diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/Modules/ManualControl/inc/manualcontrol.h
index 608c12d1d..5cca1a623 100644
--- a/flight/Modules/ManualControl/inc/manualcontrol.h
+++ b/flight/Modules/ManualControl/inc/manualcontrol.h
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @addtogroup OpenPilotModules OpenPilot Modules
- * @{ 
+ * @{
  * @addtogroup ManualControlModule Manual Control Module
  * @{
  *
@@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
 
 int32_t ManualControlInitialize();
 
+
+/*
+ * These are assumptions we make in the flight code about the order of settings and their consistency between
+ * objects.  Please keep this synchronized to the UAVObjects
+ */
+#define assumptions1 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      \
+)
+
+#define assumptions3 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
+)
+
+#define assumptions5 ( \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING)       && \
+((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
+)
+
+#define ARMING_CHANNEL_ROLL     0
+#define ARMING_CHANNEL_PITCH    1
+#define ARMING_CHANNEL_YAW      2
+
+#define assumptions7 ( \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW) 		&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW)		\
+)
+
+#define assumptions8 ( \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0)	&& \
+( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0)	\
+)
+
+#define assumptions_flightmode ( \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
+( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
+)
+
 #endif // MANUALCONTROL_H
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index e5e486f91..476ab6b6a 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -87,58 +87,6 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
 static bool okToArm(void);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
 
-#define assumptions1 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)       && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)       && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)      \
-		)
-
-#define assumptions3 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
-		)
-
-#define assumptions5 ( \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE      == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE)      && \
-		((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE  == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)     \
-		)
-
-
-
-#define ARMING_CHANNEL_ROLL     0
-#define ARMING_CHANNEL_PITCH    1
-#define ARMING_CHANNEL_YAW      2
-
-#define assumptions7 ( \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_ROLL) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_PITCH) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW) 		&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 	== ARMING_CHANNEL_YAW)		\
-		)
-
-#define assumptions8 ( \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT          -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD       -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0) 	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT            -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	== 0)	&& \
-		( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT           -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 	!= 0)	\
-		)
-
-
-#define assumptions_flightmode ( \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
-		( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
-		)
-
 #define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
 
 /**
@@ -374,18 +322,21 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 
 	stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
 		(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+		(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 		(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 		(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
 		(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+		(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 		(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 		(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 		0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
 		(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+		(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 		(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 		(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 		0; // this is an invalid mode
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 459e3cf12..8d320c510 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -82,6 +82,9 @@ float gyro_filtered[3] = {0,0,0};
 float axis_lock_accum[3] = {0,0,0};
 uint8_t max_axis_lock = 0;
 uint8_t max_axislock_rate = 0;
+float weak_leveling_kp = 0;
+uint8_t weak_leveling_max = 0;
+
 pid_type pids[PID_MAX];
 
 // Private functions
@@ -217,6 +220,20 @@ static void stabilizationTask(void* parameters)
 					axis_lock_accum[i] = 0;
 					break;
 
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
+				{
+					float weak_leveling = local_error[i] * weak_leveling_kp;
+
+					if(weak_leveling > weak_leveling_max)
+						weak_leveling = weak_leveling_max;
+					if(weak_leveling < -weak_leveling_max)
+						weak_leveling = -weak_leveling_max;
+
+					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
+
+					axis_lock_accum[i] = 0;
+					break;
+				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
 					axis_lock_accum[i] = 0;
@@ -257,6 +274,7 @@ static void stabilizationTask(void* parameters)
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
 				{
 					float command = ApplyPid(&pids[PID_RATE_ROLL + ct],  rateDesiredAxis[ct] - gyro_filtered[ct]);
 					actuatorDesiredAxis[ct] = bound(command);
@@ -392,6 +410,10 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	max_axis_lock = settings.MaxAxisLock;
 	max_axislock_rate = settings.MaxAxisLockRate;
 
+	// Settings for weak leveling
+	weak_leveling_kp = settings.WeakLevelingKp;
+	weak_leveling_max = settings.MaxWeakLevelingRate;
+
 	// The dT has some jitter iteration to iteration that we don't want to
 	// make thie result unpredictable.  Still, it's nicer to specify the constant
 	// based on a time (in ms) rather than a fixed multiplier.  The error between
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 375de146b..c3e973a26 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -13,9 +13,9 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index f8e6e173d..c1e013be3 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="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 581817e7e..9176b125a 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -15,9 +15,13 @@
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
 
 	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
+
 	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="5"/>
 	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
 
+	<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
+	<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
+
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
 	<telemetryflight acked="true" updatemode="onchange" period="0"/>