diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
index 2aca4580..355aa4c1 100644
--- a/fw/bldc_servo.cc
+++ b/fw/bldc_servo.cc
@@ -1592,6 +1592,10 @@ class BldcServo::Impl {
     } else {
       status_.position = status_.position_unfilt;
     }
+
+    if (config_.encoder_filter.debug_override >= 0) {
+      status_.position = config_.encoder_filter.debug_override;
+    }
   }
 
   void ISR_DoPositionCommon(
diff --git a/fw/bldc_servo.h b/fw/bldc_servo.h
index 83ab1c20..e8001f8a 100644
--- a/fw/bldc_servo.h
+++ b/fw/bldc_servo.h
@@ -197,12 +197,14 @@ class BldcServo {
       bool enabled = false;
       float kp = 0.0f;
       float ki = 0.0f;
+      int32_t debug_override = -1;
 
       template <typename Archive>
       void Serialize(Archive* a) {
         a->Visit(MJ_NVP(enabled));
         a->Visit(MJ_NVP(kp));
         a->Visit(MJ_NVP(ki));
+        a->Visit(MJ_NVP(debug_override));
       }
     };
     EncoderFilter encoder_filter;