diff --git a/src/main/config/config.c b/src/main/config/config.c
index 665d3fd3c0..3461d7e2cc 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -270,6 +270,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
     batteryConfig->vbatmaxcellvoltage = 43;
     batteryConfig->vbatmincellvoltage = 33;
     batteryConfig->vbatwarningcellvoltage = 35;
+    batteryConfig->vbatPidCompensation = 0;
     batteryConfig->currentMeterOffset = 0;
     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
     batteryConfig->batteryCapacity = 0;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index ae6eb57ed8..af5dd34b64 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -43,6 +43,7 @@
 
 #include "sensors/sensors.h"
 #include "sensors/acceleration.h"
+#include "sensors/battery.h"
 
 #include "flight/mixer.h"
 #include "flight/failsafe.h"
@@ -775,6 +776,8 @@ void mixTable(void)
             axisPID[ROLL] * currentMixer[i].roll +
             -mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
 
+        if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] *= calculateVbatPidCompensation();  // Add voltage PID compensation
+
         if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
         if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];
     }
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 6bd9f4c245..5bea5bea40 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -581,6 +581,7 @@ const clivalue_t valueTable[] = {
     { "vbat_max_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmaxcellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_min_cell_voltage",      VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatmincellvoltage, .config.minmax = { 10,  50 } },
     { "vbat_warning_cell_voltage",  VAR_UINT8  | MASTER_VALUE,  &masterConfig.batteryConfig.vbatwarningcellvoltage, .config.minmax = { 10,  50 } },
+    { "vbat_pid_compensation",      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "current_meter_scale",        VAR_INT16  | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterScale, .config.minmax = { -10000,  10000 } },
     { "current_meter_offset",       VAR_UINT16 | MASTER_VALUE,  &masterConfig.batteryConfig.currentMeterOffset, .config.minmax = { 0,  3300 } },
     { "multiwii_current_meter_output", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.batteryConfig.multiwiiCurrentMeterOutput, .config.lookup = { TABLE_OFF_ON } },
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 7419eded90..be9dc826b2 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -51,8 +51,6 @@ uint16_t amperageLatestADC = 0;     // most recent raw reading from current ADC
 int32_t amperage = 0;               // amperage read by current sensor in centiampere (1/100th A)
 int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery since start
 
-batteryConfig_t *batteryConfig;
-
 static batteryState_e batteryState;
 static lowpass_t lowpassFilter;
 
@@ -207,6 +205,15 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
     mAhDrawn = mAhdrawnRaw / (3600 * 100);
 }
 
+float calculateVbatPidCompensation(void) {
+	float batteryScaler =  1.0f;
+    if (batteryConfig->vbatPidCompensation && feature(FEATURE_VBAT) && batteryCellCount > 1) {
+        batteryScaler =  0.2f + constrainf(batteryWarningVoltage / vbat, 0.80f, 1.0f);   // Up to 20% increment. Should be fine for 3,3 to 4,2 difference
+    }
+
+    return batteryScaler;
+}
+
 uint8_t calculateBatteryPercentage(void)
 {
     return (((uint32_t)vbat - (batteryConfig->vbatmincellvoltage * batteryCellCount)) * 100) / ((batteryConfig->vbatmaxcellvoltage - batteryConfig->vbatmincellvoltage) * batteryCellCount);
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index a836c7c1fe..9a284aa048 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -39,6 +39,7 @@ typedef struct batteryConfig_s {
     uint8_t vbatmaxcellvoltage;             // maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, default is 43 (4.3V)
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
     uint8_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
+    uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
 
     int16_t currentMeterScale;             // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
     uint16_t currentMeterOffset;            // offset of the current sensor in millivolt steps
@@ -70,9 +71,11 @@ batteryState_e getBatteryState(void);
 const  char * getBatteryStateString(void);
 void updateBattery(void);
 void batteryInit(batteryConfig_t *initialBatteryConfig);
+batteryConfig_t *batteryConfig;
 
 void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 int32_t currentMeterToCentiamps(uint16_t src);
 
+float calculateVbatPidCompensation(void);
 uint8_t calculateBatteryPercentage(void);
 uint8_t calculateBatteryCapacityRemainingPercentage(void);