diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c
index ce8d3b943..f14239dbc 100644
--- a/flight/modules/TxPID/txpid.c
+++ b/flight/modules/TxPID/txpid.c
@@ -64,6 +64,7 @@
 #include "stabilizationsettingsbank2.h"
 #include "stabilizationsettingsbank3.h"
 #include "flightstatus.h"
+#include "txpidstatus.h"
 #include "hwsettings.h"
 
 //
@@ -114,6 +115,7 @@ int32_t TxPIDInitialize(void)
 
     if (txPIDEnabled) {
         TxPIDSettingsInitialize();
+        TxPIDStatusInitialize();
         AccessoryDesiredInitialize();
 
         UAVObjEvent ev = {
@@ -138,7 +140,14 @@ int32_t TxPIDInitialize(void)
         metadata.telemetryUpdateMode   = UPDATEMODE_PERIODIC;
         metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
         StabilizationSettingsSetMetadata(&metadata);
-#endif
+
+        AttitudeSettingsInitialize();
+        AttitudeSettingsGetMetadata(&metadata);
+        metadata.telemetryAcked = 0;
+        metadata.telemetryUpdateMode   = UPDATEMODE_PERIODIC;
+        metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
+        AttitudeSettingsSetMetadata(&metadata);
+#endif /* if (TELEMETRY_UPDATE_PERIOD_MS != 0) */
 
         return 0;
     }
@@ -206,6 +215,9 @@ static void updatePIDs(UAVObjEvent *ev)
 #endif
     AccessoryDesiredData accessory;
 
+    TxPIDStatusData txpid_status;
+    TxPIDStatusGet(&txpid_status);
+
     uint8_t needsUpdateBank     = 0;
     uint8_t needsUpdateStab     = 0;
     uint8_t needsUpdateAtt      = 0;
@@ -234,6 +246,8 @@ static void updatePIDs(UAVObjEvent *ev)
                 continue;
             }
 
+            TxPIDStatusCurPIDToArray(txpid_status.CurPID)[i] = value;
+
             switch (TxPIDSettingsPIDsToArray(inst.PIDs)[i]) {
             case TXPIDSETTINGS_PIDS_ROLLRATEKP:
                 needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
@@ -432,6 +446,15 @@ static void updatePIDs(UAVObjEvent *ev)
             return;
         }
     }
+
+    if (needsUpdateStab ||
+        needsUpdateAtt ||
+#ifdef REVOLUTION
+        needsUpdateAltitude ||
+#endif /* REVOLUTION */
+        needsUpdateBank) {
+        TxPIDStatusSet(&txpid_status);;
+    }
 }
 
 /**
diff --git a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
index 804a6aa41..4eed92d80 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
+++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
@@ -122,6 +122,7 @@ UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
 UAVOBJSRCFILENAMES += txpidsettings
+UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
 
diff --git a/flight/targets/boards/revolution/firmware/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc
index 1746f3a38..2786a755c 100644
--- a/flight/targets/boards/revolution/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc
@@ -122,6 +122,7 @@ UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
 UAVOBJSRCFILENAMES += txpidsettings
+UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
 
diff --git a/flight/targets/boards/revonano/firmware/UAVObjects.inc b/flight/targets/boards/revonano/firmware/UAVObjects.inc
index 1746f3a38..2786a755c 100644
--- a/flight/targets/boards/revonano/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revonano/firmware/UAVObjects.inc
@@ -122,6 +122,7 @@ UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
 UAVOBJSRCFILENAMES += txpidsettings
+UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter
 
diff --git a/flight/targets/boards/revoproto/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
index 8f515e30c..d0451ba31 100644
--- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
@@ -122,6 +122,7 @@ UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
 UAVOBJSRCFILENAMES += txpidsettings
+UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index b3e3cd810..cc906d684 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -139,6 +139,7 @@ UAVOBJS = \
     $${UAVOBJ_XML_DIR}/takeofflocation.xml \
     $${UAVOBJ_XML_DIR}/taskinfo.xml \
     $${UAVOBJ_XML_DIR}/txpidsettings.xml \
+    $${UAVOBJ_XML_DIR}/txpidstatus.xml \
     $${UAVOBJ_XML_DIR}/velocitydesired.xml \
     $${UAVOBJ_XML_DIR}/velocitystate.xml \
     $${UAVOBJ_XML_DIR}/vtolpathfollowersettings.xml \
diff --git a/shared/uavobjectdefinition/txpidstatus.xml b/shared/uavobjectdefinition/txpidstatus.xml
new file mode 100644
index 000000000..f0e8a425a
--- /dev/null
+++ b/shared/uavobjectdefinition/txpidstatus.xml
@@ -0,0 +1,10 @@
+<xml>
+    <object name="TxPIDStatus" singleinstance="true" settings="false" category="Control" priority="true">
+	<description>Status of @ref TxPID optional module used to tune PID settings using R/C transmitter.</description>
+        <field name="CurPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
+	<access gcs="readonly" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="2000"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>