diff --git a/main/gen_gdl90.go b/main/gen_gdl90.go
index 3e1193db..baeba0ef 100644
--- a/main/gen_gdl90.go
+++ b/main/gen_gdl90.go
@@ -1092,6 +1092,8 @@ type settings struct {
 	OwnshipModeS         string
 	WatchList            string
 	DeveloperMode        bool
+	AHRSSmoothingConstant float64
+	AHRSGPSWeight        float64
 	StaticIps            []string
 }
 
diff --git a/main/managementinterface.go b/main/managementinterface.go
index 7807ce29..6f49513e 100644
--- a/main/managementinterface.go
+++ b/main/managementinterface.go
@@ -324,6 +324,16 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
 						}
 					case "WatchList":
 						globalSettings.WatchList = val.(string)
+					case "AHRSSmoothingConstant":
+						log.Printf("AHRS Info: received %s for Smoothing Const\n", val)
+						globalSettings.AHRSSmoothingConstant = val.(float64)
+						SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
+						log.Printf("AHRS Info: Smoothing Constant set to %6f\n", globalSettings.AHRSSmoothingConstant)
+					case "AHRSGPSWeight":
+						log.Printf("AHRS Info: received %s for GPS Weight\n", val)
+						globalSettings.AHRSGPSWeight = val.(float64)
+						SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
+						log.Printf("AHRS Info: GPS Weight set to %6f\n", globalSettings.AHRSGPSWeight)
 					case "OwnshipModeS":
 						// Expecting a hex string less than 6 characters (24 bits) long.
 						if len(val.(string)) > 6 { // Too long.
diff --git a/main/sensors.go b/main/sensors.go
index 3b07a952..924bae52 100644
--- a/main/sensors.go
+++ b/main/sensors.go
@@ -149,6 +149,7 @@ func sensorAttitudeSender() {
 	)
 	log.Println("AHRS Info: initializing new Simple AHRS")
 	s = ahrs.InitializeSimple()
+	SetAHRSConfig(globalSettings.AHRSSmoothingConstant, globalSettings.AHRSGPSWeight)
 	m = ahrs.NewMeasurement()
 	cage = make(chan (bool), 1)
 
@@ -355,6 +356,11 @@ func CageAHRS() {
 	cage <- true
 }
 
+// SetAHRSConfig TODO westphae remove after debugging
+func SetAHRSConfig(smoothConst, weight float64) {
+	ahrs.SetConfig(smoothConst, weight)
+}
+
 func updateAHRSStatus() {
 	var (
 		msg    uint8
diff --git a/web/plates/js/settings.js b/web/plates/js/settings.js
index 2d8bb08b..0dfdadcb 100644
--- a/web/plates/js/settings.js
+++ b/web/plates/js/settings.js
@@ -37,6 +37,8 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 
 		$scope.PPM = settings.PPM;
 		$scope.WatchList = settings.WatchList;
+        $scope.AHRSSmoothingConstant = settings.AHRSSmoothingConstant;
+        $scope.AHRSGPSWeight = settings.AHRSGPSWeight;
 		$scope.OwnshipModeS = settings.OwnshipModeS;
 		$scope.DeveloperMode = settings.DeveloperMode;
 	}
@@ -114,14 +116,42 @@ function SettingsCtrl($rootScope, $scope, $state, $location, $window, $http) {
 		}
 	};
 
-	$scope.updatewatchlist = function () {
-		if ($scope.WatchList !== settings["WatchList"]) {
-			settings["WatchList"] = "";
-			if ($scope.WatchList !== undefined) {
-				settings["WatchList"] = $scope.WatchList.toUpperCase();
+    $scope.updatewatchlist = function () {
+        if ($scope.WatchList !== settings["WatchList"]) {
+            settings["WatchList"] = "";
+            if ($scope.WatchList !== undefined) {
+                settings["WatchList"] = $scope.WatchList.toUpperCase();
+            }
+            newsettings = {
+                "WatchList": settings["WatchList"]
+            };
+            // console.log(angular.toJson(newsettings));
+            setSettings(angular.toJson(newsettings));
+        }
+    };
+
+    $scope.updateAHRSSmoothingConst = function () {
+        if ($scope.AHRSSmoothingConstant !== settings["AHRSSmoothingConstant"]) {
+            settings["AHRSSmoothingConstant"] = "0.8";
+            if ($scope.AHRSSmoothingConstant!== undefined) {
+                settings["AHRSSmoothingConstant"] = parseFloat($scope.AHRSSmoothingConstant);
+            }
+            newsettings = {
+                "AHRSSmoothingConstant": settings["AHRSSmoothingConstant"]
+            };
+            // console.log(angular.toJson(newsettings));
+            setSettings(angular.toJson(newsettings));
+        }
+    };
+
+	$scope.updateAHRSGPSWeight = function () {
+		if ($scope.AHRSGPSWeight !== settings["AHRSGPSWeight"]) {
+			settings["AHRSGPSWeight"] = "0.05";
+			if ($scope.AHRSGPSWeight!== undefined) {
+				settings["AHRSGPSWeight"] = parseFloat($scope.AHRSGPSWeight);
 			}
 			newsettings = {
-				"WatchList": settings["WatchList"]
+				"AHRSGPSWeight": settings["AHRSGPSWeight"]
 			};
 			// console.log(angular.toJson(newsettings));
 			setSettings(angular.toJson(newsettings));
diff --git a/web/plates/settings.html b/web/plates/settings.html
index 52768ba7..89fd9975 100644
--- a/web/plates/settings.html
+++ b/web/plates/settings.html
@@ -82,9 +82,25 @@
 			<div class="panel-body">
 				<div class="col-xs-12">
 					<span style="position:relative; overflow: hidden;">
-						<button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward">Set AHRS Sensor Orientation</button>
+						<button class="btn btn-primary btn-block" ui-turn-on="modalCalibrateForward">
+							Set AHRS Sensor Orientation
+						</button>
 					</span>
 				</div>
+				<div class="form-group reset-flow">
+					<label class="control-label col-xs-5">AHRS Smoothing Constant</label>
+					<form name="watchForm" ng-submit="updateAHRSSmoothingConst()" novalidate>
+						<input class="col-xs-7" type="string" required ng-model="AHRSSmoothingConstant"
+							   placeholder="number 0-1" ng-blur="updateAHRSSmoothingConst()" />
+					</form>
+				</div>
+				<div class="form-group reset-flow">
+					<label class="control-label col-xs-5">AHRS GPS Weight</label>
+					<form name="watchForm" ng-submit="updateAHRSGPSWeight()" novalidate>
+						<input class="col-xs-7" type="string" required ng-model="AHRSGPSWeight"
+							   placeholder="number 0-1" ng-blur="updateAHRSGPSWeight()" />
+					</form>
+				</div>
 			</div>
 		</div>
 	</div>