diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 55913b7d12..48268ea2f5 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -492,6 +492,19 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
             return;
         }
     }
+    if (g.gcs_pid_mask & 4) {
+        const DataFlash_Class::PID_Info &pid_info = yawController.get_pid_info();
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
+                                    pid_info.desired,
+                                    degrees(gyro.z),
+                                    pid_info.FF,
+                                    pid_info.P,
+                                    pid_info.I,
+                                    pid_info.D);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
     if (g.gcs_pid_mask & 8) {
         const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, 
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 5087cac532..dd27c705f5 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -171,6 +171,7 @@ void Plane::Log_Write_Attitude(void)
 #if HAL_CPU_CLASS > HAL_CPU_CLASS_16
     DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
     DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
+    DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
     DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
 #endif