diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index b4f7c08881..79ea99e33d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -640,6 +640,24 @@ float AC_AttitudeControl::rate_bf_to_motor_yaw(float rate_target_cds)
     // To-Do: allow logging of PIDs?
 }
 
+// accel_limiting - enable or disable accel limiting
+void AC_AttitudeControl::accel_limiting(bool enable_limits)
+{
+    if (enable_limits) {
+        // if enabling limits, reload from eeprom or set to defaults
+        if (_accel_rp_max == 0.0f) {
+            _accel_rp_max.load();
+        }
+        if (_accel_y_max == 0.0f) {
+            _accel_y_max.load();
+        }
+    } else {
+        // if disabling limits, set to zero
+        _accel_rp_max = 0.0f;
+        _accel_y_max = 0.0f;
+    }
+    hal.console->printf_P(PSTR("AccLim:%d"),(int)enable_limits);
+}
 
 //
 // throttle functions
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 3b758240a8..029263cfc4 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -134,6 +134,12 @@ public:
     void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; }
     void rate_bf_yaw_target(float rate_cds) { _rate_bf_target.z = rate_cds; }
 
+    // enable_bf_feedforward - enable or disable body-frame feed forward
+    void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
+
+    // enable_bf_feedforward - enable or disable body-frame feed forward
+    void accel_limiting(bool enable_or_disable);
+
     //
     // throttle functions
     //