diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 46a4147aff..6009b801ac 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1454,7 +1454,19 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         sbufWriteU16(dst, currentPidProfile->pid[PID_YAW].F);
 
         sbufWriteU8(dst, currentPidProfile->antiGravityMode);
-
+#if defined(USE_D_MIN)
+        sbufWriteU8(dst, currentPidProfile->d_min[PID_ROLL]);
+        sbufWriteU8(dst, currentPidProfile->d_min[PID_PITCH]);
+        sbufWriteU8(dst, currentPidProfile->d_min[PID_YAW]);
+        sbufWriteU8(dst, currentPidProfile->d_min_gain);
+        sbufWriteU8(dst, currentPidProfile->d_min_advance);
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
+#endif
         break;
     case MSP_SENSOR_CONFIG:
 #if defined(USE_ACC)
@@ -2093,6 +2105,21 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 
             currentPidProfile->antiGravityMode = sbufReadU8(src);
         }
+        if (sbufBytesRemaining(src) >= 5) {
+#if defined(USE_D_MIN)
+            currentPidProfile->d_min[PID_ROLL] = sbufReadU8(src);
+            currentPidProfile->d_min[PID_PITCH] = sbufReadU8(src);
+            currentPidProfile->d_min[PID_YAW] = sbufReadU8(src);
+            currentPidProfile->d_min_gain = sbufReadU8(src);
+            currentPidProfile->d_min_advance = sbufReadU8(src);
+#else
+            sbufReadU8(src);
+            sbufReadU8(src);
+            sbufReadU8(src);
+            sbufReadU8(src);
+            sbufReadU8(src);
+#endif
+        }
         pidInitConfig(currentPidProfile);
 
         break;