diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 4eab72f527..d545c90cf1 100755
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1559,7 +1559,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 osdProfile()->alt_alarm = sbufReadU16(src);
             } else {
                 // set a position setting
-                osdProfile()->item_pos[addr] = sbufReadU16(src);
+                const uint16_t pos  = sbufReadU16(src);
+                if (addr < OSD_ITEM_COUNT) {
+                    osdProfile()->item_pos[addr] = pos;
+                }
             }
         }
         break;
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 92d071de1f..4dbd91cafe 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -333,6 +333,27 @@ static void osdDrawSingleElement(uint8_t item)
             return;
         }
 
+        case OSD_ROLL_PIDS:
+        {
+            const pidProfile_t *pidProfile = &currentProfile->pidProfile;
+            sprintf(buff, "ROL %3d,%3d,%3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
+            break;
+        }
+
+        case OSD_PITCH_PIDS:
+        {
+            const pidProfile_t *pidProfile = &currentProfile->pidProfile;
+            sprintf(buff, "PIT %3d,%3d,%3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
+            break;
+        }
+
+        case OSD_YAW_PIDS:
+        {
+            const pidProfile_t *pidProfile = &currentProfile->pidProfile;
+            sprintf(buff, "YAW %3d,%3d,%3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
+            break;
+        }
+
         default:
             return;
     }
@@ -372,6 +393,9 @@ void osdDrawElements(void)
     osdDrawSingleElement(OSD_MAH_DRAWN);
     osdDrawSingleElement(OSD_CRAFT_NAME);
     osdDrawSingleElement(OSD_ALTITUDE);
+    osdDrawSingleElement(OSD_ROLL_PIDS);
+    osdDrawSingleElement(OSD_PITCH_PIDS);
+    osdDrawSingleElement(OSD_YAW_PIDS);
 
 #ifdef GPS
 #ifdef CMS
@@ -403,6 +427,9 @@ void osdResetConfig(osd_profile_t *osdProfile)
     osdProfile->item_pos[OSD_GPS_SPEED] = OSD_POS(2, 2);
     osdProfile->item_pos[OSD_GPS_SATS] = OSD_POS(2, 12);
     osdProfile->item_pos[OSD_ALTITUDE] = OSD_POS(1, 5);
+    osdProfile->item_pos[OSD_ROLL_PIDS] = OSD_POS(2, 10) | VISIBLE_FLAG;
+    osdProfile->item_pos[OSD_PITCH_PIDS] = OSD_POS(2, 11) | VISIBLE_FLAG;
+    osdProfile->item_pos[OSD_YAW_PIDS] = OSD_POS(2, 12) | VISIBLE_FLAG;
 
     osdProfile->rssi_alarm = 20;
     osdProfile->cap_alarm = 2200;
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 5a6a28ed1e..c3642218ad 100755
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -40,6 +40,9 @@ typedef enum {
     OSD_GPS_SPEED,
     OSD_GPS_SATS,
     OSD_ALTITUDE,
+    OSD_ROLL_PIDS,
+    OSD_PITCH_PIDS,
+    OSD_YAW_PIDS,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 607c2ffdb3..159df98af5 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -967,21 +967,24 @@ const clivalue_t valueTable[] = {
     { "osd_time_alarm",             VAR_UINT16 | MASTER_VALUE, &osdProfile()->time_alarm, .config.minmax = { 0, 60 } },
     { "osd_alt_alarm",              VAR_UINT16 | MASTER_VALUE, &osdProfile()->alt_alarm, .config.minmax = { 0, 10000 } },
 
-    { "osd_main_voltage_pos",       VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAIN_BATT_VOLTAGE], .config.minmax = { 0, 65536 } },
-    { "osd_rssi_pos",               VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_RSSI_VALUE], .config.minmax = { 0, 65536 } },
-    { "osd_flytimer_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYTIME], .config.minmax = { 0, 65536 } },
-    { "osd_ontime_pos",             VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ONTIME], .config.minmax = { 0, 65536 } },
-    { "osd_flymode_pos",            VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYMODE], .config.minmax = { 0, 65536 } },
-    { "osd_throttle_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_THROTTLE_POS], .config.minmax = { 0, 65536 } },
-    { "osd_vtx_channel_pos",        VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_VTX_CHANNEL], .config.minmax = { 0, 65536 } },
-    { "osd_crosshairs",             VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CROSSHAIRS], .config.minmax = { 0, 65536 } },
-    { "osd_artificial_horizon",     VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ARTIFICIAL_HORIZON], .config.minmax = { 0, 65536 } },
-    { "osd_current_draw_pos",       VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CURRENT_DRAW], .config.minmax = { 0, 65536 } },
-    { "osd_mah_drawn_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAH_DRAWN], .config.minmax = { 0, 65536 } },
-    { "osd_craft_name_pos",         VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CRAFT_NAME], .config.minmax = { 0, 65536 } },
-    { "osd_gps_speed_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SPEED], .config.minmax = { 0, 65536 } },
-    { "osd_gps_sats_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SATS], .config.minmax = { 0, 65536 } },
-    { "osd_altitude_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ALTITUDE], .config.minmax = { 0, 65536 } },
+    { "osd_main_voltage_pos",       VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAIN_BATT_VOLTAGE], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_rssi_pos",               VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_RSSI_VALUE], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_flytimer_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYTIME], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_ontime_pos",             VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ONTIME], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_flymode_pos",            VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_FLYMODE], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_throttle_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_THROTTLE_POS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_vtx_channel_pos",        VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_VTX_CHANNEL], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_crosshairs",             VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CROSSHAIRS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_artificial_horizon",     VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ARTIFICIAL_HORIZON], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_current_draw_pos",       VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CURRENT_DRAW], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_mah_drawn_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_MAH_DRAWN], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_craft_name_pos",         VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_CRAFT_NAME], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_gps_speed_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SPEED], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_gps_sats_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_GPS_SATS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_altitude_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ALTITUDE], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_pid_roll_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ROLL_PIDS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_pid_pitch_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_PITCH_PIDS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_pid_yaw_pos",            VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_YAW_PIDS], .config.minmax = { 0, UINT16_MAX } },
 #endif
 #ifdef USE_MAX7456
     { "vcd_video_system",           VAR_UINT8   | MASTER_VALUE, &vcdProfile()->video_system, .config.minmax = { 0, 2 } },