diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 7e875f29f3..48374f7a0e 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -897,6 +897,7 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_roll_rp = attitude_control->get_rate_roll_pid().kP();
     orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
     orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
+    orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
     orig_roll_sp = attitude_control->get_angle_roll_p().kP();
     orig_roll_accel = attitude_control->get_accel_roll_max();
     tune_roll_rp = attitude_control->get_rate_roll_pid().kP();
@@ -907,6 +908,7 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
     orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
     orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
+    orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
     orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
     orig_pitch_accel = attitude_control->get_accel_pitch_max();
     tune_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
@@ -917,6 +919,7 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
     orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
     orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
+    orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
     orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
     orig_yaw_accel = attitude_control->get_accel_yaw_max();
     orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
@@ -938,6 +941,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_roll_pid().kP(orig_roll_rp);
             attitude_control->get_rate_roll_pid().kI(orig_roll_ri);
             attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
+            attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
             attitude_control->get_angle_roll_p().kP(orig_roll_sp);
             attitude_control->set_accel_roll_max(orig_roll_accel);
         }
@@ -947,6 +951,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_pitch_pid().kP(orig_pitch_rp);
             attitude_control->get_rate_pitch_pid().kI(orig_pitch_ri);
             attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
+            attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
             attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
             attitude_control->set_accel_pitch_max(orig_pitch_accel);
         }
@@ -956,6 +961,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_yaw_pid().kP(orig_yaw_rp);
             attitude_control->get_rate_yaw_pid().kI(orig_yaw_ri);
             attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
+            attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
             attitude_control->get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
             attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
             attitude_control->set_accel_yaw_max(orig_yaw_accel);
@@ -976,6 +982,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_roll_pid().kP(tune_roll_rp);
             attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
             attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
+            attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
             attitude_control->get_angle_roll_p().kP(tune_roll_sp);
             attitude_control->set_accel_roll_max(tune_roll_accel);
         }
@@ -985,6 +992,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_pitch_pid().kP(tune_pitch_rp);
             attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
             attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
+            attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
             attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
             attitude_control->set_accel_pitch_max(tune_pitch_accel);
         }
@@ -994,6 +1002,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
             attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
             attitude_control->get_rate_yaw_pid().kD(0.0f);
+            attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
             attitude_control->get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
             attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
             attitude_control->set_accel_yaw_max(tune_yaw_accel);
@@ -1012,18 +1021,21 @@ void AC_AutoTune::load_intra_test_gains()
         attitude_control->get_rate_roll_pid().kP(orig_roll_rp);
         attitude_control->get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
+        attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
         attitude_control->get_angle_roll_p().kP(orig_roll_sp);
     }
     if (pitch_enabled()) {
         attitude_control->get_rate_pitch_pid().kP(orig_pitch_rp);
         attitude_control->get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
+        attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
         attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
     }
     if (yaw_enabled()) {
         attitude_control->get_rate_yaw_pid().kP(orig_yaw_rp);
         attitude_control->get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
         attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
+        attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
         attitude_control->get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
         attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
     }
@@ -1038,18 +1050,21 @@ void AC_AutoTune::load_twitch_gains()
         attitude_control->get_rate_roll_pid().kP(tune_roll_rp);
         attitude_control->get_rate_roll_pid().kI(tune_roll_rp*0.01f);
         attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
+        attitude_control->get_rate_roll_pid().ff(0.0f);
         attitude_control->get_angle_roll_p().kP(tune_roll_sp);
         break;
     case PITCH:
         attitude_control->get_rate_pitch_pid().kP(tune_pitch_rp);
         attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*0.01f);
         attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
+        attitude_control->get_rate_pitch_pid().ff(0.0f);
         attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
         break;
     case YAW:
         attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
         attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
         attitude_control->get_rate_yaw_pid().kD(0.0f);
+        attitude_control->get_rate_yaw_pid().ff(0.0f);
         attitude_control->get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
         attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
         break;
@@ -1090,6 +1105,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_roll_rp = attitude_control->get_rate_roll_pid().kP();
         orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
         orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
+        orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
         orig_roll_sp = attitude_control->get_angle_roll_p().kP();
         orig_roll_accel = attitude_control->get_accel_roll_max();
     }
@@ -1112,6 +1128,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
         orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
         orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
+        orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
         orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
         orig_pitch_accel = attitude_control->get_accel_pitch_max();
     }
@@ -1135,6 +1152,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
         orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
         orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
+        orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
         orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_hz();
         orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
         orig_yaw_accel = attitude_control->get_accel_pitch_max();
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index e6fac83090..acef8dccb5 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -183,9 +183,9 @@ private:
     LowPassFilterFloat  rotation_rate_filt;         // filtered rotation rate in radians/second
 
     // backup of currently being tuned parameter values
-    float    orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_sp, orig_roll_accel;
-    float    orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_sp, orig_pitch_accel;
-    float    orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
+    float    orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_sp, orig_roll_accel;
+    float    orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_sp, orig_pitch_accel;
+    float    orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
     bool     orig_bf_feedforward;
 
     // currently being tuned parameter values