diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 4499d26900..56dcf60488 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -88,6 +88,12 @@ float PID::get_pid(float error, float scaler)
     return output;
 }
 
+int16_t PID::get_pid_4500(float error, float scaler)
+{
+	float v = get_pid(error, scaler);
+	return constrain(v, -4500, 4500);
+}
+
 void
 PID::reset_I()
 {
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index aced3e566a..b1890e0cb8 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -42,6 +42,9 @@ public:
     ///
     float        get_pid(float error, float scaler = 1.0);
 
+	// get_pid() constrained to +/- 4500
+    int16_t     get_pid_4500(float error, float scaler = 1.0);
+
     /// Reset the PID integrator
     ///
     void        reset_I();