diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 8b62fdba39..2b2d4a8437 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1582,6 +1582,21 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 #endif
 
+#ifdef USE_RATE_DYNAMICS
+
+    case MSP2_INAV_RATE_DYNAMICS:
+        {
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityCenter);
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.sensitivityEnd);
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionCenter);
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.correctionEnd);
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightCenter);
+            sbufWriteU8(dst, currentControlRateProfile->rateDynamics.weightEnd);
+        }
+        break;
+
+#endif
+
     default:
         return false;
     }
@@ -3040,6 +3055,27 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         break;
 #endif
 
+#ifdef USE_RATE_DYNAMICS
+
+    case MSP2_INAV_SET_RATE_DYNAMICS:
+
+        if (dataSize == 8) {
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityCenter = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.sensitivityEnd = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionCenter = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.correctionEnd = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightCenter = sbufReadU8(src);
+            ((controlRateConfig_t*)currentControlRateProfile)->rateDynamics.weightEnd = sbufReadU8(src);
+            
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+
+        break;    
+
+#endif
+
+
     default:
         return MSP_RESULT_ERROR;
     }
diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
index f746f5c8ff..9cf1881c73 100755
--- a/src/main/msp/msp_protocol_v2_inav.h
+++ b/src/main/msp/msp_protocol_v2_inav.h
@@ -92,3 +92,5 @@
 #define MSP2_INAV_LED_STRIP_CONFIG_EX           0x2048
 #define MSP2_INAV_SET_LED_STRIP_CONFIG_EX       0x2049
 
+#define MSP2_INAV_RATE_DYNAMICS                 0x2060
+#define MSP2_INAV_SET_RATE_DYNAMICS             0x2061