diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 350308fa33..b08723452a 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -98,7 +98,6 @@ mc_thread_main(int argc, char *argv[])
 	memset(&setpoint, 0, sizeof(setpoint));
 
 	struct actuator_controls_s actuators;
-	struct actuator_armed_s armed;
 
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -113,10 +112,11 @@ mc_thread_main(int argc, char *argv[])
 	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
 
 	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
 		actuators.control[i] = 0.0f;
+	}
+
 	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	armed.armed = false;
 	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
 
 	/* register the perf counter */
@@ -143,12 +143,16 @@ mc_thread_main(int argc, char *argv[])
 
 		att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
 		att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
-		att_sp.yaw_body = -manual.yaw * M_PI_F;
+		att_sp.yaw_rate_body = -manual.yaw * M_PI_F;
 		att_sp.timestamp = hrt_absolute_time();
+		
 		if (motor_test_mode) {
 			att_sp.roll_body = 0.0f;
 			att_sp.pitch_body = 0.0f;
 			att_sp.yaw_body = 0.0f;
+			att_sp.roll_rate_body = 0.0f;
+			att_sp.pitch_rate_body = 0.0f;
+			att_sp.yaw_rate_body = 0.0f;
 			att_sp.thrust = 0.1f;
 		} else {
 			att_sp.thrust = manual.throttle;
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 312942acb2..38fe13bfed 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -54,21 +54,21 @@
 #include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
+// PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
+// PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
+// PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+// PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+// PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
 
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
 
-PARAM_DEFINE_FLOAT(MC_ATT_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_ATT_P, 0.3f); /* 0.15 F405 Flamewheel */
 PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_D, 0.1f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.1f); /* 0.025 F405 Flamewheel */
 PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
 PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.3f);
 
@@ -76,11 +76,11 @@ PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
 
 struct mc_att_control_params {
-	float yaw_p;
-	float yaw_i;
-	float yaw_d;
-	float yaw_awu;
-	float yaw_lim;
+	// float yaw_p;
+	// float yaw_i;
+	// float yaw_d;
+	// float yaw_awu;
+	// float yaw_lim;
 
 	float yawrate_p;
 	float yawrate_i;
@@ -99,11 +99,11 @@ struct mc_att_control_params {
 };
 
 struct mc_att_control_param_handles {
-	param_t yaw_p;
-	param_t yaw_i;
-	param_t yaw_d;
-	param_t yaw_awu;
-	param_t yaw_lim;
+	// param_t yaw_p;
+	// param_t yaw_i;
+	// param_t yaw_d;
+	// param_t yaw_awu;
+	// param_t yaw_lim;
 
 	param_t yawrate_p;
 	param_t yawrate_i;
@@ -137,11 +137,11 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 static int parameters_init(struct mc_att_control_param_handles *h)
 {
 	/* PID parameters */
-	h->yaw_p 	=	param_find("MC_YAWPOS_P");
-	h->yaw_i 	=	param_find("MC_YAWPOS_I");
-	h->yaw_d 	=	param_find("MC_YAWPOS_D");
-	h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
-	h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
+	// h->yaw_p 	=	param_find("MC_YAWPOS_P");
+	// h->yaw_i 	=	param_find("MC_YAWPOS_I");
+	// h->yaw_d 	=	param_find("MC_YAWPOS_D");
+	// h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
+	// h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
 
 	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
 	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
@@ -163,11 +163,11 @@ static int parameters_init(struct mc_att_control_param_handles *h)
 
 static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
 {
-	param_get(h->yaw_p, &(p->yaw_p));
-	param_get(h->yaw_i, &(p->yaw_i));
-	param_get(h->yaw_d, &(p->yaw_d));
-	param_get(h->yaw_awu, &(p->yaw_awu));
-	param_get(h->yaw_lim, &(p->yaw_lim));
+	// param_get(h->yaw_p, &(p->yaw_p));
+	// param_get(h->yaw_i, &(p->yaw_i));
+	// param_get(h->yaw_d, &(p->yaw_d));
+	// param_get(h->yaw_awu, &(p->yaw_awu));
+	// param_get(h->yaw_lim, &(p->yaw_lim));
 
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
@@ -196,7 +196,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	static int motor_skip_counter = 0;
 
-	static PID_t yaw_pos_controller;
+	// static PID_t yaw_pos_controller;
 	static PID_t yaw_speed_controller;
 	static PID_t pitch_controller;
 	static PID_t roll_controller;
@@ -211,10 +211,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		parameters_init(&h);
 		parameters_update(&h, &p);
 
-		pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
-			PID_MODE_DERIVATIV_CALC, 154);
+		// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
+		// 	PID_MODE_DERIVATIV_SET, 154);
 		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu,
-			PID_MODE_DERIVATIV_CALC, 155);
+			PID_MODE_DERIVATIV_SET, 155);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
 			PID_MODE_DERIVATIV_SET, 156);
 		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
@@ -228,7 +228,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 		/* apply parameters */
-		pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
+		// pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
 		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu);
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
@@ -243,7 +243,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
 					att->roll, att->rollspeed, deltaT);
 	/* control yaw rate */
-	float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT);
+	float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_rate_body, att->yawspeed, 0.0f, deltaT);
 
 	/*
 	 * compensate the vertical loss of thrust
diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index 221711c7f2..6e36002dd4 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -60,41 +60,57 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC1_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC2_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC3_DZ, 0.03f);
+PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC4_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC5_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC6_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC7_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC8_DZ, 0.1f);
+PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f);
 
 PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
 
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
index 65ba98e9dc..0c33ebff8c 100644
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ b/apps/uORB/topics/vehicle_attitude_setpoint.h
@@ -64,6 +64,9 @@ struct vehicle_attitude_setpoint_s
 	float roll_body;				/**< body angle in NED frame		*/
 	float pitch_body;				/**< body angle in NED frame		*/
 	float yaw_body;					/**< body angle in NED frame		*/
+	float roll_rate_body;				/**< body angle in NED frame		*/
+	float pitch_rate_body;				/**< body angle in NED frame		*/
+	float yaw_rate_body;					/**< body angle in NED frame		*/
 	float body_valid;				/**< Set to true if Tait-Bryan angles are valid */
 
 	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */