diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 6460a5328d..70462e4cdc 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1051,6 +1051,18 @@ static void fast_loop()
     // --------------------------------------------------------------------
     update_trig();
 
+	// Acrobatic control
+    if (ap.do_flip) {
+        if(abs(g.rc_1.control_in) < 4000) {
+            // calling roll_flip will override the desired roll rate and throttle output
+            roll_flip();
+        }else{
+            // force an exit from the loop if we are not hands off sticks.
+            ap.do_flip = false;
+            Log_Write_Event(DATA_EXIT_FLIP);
+        }
+    }
+
     // run low level rate controllers that only require IMU data
     run_rate_controllers();
 
@@ -1087,7 +1099,6 @@ static void fast_loop()
 #ifdef USERHOOK_FASTLOOP
     USERHOOK_FASTLOOP
 #endif
-
 }
 
 static void medium_loop()
@@ -1622,17 +1633,6 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
 // 100hz update rate
 void update_roll_pitch_mode(void)
 {
-    if (ap.do_flip) {
-        if(abs(g.rc_1.control_in) < 4000) {
-            roll_flip();
-            return;
-        }else{
-            // force an exit from the loop if we are not hands off sticks.
-            ap.do_flip = false;
-            Log_Write_Event(DATA_EXIT_FLIP);
-        }
-    }
-
     switch(roll_pitch_mode) {
     case ROLL_PITCH_ACRO:
 
diff --git a/ArduCopter/flip.pde b/ArduCopter/flip.pde
index c049eb38e6..eb8b799e47 100644
--- a/ArduCopter/flip.pde
+++ b/ArduCopter/flip.pde
@@ -27,10 +27,6 @@ void init_flip()
 
 void roll_flip()
 {
-    // Pitch
-    //g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
-    get_stabilize_pitch(g.rc_2.control_in);
-
     int32_t roll = ahrs.roll_sensor * flip_dir;
 
     // Roll State machine
@@ -38,8 +34,11 @@ void roll_flip()
     case 0:
         if (roll < 4500) {
             // Roll control
-            g.rc_1.servo_out = AAP_ROLL_OUT * flip_dir;
-            set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
+			roll_rate_target_bf     = 40000 * flip_dir;
+		    if(ap.manual_throttle){
+    		    // increase throttle right before flip
+                set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
+            }
         }else{
             flip_state++;
         }
@@ -47,12 +46,15 @@ void roll_flip()
 
     case 1:
         if((roll >= 4500) || (roll < -9000)) {
-		#if FRAME_CONFIG == HELI_FRAME
-			g.rc_1.servo_out = get_heli_rate_roll(40000 * flip_dir);
-		#else
-            g.rc_1.servo_out = get_rate_roll(40000 * flip_dir);
-		#endif // HELI_FRAME
-        set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
+		    #if FRAME_CONFIG == HELI_FRAME
+				roll_rate_target_bf = 30000 * flip_dir;
+		    #else
+			    roll_rate_target_bf = 30000 * flip_dir;
+		    #endif
+		    // decrease throttle while inverted
+		    if(ap.manual_throttle){
+                set_throttle_out(g.rc_3.control_in - AAP_THR_DEC, false);
+            }
         }else{
             flip_state++;
             flip_timer = 0;
@@ -60,10 +62,15 @@ void roll_flip()
         break;
 
     case 2:
+        // 100 = 1 second with 100hz
         if (flip_timer < 100) {
-            //g.rc_1.servo_out = get_stabilize_roll(g.rc_1.control_in);
-            get_stabilize_roll(g.rc_1.control_in);
-            set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
+            // we no longer need to adjust the roll_rate. 
+            // It will be handled by normal flight control loops
+
+            // increase throttle to gain any lost alitude
+            if(ap.manual_throttle){
+                set_throttle_out(g.rc_3.control_in + AAP_THR_INC, false);
+            }
             flip_timer++;
         }else{
         	Log_Write_Event(DATA_END_FLIP);