diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 2a5952780f..0646c1bcc6 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -66,24 +66,46 @@ PID::imax(float v)
 void
 PID::load_gains()
 {
-	if ((_gain_array == &_local_gains[0]) && (_address)) {
-		_kp 	= (float)(eeprom_read_word((uint16_t *)	 _address))      / 1000.0;
-		_ki 	= (float)(eeprom_read_word((uint16_t *)	(_address + 2))) / 1000.0;
-		_kd 	= (float)(eeprom_read_word((uint16_t *)	(_address + 4))) / 1000.0;
-		_imax 	= eeprom_read_word((uint16_t *)	(_address + 6)) * 100;
+	switch(_storage)
+	{
+		case STORE_OFF:
+			// load is a NOP if the gain array is managed externally
+			break;
+		case STORE_EEPROM_UINT16:
+			_kp 	= (float)(eeprom_read_word((uint16_t *)	 _address))      / 1000.0;
+			_ki 	= (float)(eeprom_read_word((uint16_t *)	(_address + 2))) / 1000.0;
+			_kd 	= (float)(eeprom_read_word((uint16_t *)	(_address + 4))) / 1000.0;
+			_imax 	= eeprom_read_word((uint16_t *)	(_address + 6)) * 100;
+			break;
+		case STORE_EEPROM_FLOAT:
+			eeprom_read_block((void*)&_kp,(const void*)(_address),sizeof(_kp));
+			eeprom_read_block((void*)&_ki,(const void*)(_address+4),sizeof(_ki));
+			eeprom_read_block((void*)&_kd,(const void*)(_address+8),sizeof(_kd));
+			eeprom_read_block((void*)&_imax,(const void*)(_address+12),sizeof(_imax));
+			break;
 	}
-	// load is a NOP if the gain array is managed externally
 }
 
 void
 PID::save_gains()
 {
-	if ((_gain_array == &_local_gains[0]) && (_address)) {
-		eeprom_write_word((uint16_t *)	 _address, 		(int)(_kp * 1000));
-		eeprom_write_word((uint16_t *)	(_address + 2), (int)(_ki * 1000));
-		eeprom_write_word((uint16_t *)	(_address + 4), (int)(_kd * 1000));
-		eeprom_write_word((uint16_t *)	(_address + 6), (int)_imax/100);
+	switch(_storage)
+	{
+		case STORE_OFF:
+			// save is a NOP if the gain array is managed externally
+			break;
+		case STORE_EEPROM_UINT16:
+			eeprom_write_word((uint16_t *)	 _address, 		(int)(_kp * 1000));
+			eeprom_write_word((uint16_t *)	(_address + 2), (int)(_ki * 1000));
+			eeprom_write_word((uint16_t *)	(_address + 4), (int)(_kd * 1000));
+			eeprom_write_word((uint16_t *)	(_address + 6), (int)_imax/100);
+			break;
+		case STORE_EEPROM_FLOAT:
+			eeprom_write_block((const void *)&_kp,(void *)(_address),sizeof(_kp));
+			eeprom_write_block((const void *)&_ki,(void *)(_address+4),sizeof(_ki));
+			eeprom_write_block((const void *)&_kd,(void *)(_address+8),sizeof(_kd));
+			eeprom_write_block((const void *)&_imax,(void *)(_address+12),sizeof(_imax));
+			break;
 	}
-	// save is a NOP if the gain array is managed externally
 }
 
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index 264ec88e8f..a6edad05d4 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -12,6 +12,15 @@
 /// @brief	Object managing one PID control
 class PID {
 public:
+	///
+	// EEProm Storage Type
+	enum storage_t
+	{
+		STORE_OFF,
+		STORE_EEPROM_FLOAT,
+		STORE_EEPROM_UINT16
+	} _storage;
+
 	/// Constructor
 	///
 	/// A PID constructed in this fashion does not support save/restore.
@@ -19,6 +28,7 @@ public:
 	/// accessor functions.
 	///
 	PID() :
+		_storage(STORE_OFF),
 		_address(0),
 		_gain_array(&_local_gains[0])
 	{}
@@ -31,7 +41,8 @@ public:
 	/// @param address	EEPROM base address at which PID parameters
 	///					are stored.
 	///
-	PID(uint16_t address) :
+	PID(uint16_t address, storage_t storage = STORE_EEPROM_UINT16) :
+		_storage(storage),
 		_address(address),
 		_gain_array(&_local_gains[0])
 	{}
@@ -45,6 +56,7 @@ public:
 	///						respectively.
 	///
 	PID(float *gain_array) :
+		_storage(STORE_OFF),
 		_gain_array(gain_array)
 	{}