diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index be1a01351f..7d99b4d43e 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -49,7 +49,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_RLL_VFF
+    // @Param: RAT_RLL_FF
     // @DisplayName: Roll axis rate controller feed forward
     // @Description: Roll axis rate controller feed forward
     // @Range: 0.05 0.5
@@ -123,7 +123,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_PIT_VFF
+    // @Param: RAT_PIT_FF
     // @DisplayName: Pitch axis rate controller feed forward
     // @Description: Pitch axis rate controller feed forward
     // @Range: 0.05 0.5
@@ -197,7 +197,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
     // @Increment: 0.001
     // @User: Standard
 
-    // @Param: RAT_YAW_VFF
+    // @Param: RAT_YAW_FF
     // @DisplayName: Yaw axis rate controller feed forward
     // @Description: Yaw axis rate controller feed forward
     // @Range: 0 0.5
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index e56d9dbd92..b61e4cc4de 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -25,7 +25,7 @@
 #define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX   0.95f    // Heli's use 95% of max collective before limiting frame angle
 #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE  0.02f
 #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          10.0f
-#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER          10.0f
+#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER          10.0f
 #define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT    300
 #define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD   ToRad(30.0f)
 
@@ -38,7 +38,7 @@ public:
         AC_AttitudeControl(ahrs, aparm, motors, dt),
         _pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
         _pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
-        _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f, dt)
+        _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f, dt)
         {
             AP_Param::setup_object_defaults(this, var_info);