diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 7cd558dae2..6271f6aa9c 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -6,6 +6,11 @@
   <dl_settings>
 
     <dl_settings NAME="control">
+      <dl_settings NAME="trim">
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
+      </dl_settings>
+
       <dl_settings NAME="attitude">
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index d283b907fb..38f5e825fe 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -6,6 +6,11 @@
   <dl_settings>
 
     <dl_settings NAME="control">
+      <dl_settings NAME="trim">
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
+      </dl_settings>
+
       <dl_settings NAME="attitude">
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
index 4ba4f43d96..91b399acbe 100644
--- a/conf/settings/tuning_ins_dcm.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -31,6 +31,11 @@
 
     <dl_settings NAME="control">
 
+      <dl_settings NAME="trim">
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
+      </dl_settings>
+
       <dl_settings NAME="ins">
         <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
         <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index eb6a88c2fe..823fd33523 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -44,6 +44,10 @@
         <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down"           shortname="corr_down"     param="IR_CORRECTION_DOWN"/>
       </dl_settings>
 
+      <dl_settings NAME="trim">
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
+      </dl_settings>
 
       <dl_settings NAME="attitude">
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>