diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 89c45a5bb0..c7d04fd24e 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -57,6 +57,13 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("ACCEL_P_MAX", 7, AC_AttitudeControl, _accel_pitch_max, AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT),
 
+    // @Param: ANGLE_BOOST
+    // @DisplayName: Angle Boost
+    // @Description: Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("ANGLE_BOOST", 12, AC_AttitudeControl, _angle_boost_enabled, 1),
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index c227a63244..bae0ff093b 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -286,6 +286,7 @@ protected:
     AP_Float            _accel_pitch_max;          // maximum rotation acceleration for earth-frame pitch axis
     AP_Float            _accel_yaw_max;           // maximum rotation acceleration for earth-frame yaw axis
     AP_Int8             _rate_bf_ff_enabled;    // Enable/Disable body frame rate feed forward
+    AP_Int8             _angle_boost_enabled;   // Enable/Disable angle boost
 
     // internal variables
     // To-Do: make rate targets a typedef instead of Vector3f?
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 223daa9cac..a7f23210c9 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -8,6 +8,10 @@
 // throttle value should be 0 ~ 1000
 float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
 {
+    if (!_angle_boost_enabled) {
+        return throttle_in;
+        _angle_boost = 0;
+    }
     // inverted_factor is 1 for tilt angles below 60 degrees
     // reduces as a function of angle beyond 60 degrees
     // becomes zero at 90 degrees