diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index c040e7f365..f09a5f6249 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -875,6 +875,17 @@ Vector3f AC_AttitudeControl::euler_accel_limit(const Vector3f &euler_rad, const
     return rot_accel;
 }
 
+// Sets attitude target to vehicle attitude and sets all rates to zero
+void AC_AttitudeControl::set_attitude_target_to_current_attitude()
+{
+    // move attitude target to current attitude
+    _ahrs.get_quat_body_to_ned(_attitude_target);
+
+    // Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward
+    _ang_vel_target.zero();
+    _euler_angle_target.zero();
+}
+
 // Sets yaw target to vehicle heading and sets yaw rate to zero
 void AC_AttitudeControl::reset_yaw_target_and_rate()
 {
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 325a916af0..699de60a8c 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -129,8 +129,8 @@ public:
     // reset rate controller I terms smoothly to zero in 0.5 seconds
     void reset_rate_controller_I_terms_smoothly();
 
-    // Sets attitude target to vehicle attitude
-    void set_attitude_target_to_current_attitude() { _ahrs.get_quat_body_to_ned(_attitude_target); }
+    // Sets attitude target to vehicle attitude and sets all rates to zero
+    void set_attitude_target_to_current_attitude();
 
     // Sets yaw target to vehicle heading and sets yaw rate to zero
     void reset_yaw_target_and_rate();