diff --git a/libraries/AC_PID/AC_HELI_PID.cpp b/libraries/AC_PID/AC_HELI_PID.cpp
index 0b1971f112..4b5cb56884 100644
--- a/libraries/AC_PID/AC_HELI_PID.cpp
+++ b/libraries/AC_PID/AC_HELI_PID.cpp
@@ -22,10 +22,10 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
     // @Description: D Gain which produces an output that is proportional to the rate of change of the error
     AP_GROUPINFO("D",    2, AC_HELI_PID, _kd, 0),
 
-    // @Param: VFF
+    // @Param: FF
     // @DisplayName: Velocity FF FeedForward Gain
     // @Description: Velocity FF Gain which produces an output value that is proportional to the demanded input
-    AP_GROUPINFO("VFF",    4, AC_HELI_PID, _vff, 0),
+    AP_GROUPINFO("FF",    4, AC_HELI_PID, _vff, 0),
 
     // @Param: IMAX
     // @DisplayName: PID Integral Maximum
@@ -37,10 +37,6 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] PROGMEM = {
     // @Description:
     AP_GROUPINFO("FILT_HZ", 6, AC_HELI_PID, _filt_hz, AC_PID_FILT_HZ_DEFAULT),
 
-    // @Param: AFF
-    // @DisplayName: Acceleration FF FeedForward Gain
-    // @Description: Acceleration FF Gain which produces an output value that is proportional to the change in demanded input
-    AP_GROUPINFO("AFF",    7, AC_HELI_PID, _aff, 0),
     AP_GROUPEND
 };
 
@@ -49,8 +45,6 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
     AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt)
 {
     _vff = initial_vff;
-    _aff = 0;
-    _last_requested_rate = 0;
 }
 
 float AC_HELI_PID::get_vff(float requested_rate)
@@ -59,22 +53,6 @@ float AC_HELI_PID::get_vff(float requested_rate)
     return _pid_info.FF;
 }
 
-float AC_HELI_PID::get_aff(float requested_rate)
-{
-    float derivative;
-
-    // calculate derivative
-    if (_dt > 0.0f) {
-        derivative = (requested_rate - _last_requested_rate) / _dt;
-    } else {
-        derivative = 0;
-    }
-
-    _pid_info.AFF = derivative * _aff;
-    _last_requested_rate = requested_rate;
-    return _pid_info.AFF;
-}
-
 // This is an integrator which tends to decay to zero naturally
 // if the error is zero.
 
diff --git a/libraries/AC_PID/AC_HELI_PID.h b/libraries/AC_PID/AC_HELI_PID.h
index 235931fabd..fc8bb29e5e 100644
--- a/libraries/AC_PID/AC_HELI_PID.h
+++ b/libraries/AC_PID/AC_HELI_PID.h
@@ -22,9 +22,6 @@ public:
 
     /// get_vff - return Velocity FeedForward Term 
     float       get_vff(float requested_rate);
-
-    /// get_avff - return Acceleration FeedForward Term 
-    float       get_aff(float requested_rate);
     
     /// get_leaky_i - replacement for get_i but output is leaded at leak_rate
     float       get_leaky_i(float leak_rate);
@@ -37,9 +34,6 @@ public:
     
 private:
     AP_Float        _vff;
-    AP_Float        _aff;
-
-    float           _last_requested_rate;       // Requested rate from last iteration, used to calculate rate change of requested rate
     
 };