diff --git a/msg/versioned/VehicleAttitudeSetpoint.msg b/msg/versioned/VehicleAttitudeSetpoint.msg
index 28aa780699..c48a41bce0 100644
--- a/msg/versioned/VehicleAttitudeSetpoint.msg
+++ b/msg/versioned/VehicleAttitudeSetpoint.msg
@@ -7,6 +7,9 @@ float32 yaw_sp_move_rate	# rad/s (commanded by user)
 # For quaternion-based attitude control
 float32[4] q_d			# Desired quaternion for quaternion control
 
+# Feedforwaredbody rate setpoints
+float32[3] body_rates_ff	# Feedforward
+
 # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
 float32[3] thrust_body		# Normalized thrust command in body FRD frame [-1,1]
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index a15f1e8f71..eac1a13553 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1456,6 +1456,11 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
 	navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
 
 	float roll_body = getCorrectedNpfgRollSetpoint();
+	float roll_rate_ff{0.0}; ///TODO: Get roll rate FF from new NPFG formulation
+
+	const matrix::Vector3f feedforward_rate{roll_rate_ff, 0.0, 0.0};
+	feedforward_rate.copyTo(_att_sp.body_rates_ff);
+
 	target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
 	float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw