diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 661cf23816..77db49d0f5 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -444,6 +444,10 @@ public:
     bool _enter() override;
 
 protected:
+private:
+
+    void set_tailsitter_roll_pitch(const float roll_input, const float pitch_input);
+    void set_limited_roll_pitch(const float roll_input, const float pitch_input);
 
 };
 
diff --git a/ArduPlane/mode_qstabilize.cpp b/ArduPlane/mode_qstabilize.cpp
index 7fb513aa6e..703fc5b3f7 100644
--- a/ArduPlane/mode_qstabilize.cpp
+++ b/ArduPlane/mode_qstabilize.cpp
@@ -15,29 +15,50 @@ bool ModeQStabilize::_enter()
 void ModeQStabilize::update()
 {
     // set nav_roll and nav_pitch using sticks
-    int16_t roll_limit = MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
-    float pitch_input = plane.channel_pitch->norm_input();
-    // Scale from normalized input [-1,1] to centidegrees
-    if (plane.quadplane.tailsitter_active()) {
-        // separate limit for tailsitter roll, if set
-        if (plane.quadplane.tailsitter.max_roll_angle > 0) {
-            roll_limit = plane.quadplane.tailsitter.max_roll_angle * 100.0f;
-        }
+    // Scale from normalized input [-1,1] to target angles in centidegrees
+    const float roll_input = plane.channel_roll->norm_input();
+    const float pitch_input = plane.channel_pitch->norm_input();
 
-        // angle max for tailsitter pitch
-        plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
-    } else {
-        // pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
-        // tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
-        if (pitch_input > 0) {
-            plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
-        } else {
-            plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
-        }
-        plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
+    if (plane.quadplane.tailsitter_active()) {
+        // tailsitters are different
+        set_tailsitter_roll_pitch(roll_input, pitch_input);
+        return;
     }
 
-    plane.nav_roll_cd = (plane.channel_roll->get_control_in() / 4500.0) * roll_limit;
-    plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -roll_limit, roll_limit);
+    if ((plane.quadplane.options & QuadPlane::OPTION_INGORE_FW_ANGLE_LIMITS_IN_Q_MODES) == 0) {
+        // by default angles are also constrained by forward flight limits
+        set_limited_roll_pitch(roll_input, pitch_input);
+    } else {
+        // use angle max for both roll and pitch
+        plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
+        plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
+    }
 }
 
+// set the desired roll and pitch for a tailsitter
+void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const float pitch_input)
+{
+    // separate limit for roll, if set
+    if (plane.quadplane.tailsitter.max_roll_angle > 0) {
+        // roll param is in degrees not centidegrees
+        plane.nav_roll_cd = plane.quadplane.tailsitter.max_roll_angle * 100.0f * roll_input;
+    } else {
+        plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
+    }
+
+    // angle max for tailsitter pitch
+    plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
+}
+
+// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
+void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
+{
+    plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
+    // pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
+    // tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
+    if (pitch_input > 0) {
+        plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
+    } else {
+        plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
+    }
+}
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 3d29b8b4f6..e9a3190911 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -330,7 +330,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: quadplane options
     // @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming.
-    // @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation
+    // @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation,14:Ignore forward flight angle limits in Qmodes
     AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
 
     AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 29e9c97459..4998cdc133 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -597,6 +597,7 @@ private:
         OPTION_DELAY_ARMING=(1<<11),
         OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12),
         OPTION_DISABLE_GROUND_EFFECT_COMP=(1<<13),
+        OPTION_INGORE_FW_ANGLE_LIMITS_IN_Q_MODES=(1<<14),
     };
 
     AP_Float takeoff_failure_scalar;