diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 07aa97b34e..0e17df1830 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -976,6 +976,8 @@ const clivalue_t valueTable[] = {
     { "roll_rate_limit",            VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_ROLL]) },
     { "pitch_rate_limit",           VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_PITCH]) },
     { "yaw_rate_limit",             VAR_UINT16 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { CONTROL_RATE_CONFIG_RATE_LIMIT_MIN, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rate_limit[FD_YAW]) },
+    { "roll_level_expo",            VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, levelExpo[FD_ROLL]) },
+    { "pitch_level_expo",           VAR_UINT8  | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, CONTROL_RATE_CONFIG_RC_EXPO_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, levelExpo[FD_PITCH]) },
 
 // PG_SERIAL_CONFIG
     { "reboot_character",           VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 48, 126 }, PG_SERIAL_CONFIG, offsetof(serialConfig_t, reboot_character) },
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index d798ebdb8b..3cea3b791b 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -392,6 +392,9 @@ static const OSD_Entry cmsx_menuRateProfileEntries[] =
     { "THR LIM TYPE",OME_TAB,    NULL, &(OSD_TAB_t)   { &rateProfile.throttle_limit_type, THROTTLE_LIMIT_TYPE_COUNT - 1, osdTableThrottleLimitType}, 0 },
     { "THR LIM %",   OME_UINT8,  NULL, &(OSD_UINT8_t) { &rateProfile.throttle_limit_percent, 25,  100,  1}, 0 },
 
+    { "ROLL LVL EXPO",  OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.levelExpo[FD_ROLL],  0, 100, 1, 10 }, 0 },
+    { "PITCH LVL EXPO", OME_FLOAT, NULL, &(OSD_FLOAT_t) { &rateProfile.levelExpo[FD_PITCH], 0, 100, 1, 10 }, 0 },
+
     { "BACK", OME_Back, NULL, NULL, 0 },
     { NULL, OME_END, NULL, NULL, 0 }
 };
diff --git a/src/main/fc/controlrate_profile.c b/src/main/fc/controlrate_profile.c
index f9d96bf341..7c824ea2e0 100644
--- a/src/main/fc/controlrate_profile.c
+++ b/src/main/fc/controlrate_profile.c
@@ -37,7 +37,7 @@
 
 controlRateConfig_t *currentControlRateProfile;
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 3);
+PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 4);
 
 void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
 {
@@ -65,6 +65,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
             .tpaMode = TPA_MODE_D,
             .profileName = { 0 },
             .quickRatesRcExpo = 0,
+            .levelExpo[FD_ROLL] = 0,
+            .levelExpo[FD_PITCH] = 0,
         );
     }
 }
diff --git a/src/main/fc/controlrate_profile.h b/src/main/fc/controlrate_profile.h
index 91336287fd..107e162662 100644
--- a/src/main/fc/controlrate_profile.h
+++ b/src/main/fc/controlrate_profile.h
@@ -68,6 +68,7 @@ typedef struct controlRateConfig_s {
     uint8_t tpaMode;                        // Controls which PID terms TPA effects
     char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
     uint8_t quickRatesRcExpo;               // Sets expo on rc command for quick rates
+    uint8_t levelExpo[2];                   // roll/pitch level mode expo
 } controlRateConfig_t;
 
 PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e42c9364da..340fa888c1 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -333,11 +333,23 @@ float pidApplyThrustLinearization(float motorOutput)
 #endif
 
 #if defined(USE_ACC)
+// calculate the stick deflection while applying level mode expo
+static float getLevelModeRcDeflection(uint8_t axis)
+{
+    const float stickDeflection = getRcDeflection(axis);
+    if (axis < FD_YAW) {
+        const float expof = currentControlRateProfile->levelExpo[axis] / 100.0f;
+        return power3(stickDeflection) * expof + stickDeflection * (1 - expof);
+    } else {
+        return stickDeflection;
+    }
+}
+
 // calculates strength of horizon leveling; 0 = none, 1.0 = most leveling
 STATIC_UNIT_TESTED float calcHorizonLevelStrength(void)
 {
     // start with 1.0 at center stick, 0.0 at max stick deflection:
-    float horizonLevelStrength = 1.0f - MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
+    float horizonLevelStrength = 1.0f - MAX(fabsf(getLevelModeRcDeflection(FD_ROLL)), fabsf(getLevelModeRcDeflection(FD_PITCH)));
 
     // 0 at level, 90 at vertical, 180 at inverted (degrees):
     const float currentInclination = MAX(ABS(attitude.values.roll), ABS(attitude.values.pitch)) / 10.0f;
@@ -395,7 +407,7 @@ STATIC_UNIT_TESTED float calcHorizonLevelStrength(void)
 STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
     // calculate error angle and limit the angle to the max inclination
     // rcDeflection is in range [-1.0, 1.0]
-    float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
+    float angle = pidProfile->levelAngleLimit * getLevelModeRcDeflection(axis);
 #ifdef USE_GPS_RESCUE
     angle += gpsRescueAngle[axis] / 100; // ANGLE IS IN CENTIDEGREES
 #endif
diff --git a/src/test/Makefile b/src/test/Makefile
index 63716fb128..dff77dab49 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -376,6 +376,7 @@ pid_unittest_SRC :=  \
 		$(USER_DIR)/common/filter.c \
 		$(USER_DIR)/common/maths.c \
 		$(USER_DIR)/drivers/accgyro/gyro_sync.c \
+		$(USER_DIR)/fc/controlrate_profile.c \
 		$(USER_DIR)/fc/runtime_config.c \
 		$(USER_DIR)/flight/pid.c \
 		$(USER_DIR)/flight/pid_init.c \
diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index 0de9872d3c..788f2cafd0 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -34,18 +34,21 @@ int16_t debug[DEBUG16_VALUE_COUNT];
 uint8_t debugMode;
 
 extern "C" {
+    #include "platform.h"
+
     #include "build/debug.h"
+
     #include "common/axis.h"
     #include "common/maths.h"
     #include "common/filter.h"
 
+    #include "config/config.h"
     #include "config/config_reset.h"
-    #include "pg/pg.h"
-    #include "pg/pg_ids.h"
 
     #include "drivers/sound_beeper.h"
     #include "drivers/time.h"
 
+    #include "fc/controlrate_profile.h"
     #include "fc/core.h"
     #include "fc/rc.h"
 
@@ -59,6 +62,9 @@ extern "C" {
 
     #include "io/gps.h"
 
+    #include "pg/pg.h"
+    #include "pg/pg_ids.h"
+
     #include "sensors/gyro.h"
     #include "sensors/acceleration.h"
 
@@ -66,6 +72,7 @@ extern "C" {
     attitudeEulerAngles_t attitude;
 
     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
+    PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
 
     bool unitLaunchControlActive = false;
     launchControlMode_e unitLaunchControlMode = LAUNCH_CONTROL_MODE_NORMAL;
@@ -87,6 +94,7 @@ extern "C" {
         UNUSED(currentPidSetpoint);
         return value;
     }
+    void initRcProcessing(void) { }
 }
 
 pidProfile_t *pidProfile;
@@ -179,6 +187,10 @@ void resetTest(void) {
     unitLaunchControlActive = false;
     pidProfile->launchControlMode = unitLaunchControlMode;
     pidInit(pidProfile);
+    loadControlRateProfile();
+
+    currentControlRateProfile->levelExpo[FD_ROLL] = 0;
+    currentControlRateProfile->levelExpo[FD_PITCH] = 0;
 
     // Run pidloop for a while after reset
     for (int loop = 0; loop < 20; loop++) {
@@ -379,6 +391,19 @@ TEST(pidControllerTest, testPidLevel) {
     EXPECT_FLOAT_EQ(0, currentPidSetpoint);
     currentPidSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpoint);
     EXPECT_FLOAT_EQ(0, currentPidSetpoint);
+
+    // Test level mode expo
+    enableFlightMode(ANGLE_MODE);
+    attitude.values.roll = 0;
+    attitude.values.pitch = 0;
+    setStickPosition(FD_ROLL, 0.5f);
+    setStickPosition(FD_PITCH, -0.5f);
+    currentControlRateProfile->levelExpo[FD_ROLL] = 50;
+    currentControlRateProfile->levelExpo[FD_PITCH] = 26;
+    currentPidSetpoint = pidLevel(FD_ROLL, pidProfile, &angleTrim, currentPidSetpoint);
+    EXPECT_FLOAT_EQ(85.9375, currentPidSetpoint);
+    currentPidSetpoint = pidLevel(FD_PITCH, pidProfile, &angleTrim, currentPidSetpoint);
+    EXPECT_FLOAT_EQ(-110.6875, currentPidSetpoint);
 }