diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index dcf06e7188..b612db1171 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -97,6 +97,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
 #endif
+#if OSD_ENABLED == ENABLED
+    SCHED_TASK(publish_osd_info, 1, 10),
+#endif
 };
 
 constexpr int8_t Plane::_failsafe_priorities[5];
@@ -952,4 +955,16 @@ float Plane::tecs_hgt_afe(void)
     return hgt_afe;
 }
 
+#if OSD_ENABLED == ENABLED
+void Plane::publish_osd_info()
+{
+    AP_OSD::NavInfo nav_info;
+    nav_info.wp_distance = auto_state.wp_distance;
+    nav_info.wp_bearing = nav_controller->target_bearing_cd();
+    nav_info.wp_xtrack_error = nav_controller->crosstrack_error();
+    nav_info.wp_number = mission.get_current_nav_index();
+    osd.set_nav_info(nav_info);
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 8bbdff3400..9b8530c85f 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1026,6 +1026,9 @@ private:
     void do_parachute(const AP_Mission::Mission_Command& cmd);
     void parachute_release();
     bool parachute_manual_release();
+#endif
+#if OSD_ENABLED == ENABLED
+    void publish_osd_info();
 #endif
     void accel_cal_update(void);
     void update_soft_armed();