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diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.h b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
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+++ b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file limitoverride.h
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+
+#ifndef LIMITOVERRIDE_H_
+#define LIMITOVERRIDE_H_
+
+#include "mTecs_blocks.h"
+
+namespace fwPosctrl
+{
+
+/* A small class which provides helper functions to override control output limits which are usually set by
+* parameters in special cases
+*/
+class LimitOverride
+{
+public:
+	LimitOverride() :
+		overrideThrottleMinEnabled(false),
+		overrideThrottleMaxEnabled(false),
+		overridePitchMinEnabled(false),
+		overridePitchMaxEnabled(false)
+	{};
+
+	~LimitOverride() {};
+
+	/*
+	* Override the limits of the outputlimiter instances given by the arguments with the limits saved in
+	* this class (if enabled)
+	* @return true if the limit was applied
+	*/
+	bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
+			BlockOutputLimiter &outputLimiterPitch);
+
+	/* Functions to enable or disable the override */
+	void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
+			&overrideThrottleMin, value); }
+	void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
+	void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
+			&overrideThrottleMax, value); }
+	void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
+	void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
+			&overridePitchMin, value); }
+	void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
+	void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
+			&overridePitchMax, value); }
+	void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
+
+protected:
+	bool overrideThrottleMinEnabled;
+	float overrideThrottleMin;
+	bool overrideThrottleMaxEnabled;
+	float overrideThrottleMax;
+	bool overridePitchMinEnabled;
+	float overridePitchMin; //in degrees (replaces param values)
+	bool overridePitchMaxEnabled;
+	float overridePitchMax; //in degrees (replaces param values)
+
+	/* Enable a specific limit override */
+	void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; };
+
+	/* Disable a specific limit override */
+	void disable(bool *flag) { *flag = false; };
+};
+
+} /* namespace fwPosctrl */
+
+#endif /* LIMITOVERRIDE_H_ */