diff --git a/applications/app_ppm.c b/applications/app_ppm.c
index 5aba5a8e..f71be2ff 100644
--- a/applications/app_ppm.c
+++ b/applications/app_ppm.c
@@ -333,6 +333,16 @@ static THD_FUNCTION(ppm_thread, arg) {
 			}
 			break;
 
+		case PPM_CTRL_TYPE_PID_POSITION: // make this an actual type.
+			if (fabsf(servo_val) < 0.001) {
+				pulses_without_power++;
+			}
+
+			if (!(pulses_without_power < MIN_PULSES_WITHOUT_POWER && config.safe_start)) {
+				mc_interface_set_pid_pos(servo_val * 360);
+			}
+			break;
+
 		default:
 			continue;
 		}
diff --git a/datatypes.h b/datatypes.h
index d89cb27e..5957f88b 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -550,12 +550,13 @@ typedef enum {
 	PPM_CTRL_TYPE_CURRENT,
 	PPM_CTRL_TYPE_CURRENT_NOREV,
 	PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE,
+	PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST,
+	PPM_CTRL_TYPE_CURRENT_SMART_REV,
 	PPM_CTRL_TYPE_DUTY,
 	PPM_CTRL_TYPE_DUTY_NOREV,
 	PPM_CTRL_TYPE_PID,
 	PPM_CTRL_TYPE_PID_NOREV,
-	PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST,
-	PPM_CTRL_TYPE_CURRENT_SMART_REV
+	PPM_CTRL_TYPE_PID_POSITION
 } ppm_control_type;
 
 typedef struct {