diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 74037faf08..766b23205d 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -16,6 +16,7 @@ static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_dcm_eulers(uint8_t argc, 	const Menu::arg *argv);
 //static int8_t	test_dcm(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
+//static int8_t	test_stab_d(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_boost(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_wp_nav(uint8_t argc, 		const Menu::arg *argv);
@@ -65,6 +66,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"imu",			test_imu},
 //	{"dcm",			test_dcm_eulers},
 	//{"omega",		test_omega},
+//	{"stab_d",		test_stab_d},
 	{"battery",		test_battery},
 	{"tune",		test_tuning},
 	//{"tri",			test_tri},
@@ -592,6 +594,42 @@ test_gps(uint8_t argc, const Menu::arg *argv)
 	return 0;
 }
 
+// used to test the gain scheduler for Stab_D
+/*
+static int8_t
+test_stab_d(uint8_t argc, const Menu::arg *argv)
+{
+	int16_t i = 0;
+	g.stabilize_d = 1;
+
+	g.stabilize_d_schedule = 1
+	for (i = -4600; i < 4600; i+=10) {
+		new_radio_frame = true;
+		g.rc_1.control_in = i;
+		g.rc_2.control_in = i;
+		update_roll_pitch_mode();
+    	Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
+    }
+	g.stabilize_d_schedule = .5
+	for (i = -4600; i < 4600; i+=10) {
+		new_radio_frame = true;
+		g.rc_1.control_in = i;
+		g.rc_2.control_in = i;
+		update_roll_pitch_mode();
+    	Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
+    }
+
+	g.stabilize_d_schedule = 0
+	for (i = -4600; i < 4600; i+=10) {
+		new_radio_frame = true;
+		g.rc_1.control_in = i;
+		g.rc_2.control_in = i;
+		update_roll_pitch_mode();
+    	Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
+    }
+
+}*/
+
 /*
 //static int8_t
 //test_dcm(uint8_t argc, const Menu::arg *argv)