Abstract: A control system for a loader having a frame, a lift arm assembly, a coupler, and an operator interface is provided. The control system may include a lift arm position sensor coupled to the lift arm assembly and configured to measure a lift arm position, an inclinometer disposed on the coupler configured to measure a coupler angle, and a controller in electrical communication with each of the lift arm position sensor, the inclinometer and the operator interface. The controller may be configured to receive a baseline command from the operator interface for operating one or more of the lift arm assembly and the coupler, monitor the lift arm position and the coupler angle, and generate at least one command for operating one or more of the lift arm assembly and the coupler based on one or more of the baseline command, the lift arm position and the coupler angle.