diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 4e94f38145..386e9fe1e0 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -17,7 +17,7 @@
 //#define DMP_ENABLED ENABLED
 //#define SECONDARY_DMP_ENABLED ENABLED       // allows running DMP in parallel with DCM for testing purposes
 
-//#define FRAME_CONFIG QUAD_FRAME
+#define FRAME_CONFIG HELI_FRAME
 /*
  *  options:
  *  QUAD_FRAME
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0effee7438..e5091cde67 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -798,6 +798,8 @@ static int8_t alt_change_flag;
 ////////////////////////////////////////////////////////////////////////////////
 // The Commanded Yaw from the autopilot.
 static int32_t nav_yaw;
+// Commanded Yaw to automatically look ahead.
+static int32_t look_ahead_yaw;
 // A speed governer for Yaw control - limits the rate the quad can be turned by the autopilot
 static int32_t auto_yaw;
 static uint8_t yaw_timer;
@@ -1520,6 +1522,17 @@ void update_yaw_mode(void)
         nav_yaw  = wrap_360(nav_yaw);
         get_stabilize_yaw(nav_yaw);
         break;
+		
+	case YAW_LOOK_AHEAD:
+		
+		if (g_gps->ground_speed > 300){														// Speed in cm/s. Create deadband of 3m/s.
+			look_ahead_yaw = (float)((g_gps->ground_speed - 300)/YAW_LOOK_AHEAD_RATE * (g_gps->ground_course - nav_yaw));
+			look_ahead_yaw = constrain ((look_ahead_yaw + g.rc_4.control_in), -4500, 4500);
+		} else { 
+			look_ahead_yaw = g.rc_4.control_in;
+		}
+		get_yaw_rate_stabilized_ef(look_ahead_yaw);
+        break;		
     }
 }
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 45f21f25de..277d37f42f 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -715,6 +715,10 @@
  # define STABILIZE_YAW_IMAX        8.0            // degrees * 100
 #endif
 
+#ifndef YAW_LOOK_AHEAD_RATE
+ # define YAW_LOOK_AHEAD_RATE		1000			// dimensionless, smaller number means stronger effect
+#endif
+
 
 //////////////////////////////////////////////////////////////////////////////
 // Stabilize Rate Control
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 4bb0238fb7..43465df477 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -18,6 +18,7 @@
 #define YAW_AUTO                        2
 #define YAW_LOOK_AT_HOME    		    3
 #define YAW_TOY                         4       // THOR This is the Yaw mode
+#define YAW_LOOK_AHEAD					5		// WARNING!  CODE IN DEVELOPMENT NOT PROVEN
 
 
 #define ROLL_PITCH_STABLE       0