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diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(EDITABLE_SERVO_ANGLES)
+
+#include "../gcode.h"
+#include "../../module/servo.h"
+
+/**
+ * M281 - Edit / Report Servo Angles
+ *
+ *  P<index> - Servo to update
+ *  L<angle> - Deploy Angle
+ *  U<angle> - Stowed Angle
+ */
+void GcodeSuite::M281() {
+  if (!parser.seenval('P')) return;
+  const int servo_index = parser.value_int();
+  if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
+    #if ENABLED(BLTOUCH)
+      if (servo_index == Z_PROBE_SERVO_NR) {
+        SERIAL_ERROR_MSG("BLTouch angles can't be changed.");
+        return;
+      }
+    #endif
+    bool angle_change = false;
+    if (parser.seen('L')) {
+      servo_angles[servo_index][0] = parser.value_int();
+      angle_change = true;
+    }
+    if (parser.seen('U')) {
+      servo_angles[servo_index][1] = parser.value_int();
+      angle_change = true;
+    }
+    if (!angle_change) {
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(" Servo ", servo_index,
+                        " L", servo_angles[servo_index][0],
+                        " U", servo_angles[servo_index][1]);
+    }
+  }
+  else {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOLNPAIR("Servo ", servo_index, " out of range");
+  }
+}
+
+#endif // EDITABLE_SERVO_ANGLES