diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index f35d06263a..b8feee83dc 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -135,7 +135,27 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Range: 1 20
     // @User: Standard
     AP_GROUPINFO("_MSG_TIME", 16, AP_OSD, msgtime_s, 10),
+    
+    // @Param: _ARM_SCR
+    // @DisplayName: Arm screen
+    // @Description: Screen to be shown on Arm event. Zero to disable the feature.
+    // @Range: 0 4
+    // @User: Standard
+    AP_GROUPINFO("_ARM_SCR", 17, AP_OSD, arm_scr, 0),
+    
+    // @Param: _DSARM_SCR
+    // @DisplayName: Disarm screen
+    // @Description: Screen to be shown on disarm event. Zero to disable the feature.
+    // @Range: 0 4
+    // @User: Standard
+    AP_GROUPINFO("_DSARM_SCR", 18, AP_OSD, disarm_scr, 0),
 
+    // @Param: _FS_SCR
+    // @DisplayName: Failsafe screen
+    // @Description: Screen to be shown on failsafe event. Zero to disable the feature.
+    // @Range: 0 4
+    // @User: Standard
+    AP_GROUPINFO("_FS_SCR", 19, AP_OSD, failsafe_scr, 0),
 
     AP_GROUPEND
 };
@@ -154,6 +174,7 @@ AP_OSD::AP_OSD()
 #ifdef HAL_OSD_TYPE_DEFAULT
     osd_type.set_default(HAL_OSD_TYPE_DEFAULT);
 #endif
+    previous_pwm_screen = -1;
 }
 
 void AP_OSD::init()
@@ -261,6 +282,33 @@ void AP_OSD::stats()
 //Thanks to minimosd authors for the multiple osd screen idea
 void AP_OSD::update_current_screen()
 {
+    // Switch on ARM/DISARM event
+    if (AP_Notify::flags.armed){
+        if (!was_armed && arm_scr > 0 && arm_scr <= AP_OSD_NUM_SCREENS && screen[arm_scr-1].enabled){
+            current_screen = arm_scr-1;
+        }
+        was_armed = true;
+    } else if (was_armed) {
+        if (disarm_scr > 0 && disarm_scr <= AP_OSD_NUM_SCREENS && screen[disarm_scr-1].enabled){
+            current_screen = disarm_scr-1;
+        } 
+        was_armed = false;
+    }
+    
+    // Switch on failsafe event
+    if (AP_Notify::flags.failsafe_radio || AP_Notify::flags.failsafe_battery) {
+        if (!was_failsafe && failsafe_scr > 0 && failsafe_scr <= AP_OSD_NUM_SCREENS && screen[failsafe_scr-1].enabled){
+            pre_fs_screen = current_screen;
+            current_screen = failsafe_scr-1;
+        }
+        was_failsafe = true;
+    } else if (was_failsafe) {
+        if (screen[pre_fs_screen].enabled){
+            current_screen = pre_fs_screen;
+        } 
+        was_failsafe = false;
+    }
+    
     if (rc_channel == 0) {
         return;
     }
@@ -292,8 +340,8 @@ void AP_OSD::update_current_screen()
     //select screen based on pwm ranges specified
     case PWM_RANGE:
         for (int i=0; i<AP_OSD_NUM_SCREENS; i++) {
-            if (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value) {
-                current_screen = i;
+            if (screen[i].enabled && screen[i].channel_min <= channel_value && screen[i].channel_max > channel_value && previous_pwm_screen != i) {
+                current_screen = previous_pwm_screen = i;
                 break;
             }
         }
diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index 38ef75dad8..837648c6aa 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -218,6 +218,9 @@ public:
     AP_Float warn_batvolt;
     AP_Float warn_bat2volt;
     AP_Int8 msgtime_s;
+    AP_Int8 arm_scr;
+    AP_Int8 disarm_scr;
+    AP_Int8 failsafe_scr;
 
     enum {
         OPTION_DECIMAL_PACK = 1U<<0,
@@ -263,7 +266,11 @@ private:
     bool switch_debouncer;
     uint32_t last_switch_ms;
     struct NavInfo nav_info;
-
+    int8_t previous_pwm_screen;
+    int8_t pre_fs_screen;
+    bool was_armed;
+    bool was_failsafe;
+    
     uint32_t last_update_ms;
     float last_distance_m;
     float max_dist_m;