diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index a794726f83..d5fcf71919 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -96,7 +96,7 @@ FixedwingAttitudeControl::parameters_update()
 
 	const Vector3f rate_p = Vector3f(_param_fw_rr_p.get(), _param_fw_pr_p.get(), _param_fw_yr_p.get());
 	const Vector3f rate_i = Vector3f(_param_fw_rr_i.get(), _param_fw_pr_i.get(), _param_fw_yr_i.get());
-	const Vector3f rate_d = Vector3f(0.0f, 0.0f, 0.0f);
+	const Vector3f rate_d = Vector3f(_param_fw_rr_d.get(), _param_fw_pr_d.get(), _param_fw_yr_d.get());
 
 	_rate_control.setGains(rate_p, rate_i, rate_d);
 
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index 8b71b52ff2..b82a6417f9 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -209,6 +209,7 @@ private:
 		(ParamFloat<px4::params::FW_PR_I>) _param_fw_pr_i,
 		(ParamFloat<px4::params::FW_PR_IMAX>) _param_fw_pr_imax,
 		(ParamFloat<px4::params::FW_PR_P>) _param_fw_pr_p,
+		(ParamFloat<px4::params::FW_PR_D>) _param_fw_pr_d,
 		(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
 
 		(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
@@ -218,6 +219,7 @@ private:
 		(ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
 		(ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
 		(ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
+		(ParamFloat<px4::params::FW_RR_D>) _param_fw_rr_d,
 
 		(ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
 		(ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,
@@ -231,6 +233,7 @@ private:
 		(ParamFloat<px4::params::FW_YR_I>) _param_fw_yr_i,
 		(ParamFloat<px4::params::FW_YR_IMAX>) _param_fw_yr_imax,
 		(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
+		(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
 
 		(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
 		(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index b039f6c69b..e0a962b7b0 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -96,6 +96,21 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
  */
 PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
 
+/**
+ * Pitch rate derivative gain.
+ *
+ * This defines how much the elevator input will be commanded depending on the
+ * current body angular acceleration error.
+ *
+ * @unit %/rad/s
+ * @min 0.0
+ * @max 1.0
+ * @decimal 3
+ * @increment 0.005
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_PR_D, 0.00f);
+
 /**
  * Pitch rate integrator gain.
  *
@@ -170,6 +185,21 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
  */
 PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 
+/**
+ * Roll rate derivative Gain
+ *
+ * This defines how much the aileron input will be commanded depending on the
+ * current body angular acceleration error.
+ *
+ * @unit %/rad/s
+ * @min 0.0
+ * @max 1.0
+ * @decimal 3
+ * @increment 0.005
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f);
+
 /**
  * Roll rate integrator Gain
  *
@@ -228,6 +258,21 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
  */
 PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
 
+/**
+ * Yaw rate derivative gain
+ *
+ * This defines how much the rudder input will be commanded depending on the
+ * current body angular acceleration error.
+ *
+ * @unit %/rad/s
+ * @min 0.0
+ * @max 1.0
+ * @decimal 3
+ * @increment 0.005
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
+
 /**
  * Yaw rate integrator gain
  *