diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 0ff0eb4892..f41a80ef66 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -373,15 +373,15 @@ mixer_callback(uintptr_t handle,
 	if (source == MIX_OVERRIDE || source == MIX_OVERRIDE_FMU_OK) {
 		if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
 		    control_index == actuator_controls_s::INDEX_ROLL) {
-			control += REG_TO_FLOAT(r_setup_trim_roll);
+			control *= REG_TO_FLOAT(r_setup_scale_roll) + REG_TO_FLOAT(r_setup_trim_roll);
 
 		} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
 			   control_index == actuator_controls_s::INDEX_PITCH) {
-			control += REG_TO_FLOAT(r_setup_trim_pitch);
+			control *= REG_TO_FLOAT(r_setup_scale_pitch) + REG_TO_FLOAT(r_setup_trim_pitch);
 
 		} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
 			   control_index == actuator_controls_s::INDEX_YAW) {
-			control += REG_TO_FLOAT(r_setup_trim_yaw);
+			control *= REG_TO_FLOAT(r_setup_scale_yaw) + REG_TO_FLOAT(r_setup_trim_yaw);
 		}
 	}
 
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 6c984ccac5..a4c9ce235a 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -236,8 +236,11 @@ enum {							/* DSM bind states */
 #define PX4IO_P_SETUP_TRIM_ROLL			16	/**< Roll trim, in actuator units */
 #define PX4IO_P_SETUP_TRIM_PITCH		17	/**< Pitch trim, in actuator units */
 #define PX4IO_P_SETUP_TRIM_YAW			18	/**< Yaw trim, in actuator units */
+#define PX4IO_P_SETUP_SCALE_ROLL		19	/**< Roll scale, in actuator units */
+#define PX4IO_P_SETUP_SCALE_PITCH		20	/**< Pitch scale, in actuator units */
+#define PX4IO_P_SETUP_SCALE_YAW			21	/**< Yaw scale, in actuator units */
 
-#define PX4IO_P_SETUP_SBUS_RATE			19	/* frame rate of SBUS1 output in Hz */
+#define PX4IO_P_SETUP_SBUS_RATE			22	/* frame rate of SBUS1 output in Hz */
 
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS			51	/**< actuator control groups, one after the other, 8 wide */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index ed38b7769e..89dae97710 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -122,6 +122,9 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #define r_setup_trim_roll	r_page_setup[PX4IO_P_SETUP_TRIM_ROLL]
 #define r_setup_trim_pitch	r_page_setup[PX4IO_P_SETUP_TRIM_PITCH]
 #define r_setup_trim_yaw	r_page_setup[PX4IO_P_SETUP_TRIM_YAW]
+#define r_setup_scale_roll 	r_page_setup[PX4IO_P_SETUP_SCALE_ROLL]
+#define r_setup_scale_pitch	r_page_setup[PX4IO_P_SETUP_SCALE_PITCH]
+#define r_setup_scale_yaw	r_page_setup[PX4IO_P_SETUP_SCALE_YAW]
 #define r_setup_sbus_rate	r_page_setup[PX4IO_P_SETUP_SBUS_RATE]
 
 #define r_control_values	(&r_page_controls[0])
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 3a7d90aecf..901dc061da 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -177,7 +177,10 @@ volatile uint16_t	r_page_setup[] = {
 	[PX4IO_P_SETUP_PWM_REVERSE] = 0,
 	[PX4IO_P_SETUP_TRIM_ROLL] = 0,
 	[PX4IO_P_SETUP_TRIM_PITCH] = 0,
-	[PX4IO_P_SETUP_TRIM_YAW] = 0
+	[PX4IO_P_SETUP_TRIM_YAW] = 0,
+	[PX4IO_P_SETUP_SCALE_ROLL] = 10000,
+	[PX4IO_P_SETUP_SCALE_PITCH] = 10000,
+	[PX4IO_P_SETUP_SCALE_YAW] = 10000
 };
 
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@@ -681,6 +684,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 		case PX4IO_P_SETUP_TRIM_ROLL:
 		case PX4IO_P_SETUP_TRIM_PITCH:
 		case PX4IO_P_SETUP_TRIM_YAW:
+		case PX4IO_P_SETUP_SCALE_ROLL:
+		case PX4IO_P_SETUP_SCALE_PITCH:
+		case PX4IO_P_SETUP_SCALE_YAW:
 			r_page_setup[offset] = value;
 			break;