diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index 6ed7170ab..97ab6815b 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -166,12 +166,52 @@ static void manualControlTask(void *parameters)
 			// Update flight mode
 			flightMode = scaleChannel(cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
 						  settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode]);
-			if (flightMode < -FLIGHT_MODE_LIMIT) {
-				cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
-			} else if (flightMode > FLIGHT_MODE_LIMIT) {
-				cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
-			} else {
-				cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+
+			if (flightMode < -FLIGHT_MODE_LIMIT) {       // Position 1
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+				else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
+			} else if (flightMode > FLIGHT_MODE_LIMIT) { // Position 3
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+				else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
+			} else {                                     // Position 2
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+				else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
 			}
 			// Update the ManualControlCommand object
 			ManualControlCommandSet(&cmd);
diff --git a/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h b/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
index d37bf30af..9e66ed7ac 100644
--- a/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
+++ b/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
@@ -41,7 +41,7 @@
 #define MANUALCONTROLCOMMAND_H
 
 // Object constants
-#define MANUALCONTROLCOMMAND_OBJID 9594768U
+#define MANUALCONTROLCOMMAND_OBJID 2841592332U
 #define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
 #define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
 #define MANUALCONTROLCOMMAND_ISSINGLEINST 1
@@ -78,6 +78,7 @@ typedef struct {
     float Yaw;
     float Throttle;
     uint8_t FlightMode;
+    uint8_t StabilizationSettings[3];
     float Accessory1;
     float Accessory2;
     float Accessory3;
@@ -99,6 +100,13 @@ typedef enum { MANUALCONTROLCOMMAND_ARMED_FALSE=0, MANUALCONTROLCOMMAND_ARMED_TR
 // Field FlightMode information
 /* Enumeration options for field FlightMode */
 typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2 } ManualControlCommandFlightModeOptions;
+// Field StabilizationSettings information
+/* Enumeration options for field StabilizationSettings */
+typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION=2 } ManualControlCommandStabilizationSettingsOptions;
+/* Array element names for field StabilizationSettings */
+typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_YAW=2 } ManualControlCommandStabilizationSettingsElem;
+/* Number of elements for field StabilizationSettings */
+#define MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NUMELEM 3
 // Field Accessory1 information
 // Field Accessory2 information
 // Field Accessory3 information
diff --git a/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h b/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
index 4466b4ff7..bd4be52bd 100644
--- a/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
+++ b/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
@@ -41,7 +41,7 @@
 #define MANUALCONTROLSETTINGS_H
 
 // Object constants
-#define MANUALCONTROLSETTINGS_OBJID 1845767664U
+#define MANUALCONTROLSETTINGS_OBJID 3505967188U
 #define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
 #define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
 #define MANUALCONTROLSETTINGS_ISSINGLEINST 1
@@ -80,6 +80,12 @@ typedef struct {
     uint8_t Accessory1;
     uint8_t Accessory2;
     uint8_t Accessory3;
+    uint8_t Pos1StabilizationSettings[3];
+    uint8_t Pos2StabilizationSettings[3];
+    uint8_t Pos3StabilizationSettings[3];
+    uint8_t Pos1FlightMode;
+    uint8_t Pos2FlightMode;
+    uint8_t Pos3FlightMode;
     int16_t ChannelMax[8];
     int16_t ChannelNeutral[8];
     int16_t ChannelMin[8];
@@ -114,6 +120,36 @@ typedef enum { MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL0=0, MANUALCONTROLSETTING
 // Field Accessory3 information
 /* Enumeration options for field Accessory3 */
 typedef enum { MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL0=0, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL1=1, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL2=2, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL3=3, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL4=4, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL5=5, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL6=6, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL7=7, MANUALCONTROLSETTINGS_ACCESSORY3_NONE=8 } ManualControlSettingsAccessory3Options;
+// Field Pos1StabilizationSettings information
+/* Enumeration options for field Pos1StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos1StabilizationSettingsOptions;
+/* Array element names for field Pos1StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos1StabilizationSettingsElem;
+/* Number of elements for field Pos1StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos2StabilizationSettings information
+/* Enumeration options for field Pos2StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos2StabilizationSettingsOptions;
+/* Array element names for field Pos2StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos2StabilizationSettingsElem;
+/* Number of elements for field Pos2StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos3StabilizationSettings information
+/* Enumeration options for field Pos3StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos3StabilizationSettingsOptions;
+/* Array element names for field Pos3StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos3StabilizationSettingsElem;
+/* Number of elements for field Pos3StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos1FlightMode information
+/* Enumeration options for field Pos1FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO=2 } ManualControlSettingsPos1FlightModeOptions;
+// Field Pos2FlightMode information
+/* Enumeration options for field Pos2FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO=2 } ManualControlSettingsPos2FlightModeOptions;
+// Field Pos3FlightMode information
+/* Enumeration options for field Pos3FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO=2 } ManualControlSettingsPos3FlightModeOptions;
 // Field ChannelMax information
 /* Number of elements for field ChannelMax */
 #define MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM 8
diff --git a/flight/OpenPilot/UAVObjects/manualcontrolsettings.c b/flight/OpenPilot/UAVObjects/manualcontrolsettings.c
index 5bce854f2..fde2f28f4 100644
--- a/flight/OpenPilot/UAVObjects/manualcontrolsettings.c
+++ b/flight/OpenPilot/UAVObjects/manualcontrolsettings.c
@@ -89,6 +89,18 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	data.Accessory1 = 8;
 	data.Accessory2 = 8;
 	data.Accessory3 = 8;
+	data.Pos1StabilizationSettings[0] = 2;
+	data.Pos1StabilizationSettings[1] = 2;
+	data.Pos1StabilizationSettings[2] = 2;
+	data.Pos2StabilizationSettings[0] = 2;
+	data.Pos2StabilizationSettings[1] = 2;
+	data.Pos2StabilizationSettings[2] = 2;
+	data.Pos3StabilizationSettings[0] = 2;
+	data.Pos3StabilizationSettings[1] = 2;
+	data.Pos3StabilizationSettings[2] = 2;
+	data.Pos1FlightMode = 0;
+	data.Pos2FlightMode = 1;
+	data.Pos3FlightMode = 2;
 	data.ChannelMax[0] = 2000;
 	data.ChannelMax[1] = 2000;
 	data.ChannelMax[2] = 2000;
diff --git a/ground/src/plugins/uavobjects/manualcontrolcommand.cpp b/ground/src/plugins/uavobjects/manualcontrolcommand.cpp
index fc4554495..da240da79 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.cpp
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.cpp
@@ -73,6 +73,15 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
     FlightModeEnumOptions.append("Stabilized");
     FlightModeEnumOptions.append("Auto");
     fields.append( new UAVObjectField(QString("FlightMode"), QString(""), UAVObjectField::ENUM, FlightModeElemNames, FlightModeEnumOptions) );
+    QStringList StabilizationSettingsElemNames;
+    StabilizationSettingsElemNames.append("Roll");
+    StabilizationSettingsElemNames.append("Pitch");
+    StabilizationSettingsElemNames.append("Yaw");
+    QStringList StabilizationSettingsEnumOptions;
+    StabilizationSettingsEnumOptions.append("None");
+    StabilizationSettingsEnumOptions.append("Rate");
+    StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("StabilizationSettings"), QString(""), UAVObjectField::ENUM, StabilizationSettingsElemNames, StabilizationSettingsEnumOptions) );
     QStringList Accessory1ElemNames;
     Accessory1ElemNames.append("0");
     fields.append( new UAVObjectField(QString("Accessory1"), QString("%"), UAVObjectField::FLOAT32, Accessory1ElemNames, QStringList()) );
diff --git a/ground/src/plugins/uavobjects/manualcontrolcommand.h b/ground/src/plugins/uavobjects/manualcontrolcommand.h
index 3dbe3b504..625d54afa 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.h
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.h
@@ -50,6 +50,7 @@ public:
         float Yaw;
         float Throttle;
         quint8 FlightMode;
+        quint8 StabilizationSettings[3];
         float Accessory1;
         float Accessory2;
         float Accessory3;
@@ -71,6 +72,13 @@ public:
     // Field FlightMode information
     /* Enumeration options for field FlightMode */
     typedef enum { FLIGHTMODE_MANUAL=0, FLIGHTMODE_STABILIZED=1, FLIGHTMODE_AUTO=2 } FlightModeOptions;
+    // Field StabilizationSettings information
+    /* Enumeration options for field StabilizationSettings */
+    typedef enum { STABILIZATIONSETTINGS_NONE=0, STABILIZATIONSETTINGS_RATE=1, STABILIZATIONSETTINGS_POSITION=2 } StabilizationSettingsOptions;
+    /* Array element names for field StabilizationSettings */
+    typedef enum { STABILIZATIONSETTINGS_ROLL=0, STABILIZATIONSETTINGS_PITCH=1, STABILIZATIONSETTINGS_YAW=2 } StabilizationSettingsElem;
+    /* Number of elements for field StabilizationSettings */
+    static const quint32 STABILIZATIONSETTINGS_NUMELEM = 3;
     // Field Accessory1 information
     // Field Accessory2 information
     // Field Accessory3 information
@@ -80,7 +88,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 9594768U;
+    static const quint32 OBJID = 2841592332U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;
diff --git a/ground/src/plugins/uavobjects/manualcontrolcommand.py b/ground/src/plugins/uavobjects/manualcontrolcommand.py
index 066b9d43e..5ccddf2fd 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.py
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.py
@@ -114,6 +114,21 @@ _fields = [ \
 			'2' : 'Auto',
 		}
 	),
+	uavobject.UAVObjectField(
+		'StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
 	uavobject.UAVObjectField(
 		'Accessory1',
 		'f',
@@ -166,7 +181,7 @@ _fields = [ \
 
 class ManualControlCommand(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 9594768
+    OBJID        = 2841592332
     NAME         = "ManualControlCommand"
     METANAME     = "ManualControlCommandMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
index 61a9152d8..2a3913e02 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
@@ -153,6 +153,54 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
     Accessory3EnumOptions.append("Channel7");
     Accessory3EnumOptions.append("None");
     fields.append( new UAVObjectField(QString("Accessory3"), QString("channel"), UAVObjectField::ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
+    QStringList Pos1StabilizationSettingsElemNames;
+    Pos1StabilizationSettingsElemNames.append("Roll");
+    Pos1StabilizationSettingsElemNames.append("Pitch");
+    Pos1StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos1StabilizationSettingsEnumOptions;
+    Pos1StabilizationSettingsEnumOptions.append("None");
+    Pos1StabilizationSettingsEnumOptions.append("Rate");
+    Pos1StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos1StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos1StabilizationSettingsElemNames, Pos1StabilizationSettingsEnumOptions) );
+    QStringList Pos2StabilizationSettingsElemNames;
+    Pos2StabilizationSettingsElemNames.append("Roll");
+    Pos2StabilizationSettingsElemNames.append("Pitch");
+    Pos2StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos2StabilizationSettingsEnumOptions;
+    Pos2StabilizationSettingsEnumOptions.append("None");
+    Pos2StabilizationSettingsEnumOptions.append("Rate");
+    Pos2StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos2StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos2StabilizationSettingsElemNames, Pos2StabilizationSettingsEnumOptions) );
+    QStringList Pos3StabilizationSettingsElemNames;
+    Pos3StabilizationSettingsElemNames.append("Roll");
+    Pos3StabilizationSettingsElemNames.append("Pitch");
+    Pos3StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos3StabilizationSettingsEnumOptions;
+    Pos3StabilizationSettingsEnumOptions.append("None");
+    Pos3StabilizationSettingsEnumOptions.append("Rate");
+    Pos3StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos3StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos3StabilizationSettingsElemNames, Pos3StabilizationSettingsEnumOptions) );
+    QStringList Pos1FlightModeElemNames;
+    Pos1FlightModeElemNames.append("0");
+    QStringList Pos1FlightModeEnumOptions;
+    Pos1FlightModeEnumOptions.append("Manual");
+    Pos1FlightModeEnumOptions.append("Stabilized");
+    Pos1FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos1FlightMode"), QString(""), UAVObjectField::ENUM, Pos1FlightModeElemNames, Pos1FlightModeEnumOptions) );
+    QStringList Pos2FlightModeElemNames;
+    Pos2FlightModeElemNames.append("0");
+    QStringList Pos2FlightModeEnumOptions;
+    Pos2FlightModeEnumOptions.append("Manual");
+    Pos2FlightModeEnumOptions.append("Stabilized");
+    Pos2FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos2FlightMode"), QString(""), UAVObjectField::ENUM, Pos2FlightModeElemNames, Pos2FlightModeEnumOptions) );
+    QStringList Pos3FlightModeElemNames;
+    Pos3FlightModeElemNames.append("0");
+    QStringList Pos3FlightModeEnumOptions;
+    Pos3FlightModeEnumOptions.append("Manual");
+    Pos3FlightModeEnumOptions.append("Stabilized");
+    Pos3FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos3FlightMode"), QString(""), UAVObjectField::ENUM, Pos3FlightModeElemNames, Pos3FlightModeEnumOptions) );
     QStringList ChannelMaxElemNames;
     ChannelMaxElemNames.append("0");
     ChannelMaxElemNames.append("1");
@@ -225,6 +273,18 @@ void ManualControlSettings::setDefaultFieldValues()
     data.Accessory1 = 8;
     data.Accessory2 = 8;
     data.Accessory3 = 8;
+    data.Pos1StabilizationSettings[0] = 2;
+    data.Pos1StabilizationSettings[1] = 2;
+    data.Pos1StabilizationSettings[2] = 2;
+    data.Pos2StabilizationSettings[0] = 2;
+    data.Pos2StabilizationSettings[1] = 2;
+    data.Pos2StabilizationSettings[2] = 2;
+    data.Pos3StabilizationSettings[0] = 2;
+    data.Pos3StabilizationSettings[1] = 2;
+    data.Pos3StabilizationSettings[2] = 2;
+    data.Pos1FlightMode = 0;
+    data.Pos2FlightMode = 1;
+    data.Pos3FlightMode = 2;
     data.ChannelMax[0] = 2000;
     data.ChannelMax[1] = 2000;
     data.ChannelMax[2] = 2000;
diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.h b/ground/src/plugins/uavobjects/manualcontrolsettings.h
index 1fa158713..cd2f5297d 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.h
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.h
@@ -52,6 +52,12 @@ public:
         quint8 Accessory1;
         quint8 Accessory2;
         quint8 Accessory3;
+        quint8 Pos1StabilizationSettings[3];
+        quint8 Pos2StabilizationSettings[3];
+        quint8 Pos3StabilizationSettings[3];
+        quint8 Pos1FlightMode;
+        quint8 Pos2FlightMode;
+        quint8 Pos3FlightMode;
         qint16 ChannelMax[8];
         qint16 ChannelNeutral[8];
         qint16 ChannelMin[8];
@@ -86,6 +92,36 @@ public:
     // Field Accessory3 information
     /* Enumeration options for field Accessory3 */
     typedef enum { ACCESSORY3_CHANNEL0=0, ACCESSORY3_CHANNEL1=1, ACCESSORY3_CHANNEL2=2, ACCESSORY3_CHANNEL3=3, ACCESSORY3_CHANNEL4=4, ACCESSORY3_CHANNEL5=5, ACCESSORY3_CHANNEL6=6, ACCESSORY3_CHANNEL7=7, ACCESSORY3_NONE=8 } Accessory3Options;
+    // Field Pos1StabilizationSettings information
+    /* Enumeration options for field Pos1StabilizationSettings */
+    typedef enum { POS1STABILIZATIONSETTINGS_NONE=0, POS1STABILIZATIONSETTINGS_RATE=1, POS1STABILIZATIONSETTINGS_POSITION=2 } Pos1StabilizationSettingsOptions;
+    /* Array element names for field Pos1StabilizationSettings */
+    typedef enum { POS1STABILIZATIONSETTINGS_ROLL=0, POS1STABILIZATIONSETTINGS_PITCH=1, POS1STABILIZATIONSETTINGS_YAW=2 } Pos1StabilizationSettingsElem;
+    /* Number of elements for field Pos1StabilizationSettings */
+    static const quint32 POS1STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos2StabilizationSettings information
+    /* Enumeration options for field Pos2StabilizationSettings */
+    typedef enum { POS2STABILIZATIONSETTINGS_NONE=0, POS2STABILIZATIONSETTINGS_RATE=1, POS2STABILIZATIONSETTINGS_POSITION=2 } Pos2StabilizationSettingsOptions;
+    /* Array element names for field Pos2StabilizationSettings */
+    typedef enum { POS2STABILIZATIONSETTINGS_ROLL=0, POS2STABILIZATIONSETTINGS_PITCH=1, POS2STABILIZATIONSETTINGS_YAW=2 } Pos2StabilizationSettingsElem;
+    /* Number of elements for field Pos2StabilizationSettings */
+    static const quint32 POS2STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos3StabilizationSettings information
+    /* Enumeration options for field Pos3StabilizationSettings */
+    typedef enum { POS3STABILIZATIONSETTINGS_NONE=0, POS3STABILIZATIONSETTINGS_RATE=1, POS3STABILIZATIONSETTINGS_POSITION=2 } Pos3StabilizationSettingsOptions;
+    /* Array element names for field Pos3StabilizationSettings */
+    typedef enum { POS3STABILIZATIONSETTINGS_ROLL=0, POS3STABILIZATIONSETTINGS_PITCH=1, POS3STABILIZATIONSETTINGS_YAW=2 } Pos3StabilizationSettingsElem;
+    /* Number of elements for field Pos3StabilizationSettings */
+    static const quint32 POS3STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos1FlightMode information
+    /* Enumeration options for field Pos1FlightMode */
+    typedef enum { POS1FLIGHTMODE_MANUAL=0, POS1FLIGHTMODE_STABILIZED=1, POS1FLIGHTMODE_AUTO=2 } Pos1FlightModeOptions;
+    // Field Pos2FlightMode information
+    /* Enumeration options for field Pos2FlightMode */
+    typedef enum { POS2FLIGHTMODE_MANUAL=0, POS2FLIGHTMODE_STABILIZED=1, POS2FLIGHTMODE_AUTO=2 } Pos2FlightModeOptions;
+    // Field Pos3FlightMode information
+    /* Enumeration options for field Pos3FlightMode */
+    typedef enum { POS3FLIGHTMODE_MANUAL=0, POS3FLIGHTMODE_STABILIZED=1, POS3FLIGHTMODE_AUTO=2 } Pos3FlightModeOptions;
     // Field ChannelMax information
     /* Number of elements for field ChannelMax */
     static const quint32 CHANNELMAX_NUMELEM = 8;
@@ -98,7 +134,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 1845767664U;
+    static const quint32 OBJID = 3505967188U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 1;
diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.py b/ground/src/plugins/uavobjects/manualcontrolsettings.py
index 83c6b537e..c4190ddc9 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.py
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.py
@@ -202,6 +202,90 @@ _fields = [ \
 			'8' : 'None',
 		}
 	),
+	uavobject.UAVObjectField(
+		'Pos1StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos2StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos3StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos1FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos2FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos3FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
 	uavobject.UAVObjectField(
 		'ChannelMax',
 		'h',
@@ -258,7 +342,7 @@ _fields = [ \
 
 class ManualControlSettings(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 1845767664
+    OBJID        = 3505967188
     NAME         = "ManualControlSettings"
     METANAME     = "ManualControlSettingsMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml b/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
index f93c18d06..3420baef3 100644
--- a/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
+++ b/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
@@ -8,6 +8,7 @@
         <field name="Yaw" units="%" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
         <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
+        <field name="StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position"/>
         <field name="Accessory1" units="%" type="float" elements="1"/>
         <field name="Accessory2" units="%" type="float" elements="1"/>
         <field name="Accessory3" units="%" type="float" elements="1"/>
diff --git a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
index c7cacfb3a..0958d3f8e 100644
--- a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -10,6 +10,12 @@
         <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
         <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
         <field name="Accessory3" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
+        <field name="Pos1StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos2StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos3StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos1FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Manual"/>
+        <field name="Pos2FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Stabilized"/>
+        <field name="Pos3FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Auto"/>
         <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
         <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>