="px"
-     inkscape:current-layer="layer3"
+     inkscape:current-layer="dots1-3"
      showgrid="false"
-     inkscape:window-width="1440"
-     inkscape:window-height="838"
-     inkscape:window-x="-8"
-     inkscape:window-y="-8"
+     inkscape:window-width="1680"
+     inkscape:window-height="987"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
      inkscape:window-maximized="1"
-     showguides="true"
+     showguides="false"
      inkscape:guide-bbox="true"
      inkscape:snap-grids="false"
      inkscape:snap-to-guides="true"
@@ -1680,6 +1680,38 @@
        orientation="0,1"
        position="-378.30213,170.71578"
        id="guide5917" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="481.5,752.75"
+       id="guide7197" />
+    <sodipodi:guide
+       position="669.44526,613.50294"
+       orientation="519.61524,-300"
+       id="guide5032" />
+    <sodipodi:guide
+       position="779.25288,503.69532"
+       orientation="300,-519.61524"
+       id="guide5034" />
+    <sodipodi:guide
+       position="622.0513,635.6031"
+       orientation="563.81557,-205.21208"
+       id="guide5036" />
+    <sodipodi:guide
+       position="571.53971,649.13764"
+       orientation="590.88465,-104.1889"
+       id="guide5038" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="450.8125,483.4375"
+       id="guide4007" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="589,485.5"
+       id="guide4009" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="-504.5,799.5"
+       id="guide5119" />
   </sodipodi:namedview>
   <metadata
      id="metadata7">
@@ -1689,14 +1721,14 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
   <g
      inkscape:groupmode="layer"
      id="layer7"
-     inkscape:label="Background"
+     inkscape:label="background"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
@@ -1711,11 +1743,11 @@
        inkscape:label="#rect6231" />
   </g>
   <g
-     inkscape:label="World"
+     inkscape:label="world"
      inkscape:groupmode="layer"
      id="layer1"
      transform="translate(230.4171,-254.91153)"
-     style="display:none"
+     style="display:inline"
      sodipodi:insensitive="true">
     <g
        id="world"
@@ -1748,264 +1780,680 @@
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          y="537.23804"
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+         x="200.32983"
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-         transform="scale(0.97685665,1.0236917)"
+         transform="scale(0.97685661,1.0236917)"
          font-size="13"
-         id="text6388">10</text>
+         id="text6388">
+        <tspan
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+           id="tspan3995">10</tspan>
+      </text>
       <text
          y="537.23804"
-         x="376.04211"
+         x="373.58994"
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+         transform="scale(0.97685661,1.0236917)"
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-         id="text6390">10</text>
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