diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index ee8cf2eb4..210557ca0 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1007,7 +1007,12 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         // added in 1.41
         sbufWriteU8(dst, currentControlRateProfile->throttle_limit_type);
         sbufWriteU8(dst, currentControlRateProfile->throttle_limit_percent);
-        
+
+        // added in 1.42
+        sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_ROLL]);
+        sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_PITCH]);
+        sbufWriteU16(dst, currentControlRateProfile->rate_limit[FD_YAW]);
+
         break;
 
     case MSP_PID:
@@ -1854,6 +1859,13 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
                 currentControlRateProfile->throttle_limit_percent = sbufReadU8(src);
             }
 
+            // version 1.42
+            if (sbufBytesRemaining(src) >= 6) {
+                currentControlRateProfile->rate_limit[FD_ROLL] = sbufReadU16(src);
+                currentControlRateProfile->rate_limit[FD_PITCH] = sbufReadU16(src);
+                currentControlRateProfile->rate_limit[FD_YAW] = sbufReadU16(src);
+            }
+
             initRcProcessing();
         } else {
             return MSP_RESULT_ERROR;