diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 23f6084b85..6afdc3fa55 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -607,7 +607,7 @@ float AC_AttitudeControl::rate_target_to_motor_roll(float rate_target_rads)
     }
 
     // Compute output in range -1 ~ +1
-    float output = get_rate_roll_pid().get_p() + integrator + get_rate_roll_pid().get_d();
+    float output = get_rate_roll_pid().get_p() + integrator + get_rate_roll_pid().get_d() + get_rate_roll_pid().get_ff(rate_target_rads);
 
     // Constrain output
     return constrain_float(output, -1.0f, 1.0f);
@@ -631,7 +631,7 @@ float AC_AttitudeControl::rate_target_to_motor_pitch(float rate_target_rads)
     }
 
     // Compute output in range -1 ~ +1
-    float output = get_rate_pitch_pid().get_p() + integrator + get_rate_pitch_pid().get_d();
+    float output = get_rate_pitch_pid().get_p() + integrator + get_rate_pitch_pid().get_d() + get_rate_pitch_pid().get_ff(rate_target_rads);
 
     // Constrain output
     return constrain_float(output, -1.0f, 1.0f);
@@ -655,7 +655,7 @@ float AC_AttitudeControl::rate_target_to_motor_yaw(float rate_target_rads)
     }
 
     // Compute output in range -1 ~ +1
-    float output = get_rate_yaw_pid().get_p() + integrator + get_rate_yaw_pid().get_d();
+    float output = get_rate_yaw_pid().get_p() + integrator + get_rate_yaw_pid().get_d() + get_rate_yaw_pid().get_ff(rate_target_rads);
 
     // Constrain output
     return constrain_float(output, -1.0f, 1.0f);
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 1e2f049b05..7569dc2072 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -305,8 +305,8 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
     }
     
     // For legacy reasons, we convert to centi-degrees before inputting to the feedforward
-    roll_ff = roll_feedforward_filter.apply(_pid_rate_roll.get_vff(rate_roll_target_rads), _dt);
-    pitch_ff = pitch_feedforward_filter.apply(_pid_rate_pitch.get_vff(rate_pitch_target_rads), _dt);
+    roll_ff = roll_feedforward_filter.apply(_pid_rate_roll.get_ff(rate_roll_target_rads), _dt);
+    pitch_ff = pitch_feedforward_filter.apply(_pid_rate_pitch.get_ff(rate_pitch_target_rads), _dt);
 
     // add feed forward and final output
     roll_out = roll_pd + roll_i + roll_ff;
@@ -390,7 +390,7 @@ float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_target_rads)
     }
     
     // For legacy reasons, we convert to centi-degrees before inputting to the feedforward
-    vff = yaw_velocity_feedforward_filter.apply(_pid_rate_yaw.get_vff(rate_target_rads), _dt);
+    vff = yaw_velocity_feedforward_filter.apply(_pid_rate_yaw.get_ff(rate_target_rads), _dt);
     
     // add feed forward
     yaw_out = pd + i + vff;