diff --git a/libraries/AP_Motors/AP_Motors6DOF.cpp b/libraries/AP_Motors/AP_Motors6DOF.cpp
index 5b32c34770..eb031768c4 100644
--- a/libraries/AP_Motors/AP_Motors6DOF.cpp
+++ b/libraries/AP_Motors/AP_Motors6DOF.cpp
@@ -291,9 +291,9 @@ void AP_Motors6DOF::output_armed_stabilizing()
         float   forward_thrust;             // forward thrust input value, +/- 1.0
         float   lateral_thrust;             // lateral thrust input value, +/- 1.0
 
-        roll_thrust = _roll_in;
-        pitch_thrust = _pitch_in;
-        yaw_thrust = _yaw_in;
+        roll_thrust = (_roll_in + _roll_in_ff);
+        pitch_thrust = (_pitch_in + _pitch_in_ff);
+        yaw_thrust = (_yaw_in + _yaw_in_ff);
         throttle_thrust = get_throttle_bidirectional();
         forward_thrust = _forward_in;
         lateral_thrust = _lateral_in;
@@ -396,9 +396,9 @@ void AP_Motors6DOF::output_armed_stabilizing_vectored()
     float   forward_thrust;             // forward thrust input value, +/- 1.0
     float   lateral_thrust;             // lateral thrust input value, +/- 1.0
 
-    roll_thrust = _roll_in;
-    pitch_thrust = _pitch_in;
-    yaw_thrust = _yaw_in;
+    roll_thrust = (_roll_in + _roll_in_ff);
+    pitch_thrust = (_pitch_in + _pitch_in_ff);
+    yaw_thrust = (_yaw_in + _yaw_in_ff);
     throttle_thrust = get_throttle_bidirectional();
     forward_thrust = _forward_in;
     lateral_thrust = _lateral_in;
@@ -480,9 +480,9 @@ void AP_Motors6DOF::output_armed_stabilizing_vectored_6dof()
     float   forward_thrust;             // forward thrust input value, +/- 1.0
     float   lateral_thrust;             // lateral thrust input value, +/- 1.0
 
-    roll_thrust = _roll_in;
-    pitch_thrust = _pitch_in;
-    yaw_thrust = _yaw_in;
+    roll_thrust = (_roll_in + _roll_in_ff);
+    pitch_thrust = (_pitch_in + _pitch_in_ff);
+    yaw_thrust = (_yaw_in + _yaw_in_ff);
     throttle_thrust = get_throttle_bidirectional();
     forward_thrust = _forward_in;
     lateral_thrust = _lateral_in;
diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 04c91ca423..5740ca4019 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -137,9 +137,9 @@ void AP_MotorsCoax::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
-    yaw_thrust = _yaw_in * compensation_gain;
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
+    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
     throttle_avg_max = _throttle_avg_max * compensation_gain;
 
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 965c4ce28b..724b047695 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -147,9 +147,9 @@ void AP_MotorsMatrix::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain(); // compensation for battery voltage and altitude
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
-    yaw_thrust = _yaw_in * compensation_gain;
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
+    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
     throttle_avg_max = _throttle_avg_max * compensation_gain;
     throttle_thrust_max = _thrust_boost_ratio + (1.0f - _thrust_boost_ratio) * _throttle_thrust_max;
diff --git a/libraries/AP_Motors/AP_MotorsMatrixTS.cpp b/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
index a77f4687bb..977bcd06a9 100644
--- a/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
@@ -75,8 +75,8 @@ void AP_MotorsMatrixTS::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain(); // compensation for battery voltage and altitude
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle
diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index ffb4e6fc3d..508289f1df 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -142,9 +142,9 @@ void AP_MotorsSingle::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
-    yaw_thrust = _yaw_in * compensation_gain;
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
+    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
     throttle_avg_max = _throttle_avg_max * compensation_gain;
 
diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.cpp b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
index 73ebe241a6..eb1eead888 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.cpp
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
@@ -137,9 +137,9 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
-    yaw_thrust = _yaw_in * compensation_gain;
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
+    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 2e27e74a53..d681b0246d 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -147,9 +147,9 @@ void AP_MotorsTri::output_armed_stabilizing()
 
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();
-    roll_thrust = _roll_in * compensation_gain;
-    pitch_thrust = _pitch_in * compensation_gain;
-    yaw_thrust = _yaw_in * compensation_gain * sinf(radians(_yaw_servo_angle_max_deg)); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
+    roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
+    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain * sinf(radians(_yaw_servo_angle_max_deg)); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
     throttle_thrust = get_throttle() * compensation_gain;
     throttle_avg_max = _throttle_avg_max * compensation_gain;
 
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 42fe3f5942..ee44f8860f 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -82,8 +82,11 @@ public:
 
     // set_roll, set_pitch, set_yaw, set_throttle
     void                set_roll(float roll_in) { _roll_in = roll_in; };        // range -1 ~ +1
+    void                set_roll_ff(float roll_in) { _roll_in_ff = roll_in; };    // range -1 ~ +1
     void                set_pitch(float pitch_in) { _pitch_in = pitch_in; };    // range -1 ~ +1
+    void                set_pitch_ff(float pitch_in) { _pitch_in_ff = pitch_in; };  // range -1 ~ +1
     void                set_yaw(float yaw_in) { _yaw_in = yaw_in; };            // range -1 ~ +1
+    void                set_yaw_ff(float yaw_in) { _yaw_in_ff = yaw_in; };      // range -1 ~ +1
     void                set_throttle(float throttle_in) { _throttle_in = throttle_in; };   // range 0 ~ 1
     void                set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max, 0.0f, 1.0f); };   // range 0 ~ 1
     void                set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
@@ -215,8 +218,11 @@ protected:
     uint16_t            _loop_rate;                 // rate in Hz at which output() function is called (normally 400hz)
     uint16_t            _speed_hz;                  // speed in hz to send updates to motors
     float               _roll_in;                   // desired roll control from attitude controllers, -1 ~ +1
+    float               _roll_in_ff;                // desired roll feed forward control from attitude controllers, -1 ~ +1
     float               _pitch_in;                  // desired pitch control from attitude controller, -1 ~ +1
+    float               _pitch_in_ff;               // desired pitch feed forward control from attitude controller, -1 ~ +1
     float               _yaw_in;                    // desired yaw control from attitude controller, -1 ~ +1
+    float               _yaw_in_ff;                 // desired yaw feed forward control from attitude controller, -1 ~ +1
     float               _throttle_in;               // last throttle input from set_throttle caller
     float               _forward_in;                // last forward input from set_forward caller
     float               _lateral_in;                // last lateral input from set_lateral caller