diff --git a/locales/en/messages.json b/locales/en/messages.json
index 1b3e9f77..9f5ef49c 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -1245,6 +1245,17 @@
         "message": "Profile independent PID Controller Settings"
     },
 
+    "pidTuningAntiGravityMode": {
+        "message": "Anti Gravity Mode"
+    },
+    "pidTuningAntiGravityModeOptionSmooth": {
+        "message": "Smooth",
+        "description": "One of the modes of anti gravity"
+    },
+    "pidTuningAntiGravityModeOptionStep": {
+        "message": "Step",
+        "description": "One of the modes of anti gravity"
+    },
     "pidTuningAntiGravityGain": {
         "message": "Anti Gravity Gain"
     },
diff --git a/src/js/fc.js b/src/js/fc.js
index 084ea1b9..a3cd969c 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -380,6 +380,7 @@ var FC = {
             feedforwardPitch:           0,
             feedforwardYaw:             0,
             feedforwardTransition:      0,
+            antiGravityMode:            0,
         };
 
         SENSOR_CONFIG = {
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 5f046469..59b1ccea 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -911,6 +911,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
                                     ADVANCED_TUNING.feedforwardRoll  = data.readU16();
                                     ADVANCED_TUNING.feedforwardPitch = data.readU16();
                                     ADVANCED_TUNING.feedforwardYaw   = data.readU16();
+                                    ADVANCED_TUNING.antiGravityMode  = data.readU8();
                                 }
                             }
                         }
@@ -1585,7 +1586,8 @@ MspHelper.prototype.crunch = function(code) {
                                       .push8(ADVANCED_TUNING.acroTrainerAngleLimit)
                                       .push16(ADVANCED_TUNING.feedforwardRoll)
                                       .push16(ADVANCED_TUNING.feedforwardPitch)
-                                      .push16(ADVANCED_TUNING.feedforwardYaw);
+                                      .push16(ADVANCED_TUNING.feedforwardYaw)
+                                      .push8(ADVANCED_TUNING.antiGravityMode);
                             }
                         }
                     }
diff --git a/src/js/tabs/pid_tuning.js b/src/js/tabs/pid_tuning.js
index 15ef3eb4..f2da322a 100644
--- a/src/js/tabs/pid_tuning.js
+++ b/src/js/tabs/pid_tuning.js
@@ -272,6 +272,22 @@ TABS.pid_tuning.initialize = function (callback) {
                 feedforwardTransitionNumberElement.val($(this).val());
             });
 
+            // AntiGravity Mode
+            var antiGravityModeSelect = $('.antigravity select[id="antiGravityMode"]');
+            antiGravityModeSelect.change(function () {
+                var antiGravityModeValue = $('.antigravity select[id="antiGravityMode"]').val();
+
+                // Smooth
+                if (antiGravityModeValue == 0) {
+                    $('.antigravity  table th:nth-child(3)').hide();
+                    $('.antigravity  table td:nth-child(3)').hide();
+                } else {
+                    $('.antigravity  table th:nth-child(3)').show();
+                    $('.antigravity  table td:nth-child(3)').show();
+                }
+            });
+
+            antiGravityModeSelect.val(ADVANCED_TUNING.antiGravityMode).change();
 
         } else {
             $('.itermrotation').hide();
@@ -288,6 +304,9 @@ TABS.pid_tuning.initialize = function (callback) {
             $('#pid_main .pid_titlebar2 th').attr("colspan", 8);
 
             $('#pid-tuning .feedforwardTransition').hide();
+
+            $('.antigravity  table th:first-child').hide();
+            $('.antigravity  table td:first-child').hide();
         }
 
         $('input[id="gyroNotch1Enabled"]').change(function() {
@@ -497,6 +516,8 @@ TABS.pid_tuning.initialize = function (callback) {
             ADVANCED_TUNING.feedforwardYaw   = parseInt($('.pid_tuning .YAW input[name="f"]').val());
 
             ADVANCED_TUNING.feedforwardTransition = parseInt($('input[name="feedforwardTransition-number"]').val() * 100);
+
+            ADVANCED_TUNING.antiGravityMode = $('select[id="antiGravityMode"]').val();
         }
     }
 
diff --git a/src/tabs/pid_tuning.html b/src/tabs/pid_tuning.html
index afe4673b..00b7ce13 100644
--- a/src/tabs/pid_tuning.html
+++ b/src/tabs/pid_tuning.html
@@ -456,14 +456,25 @@
                         <table class="cf">
                             <thead>
                                 <tr>
+                                    <th i18n="pidTuningAntiGravityMode"></th>
                                     <th i18n="pidTuningAntiGravityGain"></th>
                                     <th i18n="pidTuningAntiGravityThres"></th>
                                 </tr>
                             </thead>
                             <tbody>
                                 <tr style="height: 35px;">
-                                    <td><input type="number" name="itermAcceleratorGain" step="0.1" min="1" max="30" /></td>
-                                    <td><input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" /></td>
+                                    <td>
+                                        <select id="antiGravityMode">
+                                            <option i18n="pidTuningAntiGravityModeOptionSmooth" value="0">
+                                            <option i18n="pidTuningAntiGravityModeOptionStep"   value="1">
+                                        </select>
+                                    </td>
+                                    <td>
+                                        <input type="number" name="itermAcceleratorGain" step="0.1" min="1" max="30" />
+                                    </td>
+                                    <td>
+                                        <input type="number" name="itermThrottleThreshold" step="10" min="20" max="1000" />
+                                    </td>
                                 </tr>
                             </tbody>
                         </table>