diff --git a/src/lib/rate_control/rate_control.cpp b/src/lib/rate_control/rate_control.cpp
index baa4c8e7b5..f9e94e1337 100644
--- a/src/lib/rate_control/rate_control.cpp
+++ b/src/lib/rate_control/rate_control.cpp
@@ -74,8 +74,12 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons
 	// angular rates error
 	Vector3f rate_error = rate_sp - rate;
 
+	// assume the rotor angular momentum is aligned with the Z axis
+	const Vector3f gyroscopic_torque = rate.cross(Vector3f(0.f, 0.f, _rotor_angular_momentum));
+
 	// PID control with feed forward
-	const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
+	const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(
+					rate_sp) - gyroscopic_torque;
 
 	// update integral only if we are not landed
 	if (!landed) {
diff --git a/src/lib/rate_control/rate_control.hpp b/src/lib/rate_control/rate_control.hpp
index 0ee8bd1516..91e8c1f8f7 100644
--- a/src/lib/rate_control/rate_control.hpp
+++ b/src/lib/rate_control/rate_control.hpp
@@ -71,6 +71,12 @@ public:
 	 */
 	void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
 
+	/**
+	 * Set the total angular momentum produced by the rotors
+	 * @param norm of angular momentum along the Z body axis
+	 */
+	void setRotorAngularMomentum(float momentum) { _rotor_angular_momentum = momentum; };
+
 	/**
 	 * Set saturation status
 	 * @param control saturation vector from control allocator
@@ -129,6 +135,7 @@ private:
 	matrix::Vector3f _gain_d; ///< rate control derivative gain
 	matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
 	matrix::Vector3f _gain_ff; ///< direct rate to torque feed forward gain only useful for helicopters
+	float _rotor_angular_momentum{0.f}; ///< used to cancel out the gyroscopic torque generated by the rotors
 
 	// States
 	matrix::Vector3f _rate_int; ///< integral term of the rate controller
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index e8a371d1e2..4b5e2c6fc7 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -183,6 +183,28 @@ MulticopterRateControl::Run()
 			}
 		}
 
+		if (_esc_status_sub.updated()) {
+			esc_status_s esc_status;
+
+			if (_esc_status_sub.copy(&esc_status) && (now < esc_status.timestamp + 1_s)) {
+				float rpm_sum = 0.f;
+
+				for (size_t esc = 0; esc < math::min(esc_status.esc_count, (uint8_t)MAX_NUM_ESCS); esc++) {
+					const esc_report_s &esc_report = esc_status.esc[esc];
+
+					const bool esc_connected = (esc_status.esc_online_flags & (1 << esc)) || (esc_report.esc_rpm != 0);
+
+					// assuming all the rotors are in the same plane, the gyroscopic torque is proportional to the
+					// difference between the CW and CCW rotation speed
+					if (esc_connected && (now < esc_report.timestamp + 1_s)) {
+						rpm_sum += esc_report.esc_rpm;
+					}
+				}
+
+				_rate_control.setRotorAngularMomentum(rpm_sum * _param_mc_precess_gain.get());
+			}
+		}
+
 		// run the rate controller
 		if (_vehicle_control_mode.flag_control_rates_enabled) {
 
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp
index 0f402c12c3..c0d0eada58 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.hpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp
@@ -49,6 +49,7 @@
 #include <uORB/topics/actuator_controls_status.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/control_allocator_status.h>
+#include <uORB/topics/esc_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/rate_ctrl_status.h>
@@ -93,6 +94,7 @@ private:
 
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
 	uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
+	uORB::Subscription _esc_status_sub {ORB_ID(esc_status)};
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
@@ -109,6 +111,8 @@ private:
 	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub;
 	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub;
 
+	static constexpr int MAX_NUM_ESCS = sizeof(esc_status_s::esc) / sizeof(esc_status_s::esc[0]);
+
 	vehicle_control_mode_s	_vehicle_control_mode{};
 	vehicle_status_s	_vehicle_status{};
 
@@ -151,6 +155,8 @@ private:
 		(ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
 		(ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,
 
+		(ParamFloat<px4::params::MC_PRECESS_GAIN>) _param_mc_precess_gain,
+
 		(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
 		(ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
 		(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c
index 2571a70c1f..8c61055cb1 100644
--- a/src/modules/mc_rate_control/mc_rate_control_params.c
+++ b/src/modules/mc_rate_control/mc_rate_control_params.c
@@ -279,6 +279,22 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
  */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f);
 
+/**
+ * Gyroscopic torque compensation gain
+ *
+ * Compensates for the gyroscopic torque generated
+ * by a difference in speed between the CW and CCW rotors.
+ *
+ * Assumes that all the rotors have the same inertia and
+ * their thrust is pointing upwards.
+ *
+ * @min -1.0
+ * @max  1.0
+ * @decimal 8
+ * @group Multicopter Rate Control
+ */
+PARAM_DEFINE_FLOAT(MC_PRECESS_GAIN, 0.0f);
+
 /**
  * Battery power level scaler
  *