diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index 77aa3f7836..3fbcc19633 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -57,6 +57,7 @@ typedef enum {
     DEBUG_SBUS,
     DEBUG_FPORT,
     DEBUG_ALWAYS,
+    DEBUG_STAGE2,
     DEBUG_COUNT
 } debugType_e;
 
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 6af7d2ce53..20499fada2 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -69,7 +69,7 @@ tables:
   - name: i2c_speed
     values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
   - name: debug_modes
-    values: ["NONE", "GYRO", "NOTCH", "NAV_LANDING", "FW_ALTITUDE", "AGL", "FLOW_RAW", "SBUS", "FPORT", "ALWAYS"]
+    values: ["NONE", "GYRO", "NOTCH", "NAV_LANDING", "FW_ALTITUDE", "AGL", "FLOW_RAW", "SBUS", "FPORT", "ALWAYS", "STAGE2"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 162bb355b2..c7d0b6843f 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -441,10 +441,18 @@ void gyroUpdate(timeDelta_t gyroUpdateDeltaUs)
 
         DEBUG_SET(DEBUG_GYRO, axis, lrintf(gyroADCf));
 
+        if (axis < 2) {
+            DEBUG_SET(DEBUG_STAGE2, axis, lrintf(gyroADCf));
+        }
+
 #ifdef USE_GYRO_BIQUAD_RC_FIR2
         gyroADCf = gyroFilterStage2ApplyFn(stage2Filter[axis], gyroADCf);
 #endif
 
+        if (axis < 2) {
+            DEBUG_SET(DEBUG_STAGE2, axis + 2, lrintf(gyroADCf));
+        }
+
         gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
 
         DEBUG_SET(DEBUG_NOTCH, axis, lrintf(gyroADCf));