diff --git a/locale/en/messages.json b/locale/en/messages.json
index f9e73a17e..b1b33399c 100644
--- a/locale/en/messages.json
+++ b/locale/en/messages.json
@@ -17,7 +17,7 @@
     "language_ja": {
         "message": "日本語",
         "_comment": "Don't translate!"
-    },    
+    },
     "language_zh_CN": {
         "message": "简体中文",
         "_comment": "Don't translate!"
@@ -2068,6 +2068,9 @@
     "adjustmentsFunction59": {
         "message": "Multi Mission Index Adjustment"
     },
+    "adjustmentsFunction60": {
+        "message": "Fixed Wing Alt Control Response Adjustment"
+    },
     "adjustmentsSave": {
         "message": "Save"
     },
@@ -3505,6 +3508,12 @@
     "soarPitchDeadbandHelp": {
         "message": "Pitch Angle deadband when soaring mode enabled (deg). Angle mode inactive within deadband allowing pitch to free float whilst soaring."
     },
+    "altControlResponse": {
+        "message": "Altitude Control Response Factor"
+    },
+    "altControlResponseHelp": {
+        "message": "Adjusts the response of fixed wing altitude control as the target altitude is approached. Higher values will sharpen altitude control response but may also cause excessive overshoot or pitch instability if set too high."
+    },
     "waypointRadiusHelp": {
         "message": "This sets the distance away from a waypoint that triggers the waypoint as reached."
     },
diff --git a/tabs/adjustments.html b/tabs/adjustments.html
index 6cc87d6a2..72303362f 100644
--- a/tabs/adjustments.html
+++ b/tabs/adjustments.html
@@ -129,6 +129,7 @@
                             <option value="49" i18n="adjustmentsFunction49"></option> <!-- VEL Z P -->
                             <option value="50" i18n="adjustmentsFunction50"></option> <!-- VEL Z I -->
                             <option value="51" i18n="adjustmentsFunction51"></option> <!-- VEL Z D -->
+                            <option value="60" i18n="adjustmentsFunction60"></option> <!-- FW Alt Cont Response -->
                         </optgroup>
 
                         <optgroup i18n_label="adjustmentsGroupMisc">
diff --git a/tabs/advanced_tuning.html b/tabs/advanced_tuning.html
index 8bea315cb..f9fb392a7 100644
--- a/tabs/advanced_tuning.html
+++ b/tabs/advanced_tuning.html
@@ -255,6 +255,12 @@
                             <div for="soarPitchDeadband" class="helpicon cf_tip" data-i18n_title="soarPitchDeadbandHelp"></div>
                         </div>
 
+                        <div class="number">
+                            <input type="number" id="altControlResponse" data-unit="deg" data-setting="nav_fw_alt_control_response" data-setting-multiplier="1" step="1" min="5" max="100" />
+                            <label for="altControlResponse"><span data-i18n="altControlResponse"></span></label>
+                            <div for="altControlResponse" class="helpicon cf_tip" data-i18n_title="altControlResponseHelp"></div>
+                        </div>
+
                     </div>
                 </div>
             </div>
@@ -509,7 +515,7 @@
                             <label for="fsMissionDelay"><span data-i18n="fsMissionDelay"></span></label>
                             <div for="fsMissionDelay" class="helpicon cf_tip" data-i18n_title="fsMissionDelayHelp"></div>
                         </div>
-                        <!-- 
+                        <!--
                         <div class="checkbox">
                             <input type="checkbox" class="toggle update_preview" id="drNavigation" data-setting="inav_allow_dead_reckoning" data-live="true" />
                             <label for="drNavigation"><span data-i18n="drNavigation"></span></label>
@@ -557,7 +563,7 @@
                             <select id="geozoneNoWayHomeAction" data-setting="geozone_no_way_home_action"></select>
                             <label for="geozoneNoWayHomeAction"><span data-i18n="geozoneNoWayHomeAction"></span></label>
                             <div for="geozoneNoWayHomeAction" class="helpicon cf_tip" data-i18n_title="geozoneNoWayHomeActionHelp"></div>
-                        </div>                        
+                        </div>
                     </div>
                 </div>
 
diff --git a/tabs/osd.js b/tabs/osd.js
index bc1253e41..f45971745 100644
--- a/tabs/osd.js
+++ b/tabs/osd.js
@@ -262,7 +262,7 @@ FONT.parseMCMFontFile = function (data) {
 FONT.openFontFile = function ($preview) {
     return new Promise(function (resolve) {
         var options = {
-            filters: [ 
+            filters: [
                 { name: 'Font file', extensions: ['mcm'] }
             ],
         };
@@ -271,7 +271,7 @@ FONT.openFontFile = function ($preview) {
                 console.log('No file selected');
                 return;
             }
-            
+
             if (result.filePaths.length == 1) {
                 const fontData = fs.readFileSync(result.filePaths[0], {flag: "r"});
                 FONT.parseMCMFontFile(fontData.toString());
@@ -2227,6 +2227,11 @@ OSD.constants = {
                     id: 139,
                     preview: 'WP NO 7'
                 },
+                {
+                    name: 'FW_ALT_CONTROL_RESPONSE',
+                    id: 166,
+                    preview: 'ACR 40'
+                },
             ]
         },
         {
@@ -3447,7 +3452,7 @@ HARDWARE.update = function(callback) {
                     callback();
                 }
             });
-        });        
+        });
     });
 };
 
@@ -3472,10 +3477,10 @@ TABS.osd.initialize = function (callback) {
         GUI.load(path.join(__dirname, "osd.html"), Settings.processHtml(function () {
             // translate to user-selected language
            i18n.localize();
-    
+
             // Open modal window
             OSD.GUI.jbox = new jBox('Modal', {
-                width: 750, 
+                width: 750,
                 height: 300,
                 position: {y:'bottom'},
                 offset: {y:-50},
@@ -3485,13 +3490,13 @@ TABS.osd.initialize = function (callback) {
                 title: 'OSD Font Manager',
                 content: $('#fontmanagercontent')
             });
-    
+
             $('a.save').on('click', function () {
                 Settings.saveInputs(save_to_eeprom);
             });
-    
+
             // Initialise guides checkbox
-            isGuidesChecked = store.get('showOSDGuides', false); 
+            isGuidesChecked = store.get('showOSDGuides', false);
 
             // Setup switch indicators
             $(".osdSwitchInd_channel option").each(function() {
@@ -3517,18 +3522,18 @@ TABS.osd.initialize = function (callback) {
             $("#switchIndicators_alignLeft").on('change', function() {
                 refreshOSDSwitchIndicators();
             });
-    
+
             // Functions for when pan servo settings change
             $('#osdPanServoIndicatorShowDegrees').on('change', function() {
                 // Update the OSD preview
                 updatePanServoPreview();
             });
-    
+
             $('#panServoOutput').on('change', function() {
                 // Update the OSD preview
                 updatePanServoPreview();
             });
-    
+
             // Function for when text for craft name changes
             $('#craft_name').on('keyup', function() {
                 // Make sure that the craft name only contains A to Z, 0-9, spaces, and basic ASCII symbols
@@ -3539,11 +3544,11 @@ TABS.osd.initialize = function (callback) {
                 } else {
                     $(this).val(testText.slice(0, -1));
                 }
-    
+
                 // Update the OSD preview
                 updatePilotAndCraftNames();
             });
-    
+
             $('#pilot_name').on('keyup', function() {
                 // Make sure that the pilot name only contains A to Z, 0-9, spaces, and basic ASCII symbols
                 let testExp = new RegExp('^[A-Za-z0-9 !_,:;=@#\\%\\&\\-\\*\\^\\(\\)\\.\\+\\<\\>\\[\\]]');
@@ -3553,17 +3558,17 @@ TABS.osd.initialize = function (callback) {
                 } else {
                     $(this).val(testText.slice(0, -1));
                 }
-    
+
                 // Update the OSD preview
                 updatePilotAndCraftNames();
             });
-    
+
             // font preview window
             var $preview = $('.font-preview');
-    
+
             //  init structs once, also clears current font
             FONT.initData();
-    
+
             var $fontPicker = $('.fontbuttons button');
             $fontPicker.on('click', function () {
                 if (!$(this).data('font-file')) {
@@ -3578,7 +3583,7 @@ TABS.osd.initialize = function (callback) {
                 });
                 store.set('osd_font', $(this).data('font-file'));
             });
-    
+
             // load the last selected font when we change tabs
             var osd_font = store.get('osd_font', false);
             var previous_font_button;
@@ -3586,14 +3591,14 @@ TABS.osd.initialize = function (callback) {
                 previous_font_button = $('.fontbuttons button[data-font-file="' + osd_font + '"]');
                 if (previous_font_button.attr('data-font-file') == undefined) previous_font_button = undefined;
             }
-    
+
             if (typeof previous_font_button == "undefined") {
                 $fontPicker.first().trigger( "click" );
             } else {
                 previous_font_button.trigger( "click" );
             }
-            
-    
+
+
             $('button.load_font_file').on('click', function () {
                 $fontPicker.removeClass('active');
                 FONT.openFontFile().then(function () {
@@ -3601,7 +3606,7 @@ TABS.osd.initialize = function (callback) {
                     OSD.GUI.update();
                 });
             });
-    
+
             // font upload
             $('a.flash_font').on('click', function () {
                 if (!GUI.connect_lock) { // button disabled while flashing is in progress
@@ -3620,7 +3625,7 @@ TABS.osd.initialize = function (callback) {
                     FONT.upload(progressCallback);
                 }
             });
-    
+
             $('.update_preview').on('change', function () {
                 if (OSD.data) {
                     // Force an OSD redraw by saving any element
@@ -3633,11 +3638,11 @@ TABS.osd.initialize = function (callback) {
                     }, 100);
                 }
             });
-    
+
             $('#useCraftnameForMessages').on('change', function() {
                 OSD.GUI.updateDjiMessageElements(this.checked);
             });
-    
+
             if(semver.gte(FC.CONFIG.flightControllerVersion, '7.1.0')) {
                 mspHelper.loadOsdCustomElements(createCustomElements);
             }
@@ -3664,7 +3669,7 @@ function createCustomElements(){
         var customElementTable = $('<table>').addClass('osdCustomElement_main_table');
         var customElementRowType = $('<tr>').data('row', i);
         var customElementRowValue = $('<tr>').data('row', i);
-        
+
         var customElementLabel = $('<tr>');
         customElementLabel.append($('<td>').attr('colspan', 2).append($('<span>').html(i18n.getMessage("custom_element") + ' ' + (i + 1))));