diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 8aa454f7ac..a8b3ff62d8 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -604,7 +604,12 @@ void Plane::stabilize()
         SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, aileron);
         SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elevator);
         if (yawController.rate_control_enabled()) {
-            const float rudder = yawController.get_rate_out(nav_scripting.yaw_rate_dps, speed_scaler, false);
+            float rudder = nav_scripting.rudder_offset_pct * 45;
+            if (nav_scripting.run_yaw_rate_controller) {
+                rudder += yawController.get_rate_out(nav_scripting.yaw_rate_dps, speed_scaler, false);
+            } else {
+                yawController.reset_I();
+            }
             steering_control.rudder = rudder;
         }
 #endif
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index d2cf1e20f8..afc9c5cf98 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -522,6 +522,8 @@ private:
         float throttle_pct;
         uint32_t start_ms;
         uint32_t current_ms;
+        float rudder_offset_pct;
+        bool run_yaw_rate_controller;
     } nav_scripting;
 #endif
 
@@ -1140,6 +1142,7 @@ private:
     // command throttle percentage and roll, pitch, yaw target
     // rates. For use with scripting controllers
     void set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) override;
+    void set_rudder_offset(float rudder_pct, bool run_yaw_rate_controller) override;
     bool nav_scripting_enable(uint8_t mode) override;
 #endif
  
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 037236deea..675ea7bfb4 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1184,6 +1184,8 @@ bool Plane::verify_nav_script_time(const AP_Mission::Mission_Command& cmd)
         if (now - nav_scripting.start_ms > cmd.content.nav_script_time.timeout_s*1000U) {
             gcs().send_text(MAV_SEVERITY_INFO, "NavScriptTime timed out");
             nav_scripting.enabled = false;
+            nav_scripting.rudder_offset_pct = 0;
+            nav_scripting.run_yaw_rate_controller = true;
         }
     }
     return !nav_scripting.enabled;
@@ -1196,6 +1198,8 @@ bool Plane::nav_scripting_active(void)
         // set_target_throttle_rate_rpy has not been called from script in last 1000ms
         nav_scripting.enabled = false;
         nav_scripting.current_ms = 0;
+        nav_scripting.rudder_offset_pct = 0;
+        nav_scripting.run_yaw_rate_controller = true;
         gcs().send_text(MAV_SEVERITY_INFO, "NavScript time out");
     }
     if (control_mode == &mode_auto &&
@@ -1240,6 +1244,13 @@ void Plane::set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps
     nav_scripting.current_ms = AP_HAL::millis();
 }
 
+// support for rudder offset override in aerobatic scripting
+void Plane::set_rudder_offset(float rudder_pct, bool run_yaw_rate_controller)
+{
+    nav_scripting.rudder_offset_pct = rudder_pct;
+    nav_scripting.run_yaw_rate_controller = run_yaw_rate_controller;
+}
+
 // enable NAV_SCRIPTING takeover in modes other than AUTO using script time mission commands
 bool Plane::nav_scripting_enable(uint8_t mode)
 {