diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index cf4e85628b..810a6172a6 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -76,7 +76,9 @@ public:
 	k_param_heli_ext_gyro_enabled,
 	k_param_heli_ext_gyro_gain,
 	k_param_heli_servo_averaging,
-	k_param_heli_servo_manual, // 95
+	k_param_heli_servo_manual,
+	k_param_heli_phase_angle, 
+	k_param_heli_coll_yaw_effect, // 97
 	#endif
 
 	// 110: Telemetry control
@@ -248,13 +250,15 @@ public:
 	#if FRAME_CONFIG ==	HELI_FRAME
 	// Heli
 	RC_Channel	heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;	// servos for swash plate and tail
-	AP_Int16	heli_servo1_pos, heli_servo2_pos, heli_servo3_pos;			// servo positions (3 because we don't need pos for tail servo)
+	AP_Int16	heli_servo1_pos, heli_servo2_pos, heli_servo3_pos;		// servo positions (3 because we don't need pos for tail servo)
 	AP_Int16	heli_roll_max, heli_pitch_max;	// maximum allowed roll and pitch of swashplate
 	AP_Int16	heli_coll_min, heli_coll_max, heli_coll_mid;		// min and max collective.	mid = main blades at zero pitch
 	AP_Int8		heli_ext_gyro_enabled;	// 0 = no external tail gyro, 1 = external tail gyro
 	AP_Int16	heli_ext_gyro_gain;		// radio output 1000~2000 (value output on CH_7)
 	AP_Int8		heli_servo_averaging;	// 0 or 1 = no averaging (250hz) for **digital servos**, 2=average of two samples (125hz), 3=three samples (83.3hz) **analog servos**, 4=four samples (62.5hz), 5=5 samples(50hz)
 	AP_Int8		heli_servo_manual;	    // 0 = normal mode, 1 = radio inputs directly control swash.  required for swash set-up
+	AP_Int16	heli_phase_angle;		// 0 to 360 degrees.  specifies mixing between roll and pitch for helis
+	AP_Float	heli_coll_yaw_effect;	// -5.0 ~ 5.0.  Feed forward control from collective to yaw.  1.0 = move rudder right 1% for every 1% of collective above the mid point 
 	#endif
 
 	// RC channels
@@ -364,6 +368,8 @@ public:
 	heli_ext_gyro_gain		(1000,						k_param_heli_ext_gyro_gain,				PSTR("GYR_GAIN_")),
 	heli_servo_averaging	(0,							k_param_heli_servo_averaging,			PSTR("SV_AVG")),
 	heli_servo_manual		(0,							k_param_heli_servo_manual,				PSTR("HSV_MAN")),
+	heli_phase_angle		(0,							k_param_heli_phase_angle,				PSTR("H_PHANG")),
+	heli_coll_yaw_effect	(0,							k_param_heli_coll_yaw_effect,			PSTR("H_COLYAW")),
 	#endif
 
 	// RC channel			group key					name
diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index b445762ccd..7b6c357583 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -28,14 +28,14 @@ static void heli_init_swash()
 	g.heli_servo_4.set_angle(4500);
 
 	// pitch factors
-	heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos));
-	heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos));
-	heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos));
+	heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos + g.heli_phase_angle));
+	heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos + g.heli_phase_angle));
+	heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos + g.heli_phase_angle));
 
 	// roll factors
-    heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90));
-	heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90));
-	heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90));
+    heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 + g.heli_phase_angle));
+	heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 + g.heli_phase_angle));
+	heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 + g.heli_phase_angle));
 
 	// collective min / max
 	total_tilt_max = 0;
@@ -81,18 +81,26 @@ static void heli_move_servos_to_mid()
 //
 static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
 {	
-    // ensure values are acceptable:
+    int yaw_offset = 0;
+	
+    // regular flight mode checks
 	if( g.heli_servo_manual != 1) {
+	    // ensure values are acceptable:
 		roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
 		pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
 		coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
+		
+		// rudder feed forward based on collective
+		if( !g.heli_ext_gyro_enabled ) {
+			yaw_offset = g.heli_coll_yaw_effect * (coll_out - g.heli_coll_mid);
+		}
 	}
 
 	// swashplate servos
 	g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_1.radio_trim-1500);
 	g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_2.radio_trim-1500);
 	g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_3.radio_trim-1500);
-	g.heli_servo_4.servo_out = yaw_out;
+	g.heli_servo_4.servo_out = yaw_out + yaw_offset;
 
 	// use servo_out to calculate pwm_out and radio_out
 	g.heli_servo_1.calc_pwm();