diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 96c1c04549..8107f737af 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -1360,6 +1360,12 @@ void AP_IOMCU::set_GPIO_mask(uint8_t mask)
     trigger_event(IOEVENT_GPIO);
 }
 
+// Get GPIO mask of channels setup for output
+uint8_t AP_IOMCU::get_GPIO_mask() const
+{
+    return GPIO.channel_mask;
+}
+
 // write to a output pin
 void AP_IOMCU::write_GPIO(uint8_t pin, bool value)
 {
@@ -1377,6 +1383,17 @@ void AP_IOMCU::write_GPIO(uint8_t pin, bool value)
     trigger_event(IOEVENT_GPIO);
 }
 
+// Read the last output value send to the GPIO pin
+// This is not a real read of the actual pin
+// This allows callers to check for state change
+uint8_t AP_IOMCU::read_virtual_GPIO(uint8_t pin) const
+{
+    if (!convert_pin_number(pin)) {
+        return 0;
+    }
+    return (GPIO.output_mask & (1U << pin)) != 0;
+}
+
 // toggle a output pin
 void AP_IOMCU::toggle_GPIO(uint8_t pin)
 {
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 5199c5fb3d..5092bf26fa 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -157,9 +157,17 @@ public:
     // set GPIO mask of channels setup for output
     void set_GPIO_mask(uint8_t mask);
 
+    // Get GPIO mask of channels setup for output
+    uint8_t get_GPIO_mask() const;
+
     // write to a output pin
     void write_GPIO(uint8_t pin, bool value);
 
+    // Read the last output value send to the GPIO pin
+    // This is not a real read of the actual pin
+    // This allows callers to check for state change
+    uint8_t read_virtual_GPIO(uint8_t pin) const;
+
     // toggle a output pin
     void toggle_GPIO(uint8_t pin);