diff --git a/libraries/AR_WPNav/AR_WPNav.cpp b/libraries/AR_WPNav/AR_WPNav.cpp
index 939d12f7ea..51df03e2ec 100644
--- a/libraries/AR_WPNav/AR_WPNav.cpp
+++ b/libraries/AR_WPNav/AR_WPNav.cpp
@@ -27,6 +27,7 @@ extern const AP_HAL::HAL& hal;
 #define AR_WPNAV_TIMEOUT_MS             100
 #define AR_WPNAV_SPEED_DEFAULT          2.0f
 #define AR_WPNAV_RADIUS_DEFAULT         2.0f
+#define AR_WPNAV_OVERSPEED_RATIO_MAX    5.0f    // if _overspeed_enabled the vehicle may travel as quickly as 5x WP_SPEED
 
 const AP_Param::GroupInfo AR_WPNav::var_info[] = {
 
@@ -419,7 +420,8 @@ void AR_WPNav::advance_wp_target_along_track(const Location &current_loc, float
         const float track_error = _pos_control.get_pos_error().tofloat().dot(track_direction);
         float track_velocity = curr_vel_NED.xy().dot(track_direction);
         // set time scaler to be consistent with the achievable vehicle speed with a 5% buffer for short term variation.
-        track_scaler_dt = constrain_float(0.05f + (track_velocity - _pos_control.get_pos_p().kP() * track_error) / curr_target_vel.length(), 0.1f, 1.0f);
+        const float time_scaler_dt_max = _overspeed_enabled ? AR_WPNAV_OVERSPEED_RATIO_MAX : 1.0f;
+        track_scaler_dt = constrain_float(0.05f + (track_velocity - _pos_control.get_pos_p().kP() * track_error) / curr_target_vel.length(), 0.1f, time_scaler_dt_max);
     }
     // change s-curve time speed with a time constant of maximum acceleration / maximum jerk
     float track_scaler_tc = 1.0f;
diff --git a/libraries/AR_WPNav/AR_WPNav.h b/libraries/AR_WPNav/AR_WPNav.h
index 1696c76d20..f3b49d110c 100644
--- a/libraries/AR_WPNav/AR_WPNav.h
+++ b/libraries/AR_WPNav/AR_WPNav.h
@@ -88,6 +88,11 @@ public:
     // settor to allow vehicle code to provide turn related param values to this library (should be updated regularly)
     void set_turn_params(float turn_radius, bool pivot_possible);
 
+    // enable speeding up position target to catch-up with vehicles travelling faster than WP_SPEED
+    // designed to support sailboats that do not have precise speed control
+    // only supported when using SCurves and not when using position controller input shaping
+    void enable_overspeed(bool enable) { _overspeed_enabled = enable; }
+
     // accessors for parameter values
     float get_default_speed() const { return _speed_max; }
     float get_radius() const { return _radius; }
@@ -160,6 +165,7 @@ protected:
     float _scurve_jerk;             // scurve jerk max in m/s/s/s
     bool _fast_waypoint;            // true if vehicle will stop at the next waypoint
     bool _pivot_at_next_wp;         // true if vehicle should pivot at next waypoint
+    bool _overspeed_enabled;        // if true scurve's position target will speedup to catch vehicles travelling faster than WP_SPEED
     float _track_scalar_dt;         // time scaler to ensure scurve target doesn't get too far ahead of vehicle
 
     // variables held in vehicle code (for now)