diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index b484fd4d35..95fdaff158 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -80,5 +80,6 @@ typedef enum {
     DEBUG_SPM_VARIO,    // Smartport master variometer
     DEBUG_PCF8574,
     DEBUG_DYNAMIC_GYRO_LPF,
+    DEBUG_FW_D,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 86cf71f8ce..0fa5e30f59 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -84,7 +84,7 @@ tables:
       "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
       "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF"]
+      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "DEBUG_FW_D"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ebd3ce86ff..dab4426317 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -676,6 +676,7 @@ static void NOINLINE pidApplyFixedWingRateController(pidState_t *pidState, fligh
     const float newDTerm = dTermProcess(pidState, dT);
     const float newFFTerm = pidState->rateTarget * pidState->kFF;
 
+    DEBUG_SET(DEBUG_FW_D, axis, newDTerm);
     /*
      * Integral should be updated only if axis Iterm is not frozen
      */