Throttle vs battery voltage, APM2.8

I’m doing long range missions on Li-Ion, and as the voltage drops,so does the motor RPMs. If I set the throttle to an economical level, the power drops quite a lot by the time the battery is half depleted (the Li-Ions can go down below 3 volts).

Is there any way to have the APM compensate for this?

I’m told the Pixhawk can do it, but I have a number of nice planes with the APM deeply buried inside…

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