diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 4489c23fa1..33be706141 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -444,7 +444,12 @@ void Plane::stabilize_acro(float speed_scaler)
 
     steering_control.steering = rudder_input();
 
-    if (plane.g2.flight_options & FlightOptions::ACRO_YAW_DAMPER) {
+    if (g.acro_yaw_rate > 0 && yawController.rate_control_enabled()) {
+        // user has asked for yaw rate control with yaw rate scaled by ACRO_YAW_RATE
+        const float rudd_expo = rudder_in_expo(true);
+        const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
+        steering_control.steering = steering_control.rudder = yawController.get_rate_out(yaw_rate,  speed_scaler, false);
+    } else if (plane.g2.flight_options & FlightOptions::ACRO_YAW_DAMPER) {
         // use yaw controller
         calc_nav_yaw_coordinated(speed_scaler);
     } else {
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 77924d7ce6..f000c2434c 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -544,6 +544,15 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Standard
     GSCALAR(acro_pitch_rate,          "ACRO_PITCH_RATE",  180),
 
+    // @Param: ACRO_YAW_RATE
+    // @DisplayName: ACRO mode yaw rate
+    // @Description: The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input
+    // @Units: deg/s
+    // @Range: 0 500
+    // @Increment: 1
+    // @User: Standard
+    GSCALAR(acro_yaw_rate,            "ACRO_YAW_RATE",    0),
+    
     // @Param: ACRO_LOCKING
     // @DisplayName: ACRO mode attitude locking
     // @Description: Enable attitude locking when sticks are released
@@ -811,9 +820,9 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/APM_Control/AP_PitchController.cpp
     GOBJECT(pitchController,        "PTCH",  AP_PitchController),
 
-    // @Group: YAW2SRV_
+    // @Group: YAW
     // @Path: ../libraries/APM_Control/AP_YawController.cpp
-	GOBJECT(yawController,          "YAW2SRV_",   AP_YawController),
+    GOBJECT(yawController,          "YAW",   AP_YawController),
 
     // @Group: STEER2SRV_
     // @Path: ../libraries/APM_Control/AP_SteerController.cpp
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index a51237f090..bd770d3c5f 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -351,6 +351,7 @@ public:
         k_param_gcs5,          // stream rates
         k_param_gcs6,          // stream rates
         k_param_fence,         // vehicle fence
+        k_param_acro_yaw_rate,
     };
 
     AP_Int16 format_version;
@@ -420,6 +421,7 @@ public:
     AP_Int16 alt_offset;
     AP_Int16 acro_roll_rate;
     AP_Int16 acro_pitch_rate;
+    AP_Int16 acro_yaw_rate;
     AP_Int8  acro_locking;
 
     // Misc