diff --git a/src/ui/configuration/ArduCopterPidConfig.cc b/src/ui/configuration/ArduCopterPidConfig.cc
index ad7211ed399a5c79c2786769c97bc34002a42083..7d5f274cbd4b8822e3ee09c64df79230148271da 100644
--- a/src/ui/configuration/ArduCopterPidConfig.cc
+++ b/src/ui/configuration/ArduCopterPidConfig.cc
@@ -3,6 +3,11 @@
 ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+    m_pitchRollLocked = false;
+    connect(ui.checkBox,SIGNAL(clicked(bool)),this,SLOT(lockCheckBoxClicked(bool)));
+    connect(ui.stabilPitchPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+    connect(ui.stabilRollPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+    connect(ui.stabilYawPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
     m_nameToBoxMap["STB_RLL_P"] = ui.stabilPitchPSpinBox;
     m_nameToBoxMap["STB_PIT_P"] = ui.stabilRollPSpinBox;
     m_nameToBoxMap["STB_YAW_P"] = ui.stabilYawPSpinBox;
@@ -109,6 +114,25 @@ ArduCopterPidConfig::ArduCopterPidConfig(QWidget *parent) : AP2ConfigWidget(pare
     }
     initConnections();
 }
+void ArduCopterPidConfig::lockCheckBoxClicked(bool checked)
+{
+    m_pitchRollLocked = checked;
+}
+void ArduCopterPidConfig::stabilLockedChanged(double value)
+{
+    if (m_pitchRollLocked)
+    {
+        disconnect(ui.stabilPitchPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+        disconnect(ui.stabilRollPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+        disconnect(ui.stabilYawPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+        ui.stabilPitchPSpinBox->setValue(value);
+        ui.stabilRollPSpinBox->setValue(value);
+        ui.stabilYawPSpinBox->setValue(value);
+        connect(ui.stabilPitchPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+        connect(ui.stabilRollPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+        connect(ui.stabilYawPSpinBox,SIGNAL(valueChanged(double)),this,SLOT(stabilLockedChanged(double)));
+    }
+}
 
 ArduCopterPidConfig::~ArduCopterPidConfig()
 {
diff --git a/src/ui/configuration/ArduCopterPidConfig.h b/src/ui/configuration/ArduCopterPidConfig.h
index bc3ac3a693619c1f0d23bf11b0dee1ec3723da99..d8a1360b882e67f07e31283ae9e17ed8557538ac 100644
--- a/src/ui/configuration/ArduCopterPidConfig.h
+++ b/src/ui/configuration/ArduCopterPidConfig.h
@@ -17,7 +17,10 @@ private slots:
     void writeButtonClicked();
     void refreshButtonClicked();
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void lockCheckBoxClicked(bool checked);
+    void stabilLockedChanged(double value);
 private:
+    bool m_pitchRollLocked;
     QList<QPair<int,QString> > m_ch6ValueToTextList;
     QList<QPair<int,QString> > m_ch78ValueToTextList;
     QMap<QString,QDoubleSpinBox*> m_nameToBoxMap;