diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 12266aa947..473d216adb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -8,12 +8,21 @@ extern const AP_HAL::HAL& hal;
 // table of user settable parameters
 const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
 
-    // @Param: DUMMY
-    // @DisplayName: Dummy parameter
-    // @Description: This is the dummy parameters
-    // @Increment: 0.1
-    // @User: User
-    AP_GROUPINFO("DUMMY",       0,  AC_AttitudeControl_Heli,    _dummy_param, 0),
+    // @Param: RATE_RP_MAX
+    // @DisplayName: Angle Rate Roll-Pitch max
+    // @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
+    // @Range: 90000 250000
+    // @Increment: 500
+    // @User: Advanced
+    AP_GROUPINFO("RATE_RP_MAX", 0, AC_AttitudeControl_Heli, _angle_rate_rp_max, AC_ATTITUDE_CONTROL_ANGLE_RATE_RP_MAX_DEFAULT),
+
+    // @Param: RATE_Y_MAX
+    // @DisplayName: Angle Rate Yaw max
+    // @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
+    // @Range: 90000 250000
+    // @Increment: 500
+    // @User: Advanced
+    AP_GROUPINFO("RATE_Y_MAX",  1, AC_AttitudeControl_Heli, _angle_rate_y_max, AC_ATTITUDE_CONTROL_ANGLE_RATE_Y_MAX_DEFAULT),
 
     // @Param: RATE_RLL_FF
     // @DisplayName: Rate Roll Feed Forward
@@ -21,7 +30,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
     // @Range: 0 10
     // @Increment: 0.01
     // @User: Standard
-    AP_GROUPINFO("RATE_RLL_FF", 1, AC_AttitudeControl_Heli,     _heli_roll_ff,  AC_ATTITUDE_HELI_ROLL_FF),
+    AP_GROUPINFO("RATE_RLL_FF", 2, AC_AttitudeControl_Heli,     _heli_roll_ff,  AC_ATTITUDE_HELI_ROLL_FF),
 
     // @Param: RATE_PIT_FF
     // @DisplayName: Rate Pitch Feed Forward
@@ -29,7 +38,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
     // @Range: 0 10
     // @Increment: 0.01
     // @User: Standard
-    AP_GROUPINFO("RATE_PIT_FF", 2,  AC_AttitudeControl_Heli,    _heli_pitch_ff, AC_ATTITUDE_HELI_ROLL_FF),
+    AP_GROUPINFO("RATE_PIT_FF", 3,  AC_AttitudeControl_Heli,    _heli_pitch_ff, AC_ATTITUDE_HELI_ROLL_FF),
 
     // @Param: RATE_YAW_FF
     // @DisplayName: Rate Yaw Feed Forward