diff --git a/main.lua b/main.lua
index f52c873..82ceaec 100644
--- a/main.lua
+++ b/main.lua
@@ -963,13 +963,16 @@ function UpdateGlobalThrust()
     end
     
     local AltitudeRateOutput = PIDs.VerticalRatePID:update(Config.Autopilot.AutopilotDesiredAltitude, SensorData.Altitude.Altitude, dt)
-    local throttleOutput = PIDs.AltitudePID:update(AltitudeRateOutput, SensorData.Altitude.VerticalSpeed, dt)
+    local throttleOutput     = PIDs.AltitudePID:update(AltitudeRateOutput, SensorData.Altitude.VerticalSpeed, dt)
+    if Config.Debug then print("DEBUG: Throttle Output: "..throttleOutput) end
 
     local pitchOutput        = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
     local pitchRateOutput    = PIDs.PitchRatePID:update(pitchOutput, SensorData.Gimbal.AngularRates.wx or 0, dt)
+    if Config.Debug then print("DEBUG: Pitch Output: "..pitchRateOutput) end
 
     local rollOutput         = PIDs.RollAttitudePID:update(0, SensorData.Gimbal.Angles.zAngle, dt)
     local rollRateOutput     = PIDs.RollRatePID:update(rollOutput, SensorData.Gimbal.AngularRates.wz or 0, dt)
+    if Config.Debug then print("DEBUG: Roll Output: "..rollRateOutput) end
 
     local yawOutput = 5
     if Config.Autopilot.AutopilotDesiredHeading ~= nil then yawOutput = PIDs.YawAttitudePID:update(Config.Autopilot.AutopilotDesiredHeading, SensorData.NavTable.Heading, dt) end