diff --git a/libraries/AC_PID/AC_HELI_PID.cpp b/libraries/AC_PID/AC_HELI_PID.cpp
index 05bf8b453e..0b1971f112 100644
--- a/libraries/AC_PID/AC_HELI_PID.cpp
+++ b/libraries/AC_PID/AC_HELI_PID.cpp
@@ -56,7 +56,6 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
 float AC_HELI_PID::get_vff(float requested_rate)
 {
     _pid_info.FF = (float)requested_rate * _vff;
-    _pid_info.desired = requested_rate;
     return _pid_info.FF;
 }
 
@@ -73,7 +72,6 @@ float AC_HELI_PID::get_aff(float requested_rate)
 
     _pid_info.AFF = derivative * _aff;
     _last_requested_rate = requested_rate;
-    _pid_info.desired = requested_rate;
     return _pid_info.AFF;
 }
 
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 5d0ab0c05b..49832fef0b 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -76,6 +76,9 @@ public:
     float       get_integrator() const { return _integrator; }
     void        set_integrator(float i) { _integrator = i; }
 
+    // set the designed rate (for logging purposes)
+    void        set_desired_rate(float desired) { _pid_info.desired = desired; }
+
     const       DataFlash_Class::PID_Info& get_pid_info(void) const { return _pid_info; }
 
     // parameter var table