diff --git a/source/position_sense/hdsl/firmware/defines.inc b/source/position_sense/hdsl/firmware/defines.inc
index 749bfd4..e336c9f 100644
--- a/source/position_sense/hdsl/firmware/defines.inc
+++ b/source/position_sense/hdsl/firmware/defines.inc
@@ -34,7 +34,7 @@
 ;  bit7..4		major number
 FIRMWARE_VERSION_MAJOR	.set			0x0
 ;  bit3..0		minor number
-FIRMWARE_VERSION_MINOR	.set			0x6
+FIRMWARE_VERSION_MINOR	.set			0x7
 
 ICSS_FIRMWARE_RELEASE	.set            ((FIRMWARE_VERSION_MAJOR << 4) | (FIRMWARE_VERSION_MINOR << 0))
 
diff --git a/source/position_sense/hdsl/firmware/transport.asm b/source/position_sense/hdsl/firmware/transport.asm
index db55d73..884d1dc 100644
--- a/source/position_sense/hdsl/firmware/transport.asm
+++ b/source/position_sense/hdsl/firmware/transport.asm
@@ -1142,6 +1142,10 @@ calc_relpos_extend_vel:
 ; Set POSTX to 2
     ldi         REG_TMP0.b0, 0x2
     sbco		&REG_TMP0.b0, MASTER_REGS_CONST, POSTX, 1
+
+; Store PIPE data
+	sbco	&H_FRAME.pipe, MASTER_REGS_CONST, PIPE_D, 1
+
 ; signal event mst_intr[0] and PRU0_ARM_IRQ3
 	ldi     r31.w0, 32+0
 	ldi     r31.w0, PRU0_ARM_IRQ3