diff --git a/js/fc.js b/js/fc.js
index ef0f73f3..15a93457 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -251,7 +251,8 @@ var FC = {
             yawItermIgnoreRate: null,
             yawPLimit: null,
             axisAccelerationLimitRollPitch: null,
-            axisAccelerationLimitYaw: null
+            axisAccelerationLimitYaw: null,
+            dtermSetpointWeight: null
         };
 
         INAV_PID_CONFIG = {
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index e8d7b27c..ff3d8d03 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -842,6 +842,11 @@ var mspHelper = (function (gui) {
                 PID_ADVANCED.rollPitchItermIgnoreRate = data.getUint16(0, true);
                 PID_ADVANCED.yawItermIgnoreRate = data.getUint16(2, true);
                 PID_ADVANCED.yawPLimit = data.getUint16(4, true);
+
+                if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
+                    PID_ADVANCED.dtermSetpointWeight = data.getUint8(9);
+                }
+
                 PID_ADVANCED.axisAccelerationLimitRollPitch = data.getUint16(13, true);
                 PID_ADVANCED.axisAccelerationLimitYaw = data.getUint16(15, true);
                 break;
@@ -1262,7 +1267,13 @@ var mspHelper = (function (gui) {
                 buffer.push(0); //BF: currentProfile->pidProfile.deltaMethod
                 buffer.push(0); //BF: currentProfile->pidProfile.vbatPidCompensation
                 buffer.push(0); //BF: currentProfile->pidProfile.setpointRelaxRatio
-                buffer.push(0); //BF: currentProfile->pidProfile.dtermSetpointWeight
+
+                if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
+                    buffer.push(PID_ADVANCED.dtermSetpointWeight);
+                } else {
+                    buffer.push(0);
+                }
+
                 buffer.push(0); // reserved
                 buffer.push(0); // reserved
                 buffer.push(0); //BF: currentProfile->pidProfile.itermThrottleGain