diff --git a/libraries/AP_Common/AP_Common.cpp b/libraries/AP_Common/AP_Common.cpp
index 25c4fb54a7..eb29870f7c 100644
--- a/libraries/AP_Common/AP_Common.cpp
+++ b/libraries/AP_Common/AP_Common.cpp
@@ -23,3 +23,16 @@
 
 extern const AP_HAL::HAL& hal;
 
+/*
+  Return true if value is between lower and upper bound.  False otherwise.
+*/
+bool is_bounded(int32_t value, int32_t lower_bound, int32_t upper_bound)
+{
+    if ((lower_bound < upper_bound) &&
+        (value > lower_bound) && (value < upper_bound)) {
+        return true;
+    }
+
+    return false;
+
+}
diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
index 6615df13aa..ea17cd1a75 100644
--- a/libraries/AP_Common/AP_Common.h
+++ b/libraries/AP_Common/AP_Common.h
@@ -155,4 +155,7 @@ enum HomeState {
 #define AP_PRODUCT_ID_MPU9250           0x103   // MPU9250
 #define AP_PRODUCT_ID_VRBRAIN           0x150   // VRBRAIN on NuttX
 
+
+bool is_bounded(int32_t value, int32_t lower_bound, int32_t upper_bound);
+
 #endif // _AP_COMMON_H