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There is a Legacy version here.

PFS StandardCompanion's Cry Feat 4

Ranger 
Source Player Core pg. 159
Archetypes Beastmaster*, Mammoth Lord*, Undead Master*
Prerequisites an animal companion
* This archetype offers Companion's Cry at a different level than displayed here.

You can urge your companion to do its utmost. You can spend 2 actions to Command an Animal instead of 1 when commanding your animal companion. If you do, your animal companion uses an additional action.

Archetype Use

This feat can be used for one or more Archetypes in addition to the listed Classes. When selected this way, the feat is not considered to have its class traits.