diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
index 701183d19..b852fe1a4 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
@@ -16,6 +16,19 @@ Item {
     property variant flightmodeColors : ["gray", "green", "green", "green", "green", "green", "green", "red", 
                                          "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
 
+                      // Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,
+                      // AltitudeHold,AltitudeVario,CruiseControl + Auto mode (VTOL/Wing pathfollower)
+                      // grey : 'disabled' modes
+
+    property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey", "grey",  
+                                         "green", "green", "green", "cyan"]
+
+    property var thrust_mode: FlightStatus.FlightMode < 7 ? StabilizationDesired.StabilizationMode_Thrust : 
+                              FlightStatus.FlightMode > 7 && HwSettings.OptionalModules_VtolPathFollower == 1 
+                              && VtolPathFollowerSettings.ThrustControl == 1 ? 12 : 
+                              FlightStatus.FlightMode > 7 && HwSettings.OptionalModules_FixedWingPathFollower == 1 ? 12: 0 
+
+
     property real flight_time: Math.round(SystemStats.FlightTime / 1000)
     property real time_h: (flight_time > 0 ? Math.floor(flight_time / 3600) : 0 )
     property real time_m: (flight_time > 0 ? Math.floor((flight_time - time_h*3600)/60) : 0) 
@@ -195,6 +208,35 @@ Item {
         }
     }
 
+    SvgElementPositionItem {
+        id: warning_thrustmode
+        sceneSize: parent.sceneSize
+        elementName: "warning-thrustmode"
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+
+        Rectangle {
+            anchors.fill: parent
+            color: warnings.thrustmodeColors[thrust_mode.toString()]
+
+                      // Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,
+                      // AltitudeHold,AltitudeVario,CruiseControl
+                      // grey : 'disabled' modes
+            Text {
+                anchors.centerIn: parent
+                text: ["MANUAL"," "," ", " ", " ", " ", " ", " ", " ",
+                       "ALT HOLD", "ALT VARIO", "CRUIZECTRL", "AUTO"][thrust_mode.toString()]
+                font {
+                    family: "Arial"
+                    pixelSize: Math.floor(parent.height * 0.8)
+                    weight: Font.DemiBold
+                }
+            }
+        }
+    }
+
     SvgElementImage {
         id: warning_gps
         elementName: "warning-gps"
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index d8b2dd653..2b83893a0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -84,11 +84,11 @@
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      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1"
-     inkscape:cx="313.78803"
-     inkscape:cy="164.34379"
+     inkscape:zoom="9.3372094"
+     inkscape:cx="596.49986"
+     inkscape:cy="8"
      inkscape:document-units="px"
-     inkscape:current-layer="layer29"
+     inkscape:current-layer="g3935"
      showgrid="true"
      fit-margin-top="0"
      fit-margin-left="0"
@@ -150,7 +150,7 @@
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         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -193,6 +193,20 @@
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     </g>
   </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer69"
+     inkscape:label="foreground_layer"
+     style="display:inline"
+     sodipodi:insensitive="true">
+    <rect
+       style="fill:url(#radialGradient4865);fill-opacity:1;stroke:none"
+       id="foreground"
+       width="641.5"
+       height="481.5"
+       x="-0.5"
+       y="-0.5" />
+  </g>
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      inkscape:groupmode="layer"
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@@ -228,11 +242,11 @@
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diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 59272176f..1055a71c8 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -69,7 +69,10 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
         "WaypointActive" <<
         "OPLinkStatus" <<
         "FlightStatus" <<
-        "SystemStats";
+        "SystemStats" <<
+        "StabilizationDesired" <<
+        "VtolPathFollowerSettings" <<
+        "HwSettings";
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();