diff --git a/flight/Modules/TxPID/txpid.c b/flight/Modules/TxPID/txpid.c
index cff9c1d9e..fd350c0d4 100644
--- a/flight/Modules/TxPID/txpid.c
+++ b/flight/Modules/TxPID/txpid.c
@@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
 			case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
 				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
 				break;
+			case TXPIDSETTINGS_PIDS_GYROTAU:
+				needsUpdate |= update(&stab.GyroTau, value);
+				break;
 			default:
 				PIOS_Assert(0);
 			}
diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml
index bdc05ba33..5b69063e8 100644
--- a/shared/uavobjectdefinition/txpidsettings.xml
+++ b/shared/uavobjectdefinition/txpidsettings.xml
@@ -16,7 +16,8 @@
 			Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
 			Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
 			Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
-			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
+			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
+			GyroTau"
 		defaultvalue="Disabled"/>
         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>