diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index 2b0f50ecf..101ae8197 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -152,6 +152,12 @@ static void manualControlTask(void* parameters)
 											  settings.ChannelMin[settings.Accessory2], settings.ChannelNeutral[settings.Accessory2] );
 			else 
 				cmd.Accessory2 = 0;
+
+			if(settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
+				cmd.Accessory3 = scaleChannel( cmd.Channel[settings.Accessory3], settings.ChannelMax[settings.Accessory3],
+											  settings.ChannelMin[settings.Accessory3], settings.ChannelNeutral[settings.Accessory3] );
+			else 
+				cmd.Accessory3 = 0;
 			
             
             // Update flight mode
@@ -223,13 +229,23 @@ static void manualControlTask(void* parameters)
 			AttitudeDesiredSet(&attitude);
 		}
 		
-		if( 1 ) { //TODO: Make what happens here depend on GCS
+		if( cmd.Accessory3 < -.5 ) { //TODO: Make what happens here depend on GCS
 			AttitudeSettingsData attitudeSettings;
 			AttitudeSettingsGet(&attitudeSettings);
-			// Hard coding a maximum bias of 30 for now... maybe mistake
-			attitudeSettings.PitchBias = cmd.Accessory1 * 30;
-			attitudeSettings.RollBias = cmd.Accessory2 * 30;
+			// Hard coding a maximum bias of 15 for now... maybe mistake
+			attitudeSettings.PitchBias = cmd.Accessory1 * 15;
+			attitudeSettings.RollBias = cmd.Accessory2 * 15;
 			AttitudeSettingsSet(&attitudeSettings);
+		} else if (cmd.Accessory3 > .9) { 
+			// REALLY don't want to end up here accidentally.  I've also saved by meta for Stabilization setting to be
+			// flight read only by default
+			StabilizationSettingsData stabSettings;
+			StabilizationSettingsGet(&stabSettings);			
+			if(cmd.Accessory1 > 0)
+				stabSettings.PitchKp = cmd.Accessory1 * 0.05; 
+			if(cmd.Accessory2 > 0)
+				stabSettings.RollKp = cmd.Accessory2 * 0.05; 
+			StabilizationSettingsSet(&stabSettings);
 		}
 	}
 }
diff --git a/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h b/flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
index 0bb457ee8..6a02aca55 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 540381354U
+#define MANUALCONTROLCOMMAND_OBJID 1289277596U
 #define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
 #define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
 #define MANUALCONTROLCOMMAND_ISSINGLEINST 1
@@ -79,6 +79,7 @@ typedef struct {
     uint8_t FlightMode;
     float Accessory1;
     float Accessory2;
+    float Accessory3;
     int16_t Channel[8];
 
 } __attribute__((packed)) ManualControlCommandData;
@@ -96,6 +97,7 @@ typedef enum { MANUALCONTROLCOMMAND_CONNECTED_FALSE=0, MANUALCONTROLCOMMAND_CONN
 typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2 } ManualControlCommandFlightModeOptions;
 // Field Accessory1 information
 // Field Accessory2 information
+// Field Accessory3 information
 // Field Channel information
 /* Number of elements for field Channel */
 #define MANUALCONTROLCOMMAND_CHANNEL_NUMELEM 8
diff --git a/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h b/flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
index dd612f449..4466b4ff7 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 2185031164U
+#define MANUALCONTROLSETTINGS_OBJID 1845767664U
 #define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
 #define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
 #define MANUALCONTROLSETTINGS_ISSINGLEINST 1
@@ -79,6 +79,7 @@ typedef struct {
     uint8_t FlightMode;
     uint8_t Accessory1;
     uint8_t Accessory2;
+    uint8_t Accessory3;
     int16_t ChannelMax[8];
     int16_t ChannelNeutral[8];
     int16_t ChannelMin[8];
@@ -110,6 +111,9 @@ typedef enum { MANUALCONTROLSETTINGS_ACCESSORY1_CHANNEL0=0, MANUALCONTROLSETTING
 // Field Accessory2 information
 /* Enumeration options for field Accessory2 */
 typedef enum { MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL0=0, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL1=1, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL2=2, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL3=3, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL4=4, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL5=5, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL6=6, MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL7=7, MANUALCONTROLSETTINGS_ACCESSORY2_NONE=8 } ManualControlSettingsAccessory2Options;
+// 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 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 ed72b5402..5bce854f2 100644
--- a/flight/OpenPilot/UAVObjects/manualcontrolsettings.c
+++ b/flight/OpenPilot/UAVObjects/manualcontrolsettings.c
@@ -88,6 +88,7 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	data.FlightMode = 4;
 	data.Accessory1 = 8;
 	data.Accessory2 = 8;
+	data.Accessory3 = 8;
 	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 2920170dc..f572feb81 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.cpp
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.cpp
@@ -73,6 +73,9 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
     QStringList Accessory2ElemNames;
     Accessory2ElemNames.append("0");
     fields.append( new UAVObjectField(QString("Accessory2"), QString("%"), UAVObjectField::FLOAT32, Accessory2ElemNames, QStringList()) );
+    QStringList Accessory3ElemNames;
+    Accessory3ElemNames.append("0");
+    fields.append( new UAVObjectField(QString("Accessory3"), QString("%"), UAVObjectField::FLOAT32, Accessory3ElemNames, QStringList()) );
     QStringList ChannelElemNames;
     ChannelElemNames.append("0");
     ChannelElemNames.append("1");
diff --git a/ground/src/plugins/uavobjects/manualcontrolcommand.h b/ground/src/plugins/uavobjects/manualcontrolcommand.h
index 1f11e4e9d..7b209827a 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.h
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.h
@@ -51,6 +51,7 @@ public:
         quint8 FlightMode;
         float Accessory1;
         float Accessory2;
+        float Accessory3;
         qint16 Channel[8];
 
     } __attribute__((packed)) DataFields;
@@ -68,13 +69,14 @@ public:
     typedef enum { FLIGHTMODE_MANUAL=0, FLIGHTMODE_STABILIZED=1, FLIGHTMODE_AUTO=2 } FlightModeOptions;
     // Field Accessory1 information
     // Field Accessory2 information
+    // Field Accessory3 information
     // Field Channel information
     /* Number of elements for field Channel */
     static const quint32 CHANNEL_NUMELEM = 8;
 
   
     // Constants
-    static const quint32 OBJID = 540381354U;
+    static const quint32 OBJID = 1289277596U;
     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 7253f1902..e8600d719 100644
--- a/ground/src/plugins/uavobjects/manualcontrolcommand.py
+++ b/ground/src/plugins/uavobjects/manualcontrolcommand.py
@@ -122,6 +122,16 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'Accessory3',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
 	uavobject.UAVObjectField(
 		'Channel',
 		'h',
@@ -144,7 +154,7 @@ _fields = [ \
 
 class ManualControlCommand(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 540381354
+    OBJID        = 1289277596
     NAME         = "ManualControlCommand"
     METANAME     = "ManualControlCommandMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
index 4aaea3df0..61a9152d8 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp
@@ -140,6 +140,19 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
     Accessory2EnumOptions.append("Channel7");
     Accessory2EnumOptions.append("None");
     fields.append( new UAVObjectField(QString("Accessory2"), QString("channel"), UAVObjectField::ENUM, Accessory2ElemNames, Accessory2EnumOptions) );
+    QStringList Accessory3ElemNames;
+    Accessory3ElemNames.append("0");
+    QStringList Accessory3EnumOptions;
+    Accessory3EnumOptions.append("Channel0");
+    Accessory3EnumOptions.append("Channel1");
+    Accessory3EnumOptions.append("Channel2");
+    Accessory3EnumOptions.append("Channel3");
+    Accessory3EnumOptions.append("Channel4");
+    Accessory3EnumOptions.append("Channel5");
+    Accessory3EnumOptions.append("Channel6");
+    Accessory3EnumOptions.append("Channel7");
+    Accessory3EnumOptions.append("None");
+    fields.append( new UAVObjectField(QString("Accessory3"), QString("channel"), UAVObjectField::ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
     QStringList ChannelMaxElemNames;
     ChannelMaxElemNames.append("0");
     ChannelMaxElemNames.append("1");
@@ -211,6 +224,7 @@ void ManualControlSettings::setDefaultFieldValues()
     data.FlightMode = 4;
     data.Accessory1 = 8;
     data.Accessory2 = 8;
+    data.Accessory3 = 8;
     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 5c616878b..1fa158713 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.h
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.h
@@ -51,6 +51,7 @@ public:
         quint8 FlightMode;
         quint8 Accessory1;
         quint8 Accessory2;
+        quint8 Accessory3;
         qint16 ChannelMax[8];
         qint16 ChannelNeutral[8];
         qint16 ChannelMin[8];
@@ -82,6 +83,9 @@ public:
     // Field Accessory2 information
     /* Enumeration options for field Accessory2 */
     typedef enum { ACCESSORY2_CHANNEL0=0, ACCESSORY2_CHANNEL1=1, ACCESSORY2_CHANNEL2=2, ACCESSORY2_CHANNEL3=3, ACCESSORY2_CHANNEL4=4, ACCESSORY2_CHANNEL5=5, ACCESSORY2_CHANNEL6=6, ACCESSORY2_CHANNEL7=7, ACCESSORY2_NONE=8 } Accessory2Options;
+    // 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 ChannelMax information
     /* Number of elements for field ChannelMax */
     static const quint32 CHANNELMAX_NUMELEM = 8;
@@ -94,7 +98,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 2185031164U;
+    static const quint32 OBJID = 1845767664U;
     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 fdd87586a..83c6b537e 100644
--- a/ground/src/plugins/uavobjects/manualcontrolsettings.py
+++ b/ground/src/plugins/uavobjects/manualcontrolsettings.py
@@ -183,6 +183,25 @@ _fields = [ \
 			'8' : 'None',
 		}
 	),
+	uavobject.UAVObjectField(
+		'Accessory3',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Channel0',
+			'1' : 'Channel1',
+			'2' : 'Channel2',
+			'3' : 'Channel3',
+			'4' : 'Channel4',
+			'5' : 'Channel5',
+			'6' : 'Channel6',
+			'7' : 'Channel7',
+			'8' : 'None',
+		}
+	),
 	uavobject.UAVObjectField(
 		'ChannelMax',
 		'h',
@@ -239,7 +258,7 @@ _fields = [ \
 
 class ManualControlSettings(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 2185031164
+    OBJID        = 1845767664
     NAME         = "ManualControlSettings"
     METANAME     = "ManualControlSettingsMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml b/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
index b6edb46ab..fd7a66af3 100644
--- a/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
+++ b/ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
@@ -9,6 +9,7 @@
         <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
         <field name="Accessory1" units="%" type="float" elements="1"/>
         <field name="Accessory2" units="%" type="float" elements="1"/>
+        <field name="Accessory3" units="%" type="float" elements="1"/>
         <field name="Channel" units="us" type="int16" elements="8"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
diff --git a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
index fceb843d8..c7cacfb3a 100644
--- a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -9,6 +9,7 @@
         <field name="FlightMode" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel4"/>
         <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="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"/>