diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index e9c9f8708..9bce4d777 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -133,15 +133,15 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
 
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw",1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw",1,true);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
     addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
index 85b0f721f..8ac7f6674 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
 
 void UAVObjectField::limitsInitialize(const QString &limits)
 {
-    /// format
-    /// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller)
-    /// (VALX)->value
-    /// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3
-    /// example: first element bigger than 3 and second element inside [2.3,5]
-    /// "%BI:3,%BE:2.3:5"
+    // Limit string format:
+    //     %        - start char
+    //     XXXX     - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
+    //     TY       - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
+    //     VAL      - values for TY separated by colon
+    //     ,        - rule separator (may have leading or trailing spaces)
+    //     ;        - element separator (may have leading or trailing spaces)
+    //
+    // Examples:
+    //     Disable few flight modes for Revo (00903):
+    //         "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
+    //     Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
+    //         "%0401BI:3; %BE:2.3:5"
+    //     Set applicable range [0-500] for 3 elements of array for all boards:
+    //         "%BE:0:500; %BE:0:500; %BE:0:500"
     if(limits.isEmpty())
         return;
-    QStringList stringPerElement=limits.split(",");
+    QStringList stringPerElement = limits.split(";");
     quint32 index=0;
     foreach (QString str, stringPerElement) {
-        QStringList ruleList=str.split(";");
+        QStringList ruleList = str.split(",");
         QList<LimitStruct> limitList;
         foreach(QString rule,ruleList)
         {
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index ccb7cb54e..17b85cf5f 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -20,13 +20,54 @@
         <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,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization2Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization3Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
-        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/>
+        <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
+        <field name="FlightModePosition" units="" type="enum" elements="6"
+		options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
+		defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
+		limits=" \
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
+			\
+			%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
+			%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner \
+		">
+        </field>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index b5c233fdc..06d5538e4 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -4,15 +4,15 @@
 	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
-	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
-	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
-	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
-	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
-	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
 	<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
 	<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>