diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
index f4d5ff3136b4ad2a9261affe8b2688f7509b3965..9ccccca963208b63a1bb8d8ca8814eae0522ec18 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -173,6 +173,8 @@ void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
         fwFactGroup->getFact("lights 1")->setRawValue(value.value * 100);
     } else if (name == "Lights2") {
         fwFactGroup->getFact("lights 2")->setRawValue(value.value * 100);
+    } else if (name == "PilotGain") {
+        fwFactGroup->getFact("pilot gain")->setRawValue(value.value * 100);
     }
 }
 
@@ -194,6 +196,7 @@ const char* APMSubmarineFactGroup::_camTiltFactName = "camera tilt";
 const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
 const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
 const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
+const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain";
 
 APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
     : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
@@ -201,15 +204,18 @@ APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
     , _tetherTurnsFact   (0, _tetherTurnsFactName,   FactMetaData::valueTypeDouble)
     , _lightsLevel1Fact  (0, _lightsLevel1FactName,  FactMetaData::valueTypeDouble)
     , _lightsLevel2Fact  (0, _lightsLevel2FactName,  FactMetaData::valueTypeDouble)
+    , _pilotGainFact     (0, _pilotGainFactName,     FactMetaData::valueTypeDouble)
 {
     _addFact(&_camTiltFact,       _camTiltFactName);
     _addFact(&_tetherTurnsFact,   _tetherTurnsFactName);
     _addFact(&_lightsLevel1Fact,  _lightsLevel1FactName);
     _addFact(&_lightsLevel2Fact,  _lightsLevel2FactName);
+    _addFact(&_pilotGainFact,     _pilotGainFactName);
 
     // Start out as not available "--.--"
     _camTiltFact.setRawValue       (std::numeric_limits<float>::quiet_NaN());
     _tetherTurnsFact.setRawValue   (std::numeric_limits<float>::quiet_NaN());
     _lightsLevel1Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
     _lightsLevel2Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
+    _pilotGainFact.setRawValue     (std::numeric_limits<float>::quiet_NaN());
 }
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index bf463aef7deadb0cd48022e5ddb06a354aed979f..87af47c28d0b3752b4c6b5ad5f4576f716b218fe 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -110,16 +110,19 @@ public:
     Q_PROPERTY(Fact* tetherTurns   READ tetherTurns   CONSTANT)
     Q_PROPERTY(Fact* lightsLevel1  READ lightsLevel1  CONSTANT)
     Q_PROPERTY(Fact* lightsLevel2  READ lightsLevel2  CONSTANT)
+    Q_PROPERTY(Fact* pilotGain     READ pilotGain     CONSTANT)
 
     Fact* camTilt       (void) { return &_camTiltFact; }
     Fact* tetherTurns   (void) { return &_tetherTurnsFact; }
     Fact* lightsLevel1  (void) { return &_lightsLevel1Fact; }
     Fact* lightsLevel2  (void) { return &_lightsLevel2Fact; }
+    Fact* pilotGain     (void) { return &_pilotGainFact; }
 
     static const char* _camTiltFactName;
     static const char* _tetherTurnsFactName;
     static const char* _lightsLevel1FactName;
     static const char* _lightsLevel2FactName;
+    static const char* _pilotGainFactName;
 
     static const char* _settingsGroup;
 
@@ -128,5 +131,6 @@ private:
     Fact            _tetherTurnsFact;
     Fact            _lightsLevel1Fact;
     Fact            _lightsLevel2Fact;
+    Fact            _pilotGainFact;
 };
 #endif
diff --git a/src/Vehicle/SubmarineFact.json b/src/Vehicle/SubmarineFact.json
index 2a126643ee9e7e3b5059f453f1f2f7076a12c593..a32ae63d0a54a20eaa70c169d9e031672eec4e59 100644
--- a/src/Vehicle/SubmarineFact.json
+++ b/src/Vehicle/SubmarineFact.json
@@ -22,5 +22,11 @@
     "shortDescription": "Lights 2 level",
     "type":             "int16",
     "units":            "%"
+},
+{
+    "name":             "pilot gain",
+    "shortDescription": "Pilot Gain",
+    "type":             "int16",
+    "units":            "%"
 }
 ]