diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 947975a0a1686..ad387e571c473 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -317,6 +317,27 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("THR_G_BOOST", 7, AC_AttitudeControl_Multi, _throttle_gain_boost, 0.0f),
 
+    // @Param: PD_RLL_SCALE
+    // @DisplayName: PD scale factor for Roll
+    // @Description: Scale factor that is to be applied to Roll PDs
+    // @Range: 0.1 1.0
+    // @User: Advanced
+    AP_GROUPINFO("PD_RLL_SCALE", 8, AC_AttitudeControl_Multi, _pd_scale_roll, 1.0f),
+
+    // @Param: PD_PIT_SCALE
+    // @DisplayName: PD scale factor for Pitch
+    // @Description: Scale factor that is to be applied to Pitch PDs
+    // @Range: 0.1 1.0
+    // @User: Advanced
+    AP_GROUPINFO("PD_PIT_SCALE", 9, AC_AttitudeControl_Multi, _pd_scale_pitch, 1.0f),
+
+    // @Param: PD_YAW_SCALE
+    // @DisplayName: PD scale factor for Yaw
+    // @Description: Scale factor that is to be applied to Yaw PDs
+    // @Range: 0.1 1.0
+    // @User: Advanced
+    AP_GROUPINFO("PD_YAW_SCALE", 10, AC_AttitudeControl_Multi, _pd_scale_yaw, 1.0f),
+
     AP_GROUPEND
 };
 
@@ -464,7 +485,10 @@ void AC_AttitudeControl_Multi::rate_controller_run()
     _actuator_sysid.zero();
 
     _pd_scale_used = _pd_scale;
-    _pd_scale = VECTORF_111;
+    // reset the scale back to the default
+    _pd_scale.x = _pd_scale_roll;
+    _pd_scale.y = _pd_scale_pitch;
+    _pd_scale.z = _pd_scale_yaw;
 
     control_monitor_update();
 }
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index 55359a1edb6fb..2cd622ffcde8a 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -149,4 +149,7 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
 
     // angle_p/pd boost multiplier
     AP_Float              _throttle_gain_boost;
+    AP_Float              _pd_scale_roll; // PD roll default scale factor
+    AP_Float              _pd_scale_pitch; // PD pitch default scale factor
+    AP_Float              _pd_scale_yaw; // PD yaw default scale factor
 };
diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 166be7b7b3122..e0447668dff00 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -190,7 +190,7 @@ void AC_PID::set_notch_sample_rate(float sample_rate)
 //  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 boost)
+float AC_PID::update_all(float target, float measurement, float dt, bool limit, float scale)
 {
     // don't process inf or NaN
     if (!isfinite(target) || !isfinite(measurement)) {
@@ -252,9 +252,9 @@ 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;
+    // scale output if required
+    P_out *= scale;
+    D_out *= scale;
 
     _pid_info.PD_limit = false;
     // Apply PD sum limit if enabled
@@ -318,6 +318,7 @@ void AC_PID::update_i(float dt, bool limit)
     } else {
         _integrator = 0.0f;
     }
+
     _pid_info.I = _integrator;
     _pid_info.limit = limit;
 
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index fbbebcac7db78..a5b476640233e 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -62,7 +62,7 @@ class AC_PID {
     //  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 boost = 1.0f);
+    float update_all(float target, float measurement, float dt, bool limit = false, float scale = 1.0f);
 
     //  update_error - set error input to PID controller and calculate outputs
     //  target is set to zero and error is set and filtered