diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index bc18fd189f..25ada3500c 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -248,6 +248,8 @@ void AC_AttitudeControl_Heli::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cd
 // should be called at 100hz or more
 void AC_AttitudeControl_Heli::rate_controller_run()
 {	
+    _rate_target_ang_vel += _rate_sysid_ang_vel;
+
     Vector3f gyro_latest = _ahrs.get_gyro_latest();
 
     // call rate controllers and send output to motors object
@@ -263,6 +265,10 @@ void AC_AttitudeControl_Heli::rate_controller_run()
     } else {
         _motors.set_yaw(rate_target_to_motor_yaw(gyro_latest.z, _rate_target_ang_vel.z));
     }
+
+    _rate_sysid_ang_vel.zero();
+    _actuator_sysid.zero();
+
 }
 
 // Update Alt_Hold angle maximum
@@ -287,13 +293,13 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(const Vector3f &rate_r
     if (_flags_heli.leaky_i) {
         _pid_rate_roll.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
     }
-    float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _flags_heli.limit_roll);
+    float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _flags_heli.limit_roll) + _actuator_sysid.x;
 
     if (_flags_heli.leaky_i) {
         _pid_rate_pitch.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
     }
 
-    float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _flags_heli.limit_pitch);
+    float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _flags_heli.limit_pitch) + _actuator_sysid.y;
 
     // use pid library to calculate ff
     float roll_ff = _pid_rate_roll.get_ff();
@@ -349,7 +355,7 @@ float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_yaw_actual_ra
         _pid_rate_yaw.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
     }
 
-    float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _flags_heli.limit_yaw);
+    float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _flags_heli.limit_yaw) + _actuator_sysid.z;
 
     // use pid library to calculate ff
     float vff = _pid_rate_yaw.get_ff();