diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 56b2e08fdd..dde7604a66 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -376,6 +376,10 @@ public:
 
     // return current RMS controller filter for each axis
     float control_monitor_rms_output_roll(void) const;
+    float control_monitor_rms_output_roll_P(void) const;
+    float control_monitor_rms_output_roll_D(void) const;
+    float control_monitor_rms_output_pitch_P(void) const;
+    float control_monitor_rms_output_pitch_D(void) const;
     float control_monitor_rms_output_pitch(void) const;
     float control_monitor_rms_output_yaw(void) const;
 };
diff --git a/libraries/AC_AttitudeControl/ControlMonitor.cpp b/libraries/AC_AttitudeControl/ControlMonitor.cpp
index ddabd6b1fb..0eeeb11c79 100644
--- a/libraries/AC_AttitudeControl/ControlMonitor.cpp
+++ b/libraries/AC_AttitudeControl/ControlMonitor.cpp
@@ -61,6 +61,22 @@ float AC_AttitudeControl::control_monitor_rms_output_roll(void) const
     return sqrtf(_control_monitor.rms_roll_P + _control_monitor.rms_roll_D);
 }
 
+/*
+  return current controller RMS filter value for roll_P
+ */
+float AC_AttitudeControl::control_monitor_rms_output_roll_P(void) const
+{
+    return sqrtf(_control_monitor.rms_roll_P);
+}
+
+/*
+  return current controller RMS filter value for roll_D
+ */
+float AC_AttitudeControl::control_monitor_rms_output_roll_D(void) const
+{
+    return sqrtf(_control_monitor.rms_roll_D);
+}
+
 /*
   return current controller RMS filter value for pitch
  */
@@ -69,6 +85,22 @@ float AC_AttitudeControl::control_monitor_rms_output_pitch(void) const
     return sqrtf(_control_monitor.rms_pitch_P + _control_monitor.rms_pitch_D);
 }
 
+/*
+  return current controller RMS filter value for pitch_P
+ */
+float AC_AttitudeControl::control_monitor_rms_output_pitch_P(void) const
+{
+    return sqrtf(_control_monitor.rms_pitch_P);
+}
+
+/*
+  return current controller RMS filter value for pitch_D
+ */
+float AC_AttitudeControl::control_monitor_rms_output_pitch_D(void) const
+{
+    return sqrtf(_control_monitor.rms_pitch_D);
+}
+
 /*
   return current controller RMS filter value for yaw
  */