diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 7569dc2072..cc2d6b90bd 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -49,9 +49,16 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_RLL_FF
+    // @DisplayName: Roll axis rate controller feed forward
+    // @Description: Roll axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_RLL_FILT
-    // @DisplayName: Roll axis rate conroller input frequency in Hz
-    // @Description: Roll axis rate conroller input frequency in Hz
+    // @DisplayName: Roll axis rate controller input frequency in Hz
+    // @Description: Roll axis rate controller input frequency in Hz
     // @Units: Hz
     // @Range: 1 20
     // @Increment: 1
@@ -85,9 +92,16 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_PIT_FF
+    // @DisplayName: Pitch axis rate controller feed forward
+    // @Description: Pitch axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_PIT_FILT
-    // @DisplayName: Pitch axis rate conroller input frequency in Hz
-    // @Description: Pitch axis rate conroller input frequency in Hz
+    // @DisplayName: Pitch axis rate controller input frequency in Hz
+    // @Description: Pitch axis rate controller input frequency in Hz
     // @Units: Hz
     // @Range: 1 20
     // @Increment: 1
@@ -121,9 +135,16 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_YAW_FF
+    // @DisplayName: Yaw axis rate controller feed forward
+    // @Description: Yaw axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_YAW_FILT
-    // @DisplayName: Yaw axis rate conroller input frequency in Hz
-    // @Description: Yaw axis rate conroller input frequency in Hz
+    // @DisplayName: Yaw axis rate controller input frequency in Hz
+    // @Description: Yaw axis rate controller input frequency in Hz
     // @Units: Hz
     // @Range: 1 20
     // @Increment: 1
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
index 0241ebc4e9..8abcf594d8 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -36,6 +36,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_RLL_FF
+    // @DisplayName: Roll axis rate controller feed forward
+    // @Description: Roll axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_RLL_FILT
     // @DisplayName: Roll axis rate controller input frequency in Hz
     // @Description: Roll axis rate controller input frequency in Hz
@@ -74,6 +81,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_PIT_FF
+    // @DisplayName: Pitch axis rate controller feed forward
+    // @Description: Pitch axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_PIT_FILT
     // @DisplayName: Pitch axis rate controller input frequency in Hz
     // @Description: Pitch axis rate controller input frequency in Hz
@@ -112,6 +126,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_YAW_FF
+    // @DisplayName: Yaw axis rate controller feed forward
+    // @Description: Yaw axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_YAW_FILT
     // @DisplayName: Yaw axis rate controller input frequency in Hz
     // @Description: Yaw axis rate controller input frequency in Hz
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
index 68c106c1b5..8fe79c81bb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
@@ -36,6 +36,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_RLL_FF
+    // @DisplayName: Roll axis rate controller feed forward
+    // @Description: Roll axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_RLL_FILT
     // @DisplayName: Roll axis rate controller input frequency in Hz
     // @Description: Roll axis rate controller input frequency in Hz
@@ -74,6 +81,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_PIT_FF
+    // @DisplayName: Pitch axis rate controller feed forward
+    // @Description: Pitch axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_PIT_FILT
     // @DisplayName: Pitch axis rate controller input frequency in Hz
     // @Description: Pitch axis rate controller input frequency in Hz
@@ -112,6 +126,13 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
+    // @Param: RAT_YAW_FF
+    // @DisplayName: Yaw axis rate controller feed forward
+    // @Description: Yaw axis rate controller feed forward
+    // @Range: 0 0.5
+    // @Increment: 0.001
+    // @User: Standard
+
     // @Param: RAT_YAW_FILT
     // @DisplayName: Yaw axis rate controller input frequency in Hz
     // @Description: Yaw axis rate controller input frequency in Hz