diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index a9b328062f..91762537aa 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1064,6 +1064,31 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
            sbufWriteU8(dst, GPS_svinfo_cno[i]);
        }
         break;
+
+#ifdef USE_GPS_RESCUE
+    case MSP_GPS_RESCUE:
+        sbufWriteU16(dst, gpsRescue()->angle);
+        sbufWriteU16(dst, gpsRescue()->initialAltitude);
+        sbufWriteU16(dst, gpsRescue()->descentDistance);
+        sbufWriteU16(dst, gpsRescue()->rescueGroundspeed);
+        sbufWriteU16(dst, gpsRescue()->throttleMin);
+        sbufWriteU16(dst, gpsRescue()->throttleMax);
+        sbufWriteU16(dst, gpsRescue()->throttleHover);
+        sbufWriteU16(dst, gpsRescue()->throttleMax);
+        sbufWriteU8(dst,  gpsRescue()->sanityChecks);
+        sbufWriteU8(dst,  gpsRescue()->minSats);
+        break;
+
+    case MSP_GPS_RESCUE_PIDS:
+        sbufWriteU16(dst, gpsRescue()->throttleP);
+        sbufWriteU16(dst, gpsRescue()->throttleI);
+        sbufWriteU16(dst, gpsRescue()->throttleD);
+        sbufWriteU16(dst, gpsRescue()->velP);
+        sbufWriteU16(dst, gpsRescue()->velI);
+        sbufWriteU16(dst, gpsRescue()->velD);
+        sbufWriteU16(dst, gpsRescue()->yawP);
+        break;
+#endif
 #endif
 
     case MSP_ACC_TRIM:
@@ -1717,6 +1742,30 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         gpsConfigMutable()->autoConfig = sbufReadU8(src);
         gpsConfigMutable()->autoBaud = sbufReadU8(src);
         break;
+
+#ifdef USE_GPS_RESCUE
+        case MSP_SET_GPS_RESCUE:
+        gpsRescueMutable()->angle = sbufReadU16(src);
+        gpsRescueMutable()->initialAltitude = sbufReadU16(src);
+        gpsRescueMutable()->descentDistance = sbufReadU16(src);
+        gpsRescueMutable()->rescueGroundspeed = sbufReadU16(src);
+        gpsRescueMutable()->throttleMin = sbufReadU16(src);
+        gpsRescueMutable()->throttleMax = sbufReadU16(src);
+        gpsRescueMutable()->throttleHover = sbufReadU16(src);
+        gpsRescueMutable()->sanityChecks = sbufReadU8(src);
+        gpsRescueMutable()->minSats = sbufReadU8(src);
+        break;
+
+    case MSP_SET_GPS_RESCUE_PIDS:
+        gpsRescueMutable()->throttleP = sbufReadU16(src);
+        gpsRescueMutable()->throttleI = sbufReadU16(src);
+        gpsRescueMutable()->throttleD = sbufReadU16(src);
+        gpsRescueMutable()->velP = sbufReadU16(src);
+        gpsRescueMutable()->velI = sbufReadU16(src);
+        gpsRescueMutable()->velD = sbufReadU16(src);
+        gpsRescueMutable()->yawP = sbufReadU16(src);
+        break;
+#endif
 #endif
 
 #ifdef USE_MAG
diff --git a/src/main/interface/msp_protocol.h b/src/main/interface/msp_protocol.h
index 104b0070fd..59cac16f4b 100644
--- a/src/main/interface/msp_protocol.h
+++ b/src/main/interface/msp_protocol.h
@@ -279,6 +279,8 @@
 #define MSP_GPS_CONFIG           132    //out message         GPS configuration
 #define MSP_COMPASS_CONFIG       133    //out message         Compass configuration
 #define MSP_ESC_SENSOR_DATA      134    //out message         Extra ESC data from 32-Bit ESCs (Temperature, RPM)
+#define MSP_GPS_RESCUE           135    //out message         GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
+#define MSP_GPS_RESCUE_PIDS      136    //out message         GPS Rescues's throttleP and velocity PIDS + yaw P
 
 #define MSP_SET_RAW_RC           200    //in message          8 rc chan
 #define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
@@ -305,6 +307,8 @@
 #define MSP_SET_MOTOR_CONFIG     222    //out message         Motor configuration (min/max throttle, etc)
 #define MSP_SET_GPS_CONFIG       223    //out message         GPS configuration
 #define MSP_SET_COMPASS_CONFIG   224    //out message         Compass configuration
+#define MSP_SET_GPS_RESCUE       225    //in message          GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
+#define MSP_SET_GPS_RESCUE_PIDS  226    //in message          GPS Rescues's throttleP and velocity PIDS + yaw P
 
 // #define MSP_BIND                 240    //in message          no param
 // #define MSP_ALARMS               242