diff --git a/ground/gcs/src/plugins/config/textbubbleslider.cpp b/ground/gcs/src/plugins/config/textbubbleslider.cpp
new file mode 100644
index 000000000..689304260
--- /dev/null
+++ b/ground/gcs/src/plugins/config/textbubbleslider.cpp
@@ -0,0 +1,195 @@
+/**
+******************************************************************************
+*
+* @file       textbubbleslider.h
+* @author     Tau Labs, http://taulabs.org Copyright (C) 2013.
+* @brief      Creates a slider with a text bubble showing the slider value
+* @see        The GNU Public License (GPL) Version 3
+* @defgroup   Config
+* @{
+*
+*****************************************************************************/
+/*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+* for more details.
+*
+* You should have received a copy of the GNU General Public License along
+* with this program; if not, write to the Free Software Foundation, Inc.,
+* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include <QDebug>
+#include <QPainter>
+#include <QDebug>
+#include <qmath.h>
+
+#include "textbubbleslider.h"
+
+/**
+ * @brief TextBubbleSlider::TextBubbleSlider Constructs a regular text-bubble slider
+ * @param parent
+ */
+TextBubbleSlider::TextBubbleSlider(QWidget *parent) :
+    QSlider(parent)
+{
+    construct();
+}
+
+/**
+ * @brief TextBubbleSlider::TextBubbleSlider Constructs a text-bubble slider that copys
+ * all relevant data from the previous slider
+ * @param copySlider
+ * @param parent
+ */
+TextBubbleSlider::TextBubbleSlider(QSlider *copySlider, QWidget *parent) :
+    QSlider(parent)
+{
+    construct();
+
+    // Copy settings
+    setSizePolicy(copySlider->sizePolicy());
+    setMinimumSize(copySlider->minimumSize());
+    setMaximumSize(copySlider->maximumSize());
+    setFocusPolicy(copySlider->focusPolicy());
+    setOrientation(copySlider->orientation());
+    setMaximum(copySlider->maximum());
+    setMinimum(copySlider->minimum());
+    setToolTip(copySlider->toolTip());
+}
+
+
+/**
+ * @brief TextBubbleSlider::construct This function needs to be called from all constructors. It
+ * provides a single point where settings can be changed.
+ */
+void TextBubbleSlider::construct()
+{
+    font = QFont("Arial", 13);
+    slideHandleMargin = 2; // This is a dubious way to set the margin. In reality, it should be read from the style sheet.
+}
+
+TextBubbleSlider::~TextBubbleSlider()
+{
+}
+
+
+/**
+ * @brief numIntegerDigits Counts the number of digits in an integer
+ * @param number Input integer
+ * @return Number of digits in input integer
+ */
+unsigned int numIntegerDigits(int number)
+{
+    unsigned int digits = 0;
+
+    // If there is a negative sign, be sure to include it in digit count
+    if (number < 0)
+        digits = 1;
+
+    while (number) {
+        number /= 10;
+        digits++;
+    }
+
+    return digits;
+}
+
+
+/**
+ * @brief TextBubbleSlider::setMaxPixelWidth Sets maximum pixel width for slider handle
+ */
+void TextBubbleSlider::setMaxPixelWidth()
+{
+    // Calculate maximum number of digits possible in string
+    int maxNumDigits = numIntegerDigits(maximum()) > numIntegerDigits(minimum()) ? numIntegerDigits(maximum()) : numIntegerDigits(minimum());
+
+    // Generate string with maximum pixel width. Suppose that "0" is
+    // the widest number in pixels.
+    QString maximumWidthString;
+    for (int i=0; i<maxNumDigits; i++) {
+        maximumWidthString.append("0");
+    }
+
+    // Calculate maximum possible pixel width for string.
+    QFontMetrics fontMetrics(font);
+    maximumFontWidth = fontMetrics.width(QString("%1").arg(maximumWidthString));
+    maximumFontHeight = fontMetrics.height();
+
+    // Override stylesheet slider handle width
+    slideHandleWidth = maximumFontWidth + 6;
+    setStyleSheet(QString("QSlider::handle:horizontal { width: %1px; margin: -5px 0;}").arg(slideHandleWidth));
+}
+
+
+/**
+ * @brief TextBubbleSlider::setMinimum Reimplements setMinimum. Ensures that the slider
+ * handle is the correct size for the text field.
+ * @param max maximum
+ */
+void TextBubbleSlider::setMinimum(int max)
+{
+    // Pass value on to QSlider
+    QSlider::setMinimum(max);
+
+    // Reset handler size
+    setMaxPixelWidth();
+}
+
+
+/**
+ * @brief TextBubbleSlider::setMaximum Reimplements setMaximum. Ensures that the slider
+ * handle is the correct size for the text field.
+ * @param max maximum
+ */
+void TextBubbleSlider::setMaximum(int max)
+{
+    // Pass value on to QSlider
+    QSlider::setMaximum(max);
+
+    // Reset handler size
+    setMaxPixelWidth();
+}
+
+
+/**
+ * @brief TextBubbleSlider::paintEvent Reimplements QSlider::paintEvent.
+ * @param bob
+ */
+void TextBubbleSlider::paintEvent(QPaintEvent *paintEvent)
+{
+    // Pass paint event on to QSlider
+    QSlider::paintEvent(paintEvent);
+
+    /* Add numbers on top of handler */
+
+    // Calculate pixel position for text.
+    int sliderWidth = width();
+    int sliderHeight = height();
+    double valuePos;
+
+    if (!invertedAppearance()) {
+        valuePos = (slideHandleWidth - maximumFontWidth)/2 + slideHandleMargin + // First part centers text in handle...
+                (value()-minimum())/(double)(maximum()-minimum()) * (sliderWidth - (slideHandleWidth + slideHandleMargin) - 1); //... and second part moves text with handle
+    } else {
+        valuePos = (slideHandleWidth - maximumFontWidth)/2 + slideHandleMargin + // First part centers text in handle...
+                (maximum()-value())/(double)(maximum()-minimum()) * (sliderWidth - (slideHandleWidth + slideHandleMargin) - 1); //... and second part moves text with handle
+    }
+
+    // Create painter and set font
+    QPainter painter(this);
+    painter.setFont(font);
+
+    // Draw neutral value text. Verically center it in the handle
+    QString neutralStringWidth = QString("%1").arg(value());
+    QFontMetrics fontMetrics(font);
+    int textWidth = fontMetrics.width(neutralStringWidth);
+    painter.drawText(QRectF(valuePos + maximumFontWidth - textWidth, ceil((sliderHeight - maximumFontHeight)/2.0), textWidth, maximumFontHeight),
+                     neutralStringWidth);
+}
diff --git a/ground/gcs/src/plugins/config/textbubbleslider.h b/ground/gcs/src/plugins/config/textbubbleslider.h
new file mode 100644
index 000000000..fb2323355
--- /dev/null
+++ b/ground/gcs/src/plugins/config/textbubbleslider.h
@@ -0,0 +1,61 @@
+/**
+******************************************************************************
+*
+* @file       textbubbleslider.h
+* @author     Tau Labs, http://taulabs.org Copyright (C) 2013.
+* @brief      Creates a slider with a text bubble showing the slider value
+* @see        The GNU Public License (GPL) Version 3
+* @defgroup   Config
+* @{
+*
+*****************************************************************************/
+/*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation; either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+* for more details.
+*
+* You should have received a copy of the GNU General Public License along
+* with this program; if not, write to the Free Software Foundation, Inc.,
+* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef TEXTBUBBLESLIDER_H
+#define TEXTBUBBLESLIDER_H
+
+#include <QSlider>
+#include <QtDesigner/QDesignerExportWidget>
+
+class QDESIGNER_WIDGET_EXPORT TextBubbleSlider : public QSlider
+{
+    Q_OBJECT
+
+public:
+    explicit TextBubbleSlider(QWidget *parent = 0);
+    explicit TextBubbleSlider(QSlider *, QWidget *parent = 0);
+    void construct();
+    ~TextBubbleSlider();
+
+    void setMinimum(int);
+    void setMaximum(int);
+
+protected:
+    void paintEvent ( QPaintEvent * event );
+
+private:
+    void setMaxPixelWidth();
+
+    QFont font;
+    int maximumFontWidth;
+    int maximumFontHeight;
+    int slideHandleWidth;
+    int slideHandleMargin;
+
+};
+
+#endif // TEXTBUBBLESLIDER_H