diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 848e479496..48176a6b59 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -311,7 +311,6 @@ void AC_PosControl::rate_to_accel_z()
 {
     const Vector3f& curr_vel = _inav.get_velocity();
     float p;                                // used to capture pid values for logging
-    float desired_accel;                    // the target acceleration if the accel based throttle is enabled, otherwise the output to be sent to the motors
 
     // check speed limits
     // To-Do: check these speed limits here or in the pos->rate controller
@@ -361,10 +360,10 @@ void AC_PosControl::rate_to_accel_z()
     p = _p_vel_z.kP() * _vel_error.z;
 
     // consolidate and constrain target acceleration
-    desired_accel = _accel_feedforward.z + p;
+    _accel_target.z = _accel_feedforward.z + p;
 
     // set target for accel based throttle controller
-    accel_to_throttle(desired_accel);
+    accel_to_throttle(_accel_target.z);
 }
 
 // accel_to_throttle - alt hold's acceleration controller
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index cb1ce243b8..ef8be40cd9 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -93,6 +93,9 @@ public:
     /// get_speed_down - accessors for current down speed in cm/s.  Will be a negative number
     float get_speed_down() const { return _speed_down_cms; }
 
+    /// get_vel_target_z - returns current vertical speed in cm/s
+    float get_vel_target_z() const { return _vel_target.z; }
+
     /// set_accel_z - set vertical acceleration in cm/s/s
     ///     leash length will be recalculated the next time update_z_controller() is called
     void set_accel_z(float accel_cmss);