diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index bd628108c5..004507800b 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -123,7 +123,7 @@ void AC_PID::slew_limit(float smax)
 //  target and error are filtered
 //  the derivative is then calculated and filtered
 //  the integral is then updated based on the setting of the limit flag
-float AC_PID::update_all(float target, float measurement, float dt, bool limit)
+float AC_PID::update_all(float target, float measurement, float dt, bool limit, float boost)
 {
     // don't process inf or NaN
     if (!isfinite(target) || !isfinite(measurement)) {
@@ -161,6 +161,10 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit)
     P_out *= _pid_info.Dmod;
     D_out *= _pid_info.Dmod;
 
+    // boost output if required
+    P_out *= boost;
+    D_out *= boost;
+
     _pid_info.target = _target;
     _pid_info.actual = measurement;
     _pid_info.error = _error;
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 8e4f735c4c..1bf3a0163b 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -31,7 +31,7 @@ public:
     //  target and error are filtered
     //  the derivative is then calculated and filtered
     //  the integral is then updated based on the setting of the limit flag
-    float update_all(float target, float measurement, float dt, bool limit = false);
+    float update_all(float target, float measurement, float dt, bool limit = false, float boost = 1.0f);
 
     //  update_error - set error input to PID controller and calculate outputs
     //  target is set to zero and error is set and filtered