diff --git a/src/lib/rate_control/rate_control.cpp b/src/lib/rate_control/rate_control.cpp
index 77b776ba11..fca9b74268 100644
--- a/src/lib/rate_control/rate_control.cpp
+++ b/src/lib/rate_control/rate_control.cpp
@@ -47,13 +47,27 @@ void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f
 	_gain_d = D;
 }
 
-void RateControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
-				      const Vector<bool, 3> &saturation_negative)
+void RateControl::setSaturationStatus(const Vector3<bool> &saturation_positive,
+				      const Vector3<bool> &saturation_negative)
 {
 	_control_allocator_saturation_positive = saturation_positive;
 	_control_allocator_saturation_negative = saturation_negative;
 }
 
+void RateControl::setPositiveSaturationFlag(size_t axis, bool is_saturated)
+{
+	if (axis < 3) {
+		_control_allocator_saturation_positive(axis) = is_saturated;
+	}
+}
+
+void RateControl::setNegativeSaturationFlag(size_t axis, bool is_saturated)
+{
+	if (axis < 3) {
+		_control_allocator_saturation_negative(axis) = is_saturated;
+	}
+}
+
 Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel,
 			     const float dt, const bool landed)
 {
diff --git a/src/lib/rate_control/rate_control.hpp b/src/lib/rate_control/rate_control.hpp
index 1db18ee092..353a03f17e 100644
--- a/src/lib/rate_control/rate_control.hpp
+++ b/src/lib/rate_control/rate_control.hpp
@@ -75,8 +75,16 @@ public:
 	 * Set saturation status
 	 * @param control saturation vector from control allocator
 	 */
-	void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
-				 const matrix::Vector<bool, 3> &saturation_negative);
+	void setSaturationStatus(const matrix::Vector3<bool> &saturation_positive,
+				 const matrix::Vector3<bool> &saturation_negative);
+
+	/**
+	 * Set individual saturation flags
+	 * @param axis 0 roll, 1 pitch, 2 yaw
+	 * @param is_saturated value to update the flag with
+	 */
+	void setPositiveSaturationFlag(size_t axis, bool is_saturated);
+	void setNegativeSaturationFlag(size_t axis, bool is_saturated);
 
 	/**
 	 * Run one control loop cycle calculation