diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 78440419e5..9f3c83d12c 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -33,6 +33,25 @@ int32_t AC_PID::get_i(int32_t error, float dt)
     return 0;
 }
 
+// This is an integrator which tends to decay to zero naturally
+// if the error is zero.
+
+int32_t AC_PID::get_leaky_i(int32_t error, float dt, float leak_rate)
+{
+	if((_ki != 0) && (dt != 0)){
+		_integrator -= (float)_integrator * leak_rate;
+		_integrator += ((float)error * _ki) * dt;
+		if (_integrator < -_imax) {
+			_integrator = -_imax;
+		} else if (_integrator > _imax) {
+			_integrator = _imax;
+		}
+
+		return _integrator;
+	}
+	return 0;
+}
+
 int32_t AC_PID::get_d(int32_t input, float dt)
 {
     if ((_kd != 0) && (dt != 0)) {
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index fd2c07bb43..e01b2fae9e 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -54,6 +54,7 @@ public:
     int32_t         get_p(int32_t error);
     int32_t         get_i(int32_t error, float dt);
     int32_t         get_d(int32_t error, float dt);
+	int32_t 		get_leaky_i(int32_t error, float dt, float leak_rate);
 
 
     /// Reset the PID integrator