diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 54dbf0a1cd..220a451c39 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -52,6 +52,13 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
     // @User: Advanced
     AP_GROUPINFO("ACCEL_Y_MAX",  4, AC_AttitudeControl, _accel_y_max, AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT),
 
+    // @Param: ATC_RATE_FF_ENAB
+    // @DisplayName: Rate Feedforward Enable
+    // @Description: Controls whether body-frame rate feedfoward is enabled or disabled
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("RATE_FF_ENAB", 5, AC_AttitudeControl, _rate_bf_ff_enabled, AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT),
+
     AP_GROUPEND
 };
 
@@ -96,7 +103,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
     float rate_ef_desired;
     float angle_to_target;
 
-    if (_accel_rp_max > 0) {
+    if (_rate_bf_ff_enabled) {
 
     	// calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away
     	angle_to_target = roll_angle_ef - _angle_ef_target.x;
@@ -138,7 +145,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
     	_rate_ef_desired.y = 0;
     }
 
-    if (_accel_y_max > 0) {
+    if (_rate_bf_ff_enabled) {
     	// set earth-frame feed forward rate for yaw
         rate_change_limit = _accel_y_max * _dt;
 
@@ -168,9 +175,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
     update_rate_bf_targets();
 
     // add body frame rate feed forward
-    // if(do feedforward){
-    _rate_bf_target += _rate_bf_desired;
-    // }
+    if (_rate_bf_ff_enabled) {
+        _rate_bf_target += _rate_bf_desired;
+    }
 
     // body-frame to motor outputs should be called separately
 }
@@ -213,9 +220,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw(float roll_angle_ef, fl
     update_rate_bf_targets();
 
     // add body frame rate feed forward
-    // if(do feedforward){
-    _rate_bf_target += _rate_bf_desired;
-    // }
+    if (_rate_bf_ff_enabled) {
+        _rate_bf_target += _rate_bf_desired;
+    }
 
     // body-frame to motor outputs should be called separately
 }
@@ -291,9 +298,9 @@ void AC_AttitudeControl::rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_
     update_rate_bf_targets();
 
     // add body frame rate feed forward
-    // if(do feedforward){
-    _rate_bf_target += _rate_bf_desired;
-    // }
+    if (_rate_bf_ff_enabled) {
+        _rate_bf_target += _rate_bf_desired;
+    }
 
     // body-frame to motor outputs should be called separately
 }
@@ -341,8 +348,7 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
     float rate_change, rate_change_limit;
 
     // update the rate feed forward with angular acceleration limits 
-
-    if (_accel_rp_max > 0) {
+    if (_rate_bf_ff_enabled) {
     	rate_change_limit = _accel_rp_max * _dt;
 
     	rate_change = roll_rate_bf - _rate_bf_desired.x;
@@ -357,7 +363,7 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
     	_rate_bf_desired.y = pitch_rate_bf;
     }
 
-    if (_accel_y_max > 0) {
+    if (_rate_bf_ff_enabled) {
         rate_change_limit = _accel_y_max * _dt;
 
         rate_change = yaw_rate_bf - _rate_bf_desired.z;
@@ -368,9 +374,9 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
     }
 
     // body-frame rate commands added
-    // if(do feedforward){
-    _rate_bf_target += _rate_bf_desired;
-    // }
+    if (_rate_bf_ff_enabled) {
+        _rate_bf_target += _rate_bf_desired;
+    }
 }
 
 //
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 8680c79075..47077ebb3d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -40,6 +40,8 @@
 #define AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER            20      // D-term filter rate cutoff frequency for Roll and Pitch rate controllers
 #define AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER             5       // D-term filter rate cutoff frequency for Yaw rate controller
 
+#define AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT          1       // body-frame rate feedforward enabled by default
+
 class AC_AttitudeControl {
 public:
 	AC_AttitudeControl( AP_AHRS &ahrs,
@@ -228,6 +230,7 @@ protected:
     AP_Float            _slew_yaw;              // maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
     AP_Float            _accel_rp_max;          // maximum rotation acceleration for earth-frame roll and pitch axis
     AP_Float            _accel_y_max;           // maximum rotation acceleration for earth-frame yaw axis
+    AP_Int8             _rate_bf_ff_enabled;    // Enable/Disable body frame rate feed forward
 
     // internal variables
     // To-Do: make rate targets a typedef instead of Vector3f?