diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index acdb74dd9c..090c8aa2ed 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -696,6 +696,7 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
  // provide 0 to cut motors
 void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_boost)
 {
+    _motors.set_stabilizing(true);
     if (apply_angle_boost) {
         _motors.set_throttle(get_angle_boost(throttle_out));
     }else{
@@ -705,6 +706,18 @@ void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_b
     }
 }
 
+// outputs a throttle to all motors evenly with no attitude stabilization
+void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control)
+{
+    if (reset_attitude_control) {
+        relax_bf_rate_controller();
+        set_yaw_target_to_current_heading();
+    }
+    _motors.set_stabilizing(false);
+    _motors.set_throttle(throttle_in);
+    _angle_boost = 0;
+}
+
 // get_angle_boost - returns a throttle including compensation for roll/pitch angle
 // throttle value should be 0 ~ 1000
 float AC_AttitudeControl::get_angle_boost(float throttle_pwm)
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 71f2ae945e..36aa64211a 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -179,9 +179,11 @@ public:
     //
 
      // set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
-     // provide 0 to cut motors
      void set_throttle_out(float throttle_pwm, bool apply_angle_boost);
 
+     // outputs a throttle to all motors evenly with no stabilization
+     void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control);
+
      // angle_boost - accessor for angle boost so it can be logged
      int16_t angle_boost() const { return _angle_boost; }