A rollover warning system comprising: a base control inertial measurement unit having a plurality of sensors; a computer adapted to calculate a Rollover Risk Estimate based on said plurality of vehicle measurements taken by said plurality of sensors in said inertial measurement unit; said computer including an algorithm adapted to provide said Rollover Risk Estimate for three states; said first state being typical of a vehicle navigating a side slope at relatively slow speeds, where the vehicle's speeds are not high enough to generate significant lateral acceleration; said second state being a steady state turning maneuver where the vehicle's speed can generate significant lateral acceleration; and said third state being an abrupt turning or sliding maneuver where the momentum of the vehicle will carry it into an unstable condition; wherein said algorithm comprising: a first calculation to determine if said roll rate measurement is below said roll rate threshold; if said roll rate measurement is above said roll rate threshold, then said algorithm uses the roll rate threshold scaled static stability factor for the rollover threat limit; if said roll rate measurement is below said roll rate threshold, said algorithm moves to a second calculation; said second calculation being to determine if said yaw rate measurement is below a yaw rate threshold; if said yaw rate measurement is above said yaw rate threshold, then said algorithm uses tilt table limit scaled static stability factor for the rollover threat limit; if said yaw rate measurement is below said yaw rate threshold, said algorithm uses the tilt table limit (deg) for rollover threat limit. a base control inertial measurement unit having a plurality of sensors; a computer adapted to calculate a Rollover Risk Estimate based on said plurality of vehicle measurements taken by said plurality of sensors in said inertial measurement unit; said computer including an algorithm adapted to provide said Rollover Risk Estimate for three states; said first state being typical of a vehicle navigating a side slope at relatively slow speeds, where the vehicle's speeds are not high enough to generate significant lateral acceleration; said second state being a steady state turning maneuver where the vehicle's speed can generate significant lateral acceleration; and said third state being an abrupt turning or sliding maneuver where the momentum of the vehicle will carry it into an unstable condition; said first state being typical of a vehicle navigating a side slope at relatively slow speeds, where the vehicle's speeds are not high enough to generate significant lateral acceleration; said second state being a steady state turning maneuver where the vehicle's speed can generate significant lateral acceleration; and said third state being an abrupt turning or sliding maneuver where the momentum of the vehicle will carry it into an unstable condition; wherein said algorithm comprising: a first calculation to determine if said roll rate measurement is below said roll rate threshold; if said roll rate measurement is above said roll rate threshold, then said algorithm uses the roll rate threshold scaled static stability factor for the rollover threat limit; if said roll rate measurement is below said roll rate threshold, said algorithm moves to a second calculation; said second calculation being to determine if said yaw rate measurement is below a yaw rate threshold; if said yaw rate measurement is above said yaw rate threshold, then said algorithm uses tilt table limit scaled static stability factor for the rollover threat limit; if said yaw rate measurement is below said yaw rate threshold, said algorithm uses the tilt table limit (deg) for rollover threat limit. a first calculation to determine if said roll rate measurement is below said roll rate threshold; if said roll rate measurement is above said roll rate threshold, then said algorithm uses the roll rate threshold scaled static stability factor for the rollover threat limit; if said roll rate measurement is below said roll rate threshold, said algorithm moves to a second calculation; said second calculation being to determine if said yaw rate measurement is below a yaw rate threshold; if said yaw rate measurement is above said yaw rate threshold, then said algorithm uses tilt table limit scaled static stability factor for the rollover threat limit; if said yaw rate measurement is below said yaw rate threshold, said algorithm uses the tilt table limit (deg) for rollover threat limit.