diff --git a/indra/newview/fsfloaterposer.cpp b/indra/newview/fsfloaterposer.cpp
index 7bc29e34f3..7fe558734f 100644
--- a/indra/newview/fsfloaterposer.cpp
+++ b/indra/newview/fsfloaterposer.cpp
@@ -75,6 +75,7 @@ FSFloaterPoser::FSFloaterPoser(const LLSD& key) : LLFloater(key)
     mCommitCallbackRegistrar.add("Poser.RefreshAvatars", [this](LLUICtrl*, const LLSD&) { onAvatarsRefresh(); });
     mCommitCallbackRegistrar.add("Poser.StartStopAnimating", [this](LLUICtrl*, const LLSD&) { onPoseStartStop(); });
     mCommitCallbackRegistrar.add("Poser.ToggleLoadSavePanel", [this](LLUICtrl*, const LLSD&) { onToggleLoadSavePanel(); });
+    mCommitCallbackRegistrar.add("Poser.ToggleVisualManipulators", [this](LLUICtrl*, const LLSD&) { onToggleVisualManipulators(); });
 
     mCommitCallbackRegistrar.add("Poser.UndoLastRotation", [this](LLUICtrl*, const LLSD&) { onUndoLastChange(); });
     mCommitCallbackRegistrar.add("Poser.RedoLastRotation", [this](LLUICtrl*, const LLSD&) { onRedoLastChange(); });
@@ -149,6 +150,9 @@ bool FSFloaterPoser::postBuild()
     mPosesScrollList->setCommitOnSelectionChange(true);
     mPosesScrollList->setCommitCallback([this](LLUICtrl *, const LLSD &) { onPoseFileSelect(); });
 
+    mToggleVisualManipulators = getChild<LLButton>("toggleVisualManipulators");
+    mToggleVisualManipulators->setToggleState(true);
+
     mTrackpadSensitivitySlider = getChild<LLSliderCtrl>("trackpad_sensitivity_slider");
 
     mPoseSaveNameEditor = getChild<LLLineEditor>("pose_save_name");
@@ -219,18 +223,6 @@ bool FSFloaterPoser::postBuild()
 
     mBtnJointRotate = getChild<LLButton>("button_joint_rotate_tool");
 
-    mCommitCallbackRegistrar.add("Poser.SetRotateTool", 
-        [](LLUICtrl*, const LLSD&)
-        {
-            LLToolMgr::getInstance()->setCurrentToolset(gPoserToolset);
-            LLToolMgr::getInstance()->getCurrentToolset()->selectTool( (LLTool *) FSToolCompPose::getInstance());
-        }
-    );
-
-    LLToolMgr::getInstance()->setCurrentToolset(gPoserToolset);
-    LLToolMgr::getInstance()->getCurrentToolset()->selectTool( (LLTool *) FSToolCompPose::getInstance());
-    FSToolCompPose::getInstance()->setAvatar( gAgentAvatarp);
-
     return true;
 }
 
@@ -242,6 +234,13 @@ void FSFloaterPoser::onOpen(const LLSD& key)
     onJointTabSelect();
     refreshPoseScroll(mHandPresetsScrollList, POSE_PRESETS_HANDS_SUBDIRECTORY);
     startPosingSelf();
+
+    enableVisualManipulators();
+    LLFloater::onOpen(key);
+}
+
+void FSFloaterPoser::enableVisualManipulators()
+{
     if (LLToolMgr::getInstance()->getCurrentToolset() != gCameraToolset)
     {
         mLastToolset = LLToolMgr::getInstance()->getCurrentToolset();
@@ -249,19 +248,25 @@ void FSFloaterPoser::onOpen(const LLSD& key)
     LLToolMgr::getInstance()->setCurrentToolset(gPoserToolset);
     LLToolMgr::getInstance()->getCurrentToolset()->selectTool(FSToolCompPose::getInstance());
     FSToolCompPose::getInstance()->setAvatar( gAgentAvatarp);    
-    LLFloater::onOpen(key);
 }
 
-void FSFloaterPoser::onClose(bool app_quitting)
+void FSFloaterPoser::disableVisualManipulators()
 {
-    if (gSavedSettings.getBOOL(POSER_STOPPOSINGWHENCLOSED_SAVE_KEY))
-        stopPosingAllAvatars();
-
     if (mLastToolset)
     {
         LLToolMgr::getInstance()->setCurrentToolset(mLastToolset);
     }
     FSToolCompPose::getInstance()->setAvatar(nullptr);
+}
+
+void FSFloaterPoser::onClose(bool app_quitting)
+{
+    if (gSavedSettings.getBOOL(POSER_STOPPOSINGWHENCLOSED_SAVE_KEY))
+    {
+        stopPosingAllAvatars();
+    }
+
+    disableVisualManipulators();
     LLFloater::onClose(app_quitting);
 }
 
@@ -1385,6 +1390,20 @@ void FSFloaterPoser::enableOrDisableRedoButton()
     mRedoChangeBtn->setEnabled(shouldEnableRedoButton);
 }
 
+void FSFloaterPoser::onToggleVisualManipulators()
+{
+    bool tools_enabled = mToggleVisualManipulators->getValue().asBoolean();
+
+    if (tools_enabled)
+    {
+        enableVisualManipulators();
+    }
+    else
+    {
+        disableVisualManipulators();
+    }
+}
+
 void FSFloaterPoser::selectJointByName(const std::string& jointName)
 {
     LLTabContainer* tabContainer = mJointsTabs;
diff --git a/indra/newview/fsfloaterposer.h b/indra/newview/fsfloaterposer.h
index 447dfbe5ec..cf75cd65c9 100644
--- a/indra/newview/fsfloaterposer.h
+++ b/indra/newview/fsfloaterposer.h
@@ -218,6 +218,9 @@ public:
     bool poseFileStartsFromTeePose(const std::string& poseFileName);
     void setPoseSaveFileTextBoxToUiSelectedAvatarSaveFileName();
     void setUiSelectedAvatarSaveFileName(const std::string& saveFileName);
+    // visual manipulators control
+    void enableVisualManipulators();
+    void disableVisualManipulators();
 
     // UI Event Handlers:
     void onAvatarsRefresh();
@@ -225,6 +228,7 @@ public:
     void onJointTabSelect();
     void onToggleMirrorChange();
     void onToggleSympatheticChange();
+    void onToggleVisualManipulators();    
     void setRotationChangeButtons(bool mirror, bool sympathetic);
     void onUndoLastChange();
     void onRedoLastChange();
@@ -469,6 +473,7 @@ public:
     LLScrollListCtrl* mPosesScrollList{ nullptr };
     LLScrollListCtrl* mHandPresetsScrollList{ nullptr };
 
+    LLButton* mToggleVisualManipulators{ nullptr };
     LLButton* mStartStopPosingBtn{ nullptr };
     LLButton* mToggleLoadSavePanelBtn{ nullptr };
     LLButton* mBrowserFolderBtn{ nullptr };
diff --git a/indra/newview/fsjointpose.cpp b/indra/newview/fsjointpose.cpp
index d30d0eb68c..53a6b2869e 100644
--- a/indra/newview/fsjointpose.cpp
+++ b/indra/newview/fsjointpose.cpp
@@ -147,14 +147,18 @@ void FSJointPose::recaptureJoint()
 void FSJointPose::recaptureJointAsDelta()
 {
     if (mIsCollisionVolume)
+    {
         return;
-
+    }
+    
     LLJoint* joint = mJointState->getJoint();
     if (!joint)
+    {
         return;
-
-    addToUndo(mRotation, &mUndoneRotationIndex, &mLastSetRotationDeltas, &mTimeLastUpdatedRotation);
-    mRotation.updateRotation(joint->getRotation());
+    }
+    
+    addStateToUndo(mCurrentState);
+    mCurrentState = FSJointState(joint);
 }
 
 void FSJointPose::swapRotationWith(FSJointPose* oppositeJoint)
diff --git a/indra/newview/lltoolcomp.cpp b/indra/newview/lltoolcomp.cpp
index b5aa087962..c4d3fbe167 100644
--- a/indra/newview/lltoolcomp.cpp
+++ b/indra/newview/lltoolcomp.cpp
@@ -997,7 +997,7 @@ void FSToolCompPose::pickCallback(const LLPickInfo& pick_info)
     else
     {
         // If no ring is highlighted, reset interaction or do nothing
-        LL_INFOS("FSToolCompPose") << "No manipulator ring selected" << LL_ENDL;
+        LL_DEBUGS("FSToolCompPose") << "No manipulator ring selected" << LL_ENDL;
     }
 }
 
diff --git a/indra/newview/skins/default/textures/icons/visual_pose_enabled.png b/indra/newview/skins/default/textures/icons/visual_pose_enabled.png
new file mode 100644
index 0000000000..eee9a94477
Binary files /dev/null and b/indra/newview/skins/default/textures/icons/visual_pose_enabled.png differ
diff --git a/indra/newview/skins/default/textures/textures.xml b/indra/newview/skins/default/textures/textures.xml
index 0230309383..da82bd327a 100644
--- a/indra/newview/skins/default/textures/textures.xml
+++ b/indra/newview/skins/default/textures/textures.xml
@@ -593,6 +593,11 @@ with the same filename but different name
   <texture name="Pathfinding_Dirty_Light" file_name="icons/Pathfinding_Dirty_Light.png" preload="false" />
   <texture name="Pathfinding_Disabled_Light" file_name="icons/Pathfinding_Disabled_Light.png" preload="false" />
 
+<!-- FS:Beq: Poser icons -->
+	<texture name="Poser_Visual_On"			file_name="icons/visual_pose_enabled.png" />
+	<texture name="Poser_Visual_Off"		file_name="icons/visual_pose_disabled.png" />
+
+
 <!-- FS:Ansariel: Icon for script errors in V1 status bar -->
   <texture name="Statusbar_Script_Error" file_name="icons/status_script_debug.tga" preload="false" />
 
diff --git a/indra/newview/skins/default/xui/en/floater_fs_poser.xml b/indra/newview/skins/default/xui/en/floater_fs_poser.xml
index 83a0ccdd81..d9f809a8d7 100644
--- a/indra/newview/skins/default/xui/en/floater_fs_poser.xml
+++ b/indra/newview/skins/default/xui/en/floater_fs_poser.xml
@@ -925,6 +925,24 @@ width="430">
 						 width="134" />
 					</panel>
 				</tab_container>
+				<button
+				 follows="bottom|left"
+				 layout="bottomleft"
+				 is_toggle="true"
+				 image_overlay="Poser_Visual_On"
+				 image_hover_unselected="Toolbar_Middle_Over"
+				 image_selected="Toolbar_Middle_Selected"
+				 image_unselected="Toolbar_Middle_Off"
+				 name="toggleVisualManipulators"
+				 tool_tip="Toggle the visual manipulators on and off"
+				 height="50"
+				 width="50"
+				 left="2"
+				 bottom_delta="5"
+				 >
+					<button.commit_callback
+					 function="Poser.ToggleVisualManipulators"/>
+				</button>				
 			</panel>
 			<panel
 			 follows="left|top|bottom"
@@ -1696,4 +1714,4 @@ width="430">
 			</panel>
 		</layout_panel>
 	</layout_stack>
-</floater>
+</floater>
\ No newline at end of file