diff --git a/js/msp/MSPCodes.js b/js/msp/MSPCodes.js
index 4cf789fb..614fc213 100644
--- a/js/msp/MSPCodes.js
+++ b/js/msp/MSPCodes.js
@@ -189,5 +189,7 @@ var MSPCodes = {
     MSP2_INAV_MC_BRAKING:               0x200B,
     MSP2_INAV_SET_MC_BRAKING:           0x200C,
 
-    MSP2_INAV_SELECT_BATTERY_PROFILE:   0x2018
+    MSP2_INAV_SELECT_BATTERY_PROFILE:   0x2018,
+
+    MSP2_INAV_DEBUG:                    0x2019
 };
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 7ad94f59..f22d8be0 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -649,6 +649,10 @@ var mspHelper = (function (gui) {
                 for (i = 0; i < 4; i++)
                     SENSOR_DATA.debug[i] = data.getInt16((2 * i), 1);
                 break;
+            case MSPCodes.MSP2_INAV_DEBUG:
+                for (i = 0; i < 8; i++)
+                    SENSOR_DATA.debug[i] = data.getInt32((4 * i), 1);
+                break;
             case MSPCodes.MSP_SET_MOTOR:
                 console.log('Motor Speeds Updated');
                 break;
diff --git a/tabs/sensors.html b/tabs/sensors.html
index 44bf0177..fe9723eb 100644
--- a/tabs/sensors.html
+++ b/tabs/sensors.html
@@ -337,6 +337,66 @@
             <g class="data" transform="translate(41, 10)"></g>
             <g class="axis x" transform="translate(40, 120)"></g>
             <g class="axis y" transform="translate(40, 10)"></g>
+        </svg>
+                <div class="clear-both"></div>
+                <div class="plot_control">
+                    <div class="title">Debug 4</div>
+                    <dl>
+                        <dt>X:</dt>
+                        <dd class="x">0</dd>
+                    </dl>
+                </div>
+                <svg id="debug5">
+            <g class="grid x" transform="translate(40, 120)"></g>
+            <g class="grid y" transform="translate(40, 10)"></g>
+            <g class="data" transform="translate(41, 10)"></g>
+            <g class="axis x" transform="translate(40, 120)"></g>
+            <g class="axis y" transform="translate(40, 10)"></g>
+        </svg>
+                <div class="clear-both"></div>
+                <div class="plot_control">
+                    <div class="title">Debug 5</div>
+                    <dl>
+                        <dt>X:</dt>
+                        <dd class="x">0</dd>
+                    </dl>
+                </div>
+                <svg id="debug6">
+            <g class="grid x" transform="translate(40, 120)"></g>
+            <g class="grid y" transform="translate(40, 10)"></g>
+            <g class="data" transform="translate(41, 10)"></g>
+            <g class="axis x" transform="translate(40, 120)"></g>
+            <g class="axis y" transform="translate(40, 10)"></g>
+        </svg>
+                <div class="clear-both"></div>
+                <div class="plot_control">
+                    <div class="title">Debug 6</div>
+                    <dl>
+                        <dt>X:</dt>
+                        <dd class="x">0</dd>
+                    </dl>
+                </div>
+                <svg id="debug7">
+            <g class="grid x" transform="translate(40, 120)"></g>
+            <g class="grid y" transform="translate(40, 10)"></g>
+            <g class="data" transform="translate(41, 10)"></g>
+            <g class="axis x" transform="translate(40, 120)"></g>
+            <g class="axis y" transform="translate(40, 10)"></g>
+        </svg>
+                <div class="clear-both"></div>
+                <div class="plot_control">
+                    <div class="title">Debug 7</div>
+                    <dl>
+                        <dt>X:</dt>
+                        <dd class="x">0</dd>
+                    </dl>
+                </div>
+                <svg id="debug8">
+            <g class="grid x" transform="translate(40, 120)"></g>
+            <g class="grid y" transform="translate(40, 10)"></g>
+            <g class="data" transform="translate(41, 10)"></g>
+            <g class="axis x" transform="translate(40, 120)"></g>
+            <g class="axis y" transform="translate(40, 10)"></g>
         </svg>
             </div>
         </div>
diff --git a/tabs/sensors.js b/tabs/sensors.js
index e8f0522f..41d76be5 100644
--- a/tabs/sensors.js
+++ b/tabs/sensors.js
@@ -276,6 +276,10 @@ TABS.sensors.initialize = function (callback) {
             initDataArray(1),
             initDataArray(1),
             initDataArray(1),
+            initDataArray(1),
+            initDataArray(1),
+            initDataArray(1),
+            initDataArray(1),
             initDataArray(1)
         ];
 
@@ -289,7 +293,11 @@ TABS.sensors.initialize = function (callback) {
             initGraphHelpers('#debug1', samples_debug_i),
             initGraphHelpers('#debug2', samples_debug_i),
             initGraphHelpers('#debug3', samples_debug_i),
-            initGraphHelpers('#debug4', samples_debug_i)
+            initGraphHelpers('#debug4', samples_debug_i),
+            initGraphHelpers('#debug5', samples_debug_i),
+            initGraphHelpers('#debug6', samples_debug_i),
+            initGraphHelpers('#debug7', samples_debug_i),
+            initGraphHelpers('#debug8', samples_debug_i)
         ];
 
         var raw_data_text_ements = {
@@ -449,7 +457,11 @@ TABS.sensors.initialize = function (callback) {
                         return;
                     }
 
-                    MSP.send_message(MSPCodes.MSP_DEBUG, false, false, update_debug_graphs);
+                    if (semver.gte(CONFIG.flightControllerVersion, '2.1.0')) {
+                        MSP.send_message(MSPCodes.MSP2_INAV_DEBUG, false, false, update_debug_graphs);
+                    } else {
+                        MSP.send_message(MSPCodes.MSP_DEBUG, false, false, update_debug_graphs);
+                    }
                 }, rates.debug, true);
             }
 
@@ -516,7 +528,7 @@ TABS.sensors.initialize = function (callback) {
             }
 
             function update_debug_graphs() {
-                for (var i = 0; i < 4; i++) {
+                for (var i = 0; i < 8; i++) {
                     updateGraphHelperSize(debugHelpers[i]);
 
                     addSampleToData(debug_data[i], samples_debug_i, [SENSOR_DATA.debug[i]]);