diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index a5a5e90ea6..6fd91b473d 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -72,6 +72,7 @@ typedef enum {
     DEBUG_DYNAMIC_FILTER_FREQUENCY,
     DEBUG_IRLOCK,
     DEBUG_CD,
-    DEBUG_KALMAN,
+    DEBUG_KALMAN_GAIN,
+    DEBUG_PID_MEASUREMENT,
     DEBUG_COUNT
 } debugType_e;
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index ce545ab777..f01b915ccc 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", "ITERM_RELAX",
       "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
-      "IRLOCK", "CD", "KALMAN"]
+      "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT"]
   - name: async_mode
     values: ["NONE", "GYRO", "ALL"]
   - name: aux_operator
diff --git a/src/main/flight/kalman.c b/src/main/flight/kalman.c
index 2e88777d73..70855b46b8 100755
--- a/src/main/flight/kalman.c
+++ b/src/main/flight/kalman.c
@@ -112,7 +112,7 @@ float gyroKalmanUpdate(uint8_t axis, float input, float setpoint)
 {
     updateAxisVariance(&kalmanFilterStateRate[axis], input);
 
-    DEBUG_SET(DEBUG_KALMAN, axis, kalmanFilterStateRate[axis].k * 1000.0f); //Kalman gain
+    DEBUG_SET(DEBUG_KALMAN_GAIN, axis, kalmanFilterStateRate[axis].k * 1000.0f); //Kalman gain
 
     return kalman_process(&kalmanFilterStateRate[axis], input, setpoint);
 }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 791163627a..e04178dc19 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -973,6 +973,7 @@ void FAST_CODE pidController(float dT)
             pidState[axis].gyroRate = gyroKalmanUpdate(axis, pidState[axis].gyroRate, pidState[axis].rateTarget);
         }
 #endif
+        DEBUG_SET(DEBUG_PID_MEASUREMENT, axis, pidState[axis].gyroRate);
     }
 
     // Step 3: Run control for ANGLE_MODE, HORIZON_MODE, and HEADING_LOCK