diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 21892c46cc..c90475936d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -588,6 +588,7 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
 
 void AC_AttitudeControl::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
 {
+    _throttle_in = throttle_in;
     _throttle_in_filt.apply(throttle_in, _dt);
     _motors.set_stabilizing(true);
     _motors.set_throttle_filter_cutoff(filter_cutoff);
@@ -602,6 +603,7 @@ void AC_AttitudeControl::set_throttle_out(float throttle_in, bool apply_angle_bo
 
 void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filter_cutoff)
 {
+    _throttle_in = throttle_in;
     _throttle_in_filt.apply(throttle_in, _dt);
     if (reset_attitude_control) {
         relax_bf_rate_controller();
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 1e61aab8c4..c51aa8bdb2 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -196,6 +196,9 @@ public:
     // Set output throttle and disable stabilization
     void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filt_cutoff);
 
+    // get throttle passed into attitude controller (i.e. throttle_in provided to set_throttle_out)
+    float get_throttle_in() const { return _throttle_in; }
+
     // Return throttle increase applied for tilt compensation
     float angle_boost() const { return _angle_boost; }
 
@@ -327,6 +330,9 @@ protected:
     // velocity controller, in radians per second. Formerly _rate_bf_target.
     Vector3f            _ang_vel_target_rads;
 
+    // throttle provided as input to attitude controller.  This does not include angle boost.
+    // Used only for logging.
+    float               _throttle_in = 0.0f;
 
     // This represents the throttle increase applied for tilt compensation.
     // Used only for logging.