diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 406ce05d39..09946a4ab0 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1210,18 +1210,34 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d",                     masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
                                                                           masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
-        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d",                 (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
-        BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
-        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
-        BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d",         masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
-        BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d",               (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d",                 (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d",             (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d",         (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff * 100.0f));
+        BLACKBOX_PRINT_HEADER_LINE("deltaMethod:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
+        BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d",         masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
+        BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d",               masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
+        BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d",                      masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
+        BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
+        BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d",            masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
+        BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
+
+        // Betaflight PID controller parameters
+        BLACKBOX_PRINT_HEADER_LINE("toleranceBand:%d",                    masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBand);
+        BLACKBOX_PRINT_HEADER_LINE("toleranceBandReduction:%d",           masterConfig.profile[masterConfig.current_profile_index].pidProfile.toleranceBandReduction);
+        BLACKBOX_PRINT_HEADER_LINE("zeroCrossAllowanceCount:%d",          masterConfig.profile[masterConfig.current_profile_index].pidProfile.zeroCrossAllowanceCount);
+        BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
+        BLACKBOX_PRINT_HEADER_LINE("ptermSetpointWeight:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.ptermSetpointWeight);
+        BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
+        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
+        // End of Betaflight controller parameters
+
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         masterConfig.rcControlsConfig.deadband);
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d",                     masterConfig.rcControlsConfig.yaw_deadband);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d",                         masterConfig.gyro_lpf);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type:%d",                   masterConfig.gyro_soft_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d",            (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz:%d",              (int)(masterConfig.gyro_soft_notch_hz * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d",          (int)(masterConfig.gyro_soft_notch_cutoff * 100.0f));
@@ -1237,6 +1253,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d",                masterConfig.use_unsyncedPwm);
         BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d",                masterConfig.motor_pwm_protocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d",                   masterConfig.motor_pwm_rate);
+        BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       masterConfig.debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features:%d",                         masterConfig.enabledFeatures);
 
         default: