diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9ee7d62829..035f4e97e8 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -139,6 +139,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .throttle_boost = 0,
         .throttle_boost_cutoff = 15,
         .iterm_rotation = false,
+        .smart_feedforward = false         
     );
 }
 
@@ -308,6 +309,7 @@ static FAST_RAM_ZERO_INIT float itermLimit;
 FAST_RAM_ZERO_INIT float throttleBoost;
 pt1Filter_t throttleLpf;
 static FAST_RAM_ZERO_INIT bool itermRotation;
+static FAST_RAM_ZERO_INIT bool smartFeedforward;
 
 void pidInitConfig(const pidProfile_t *pidProfile)
 {
@@ -344,6 +346,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     itermLimit = pidProfile->itermLimit;
     throttleBoost = pidProfile->throttle_boost * 0.1f;
     itermRotation = pidProfile->iterm_rotation == 1;
+    smartFeedforward = pidProfile->smart_feedforward == 1;
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -627,17 +630,33 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
             // This is done to avoid DTerm spikes that occur with dynamically
             // calculated deltaT whenever another task causes the PID
             // loop execution to be delayed.
-            const float delta = (
-                dynCd * transition * (currentPidSetpoint - previousPidSetpoint[axis]) -
-                (gyroRateDterm[axis] - previousGyroRateDterm[axis])) / dT;
-
-            previousPidSetpoint[axis] = currentPidSetpoint;
-            previousGyroRateDterm[axis] = gyroRateDterm[axis];
+            const float delta =
+                - (gyroRateDterm[axis] - previousGyroRateDterm[axis]) / dT;
 
             detectAndSetCrashRecovery(pidProfile->crash_recovery, axis, currentTimeUs, delta, errorRate);
 
             pidData[axis].D = pidCoefficient[axis].Kd * delta * tpaFactor;
 
+            const float pidFeedForward =
+                pidCoefficient[axis].Kd * dynCd * transition *
+                (currentPidSetpoint - previousPidSetpoint[axis]) * tpaFactor / dT;
+            bool addFeedforward = true;
+            if (smartFeedforward) {
+                if (pidData[axis].P * pidFeedForward > 0) {
+                    if (ABS(pidFeedForward) > ABS(pidData[axis].P)) {
+                        pidData[axis].P = 0;
+                    }
+                    else {
+                        addFeedforward = false;
+                    }
+                }
+            }
+            if (addFeedforward) {
+                pidData[axis].D += pidFeedForward;
+            }
+            previousGyroRateDterm[axis] = gyroRateDterm[axis];
+            previousPidSetpoint[axis] = currentPidSetpoint;
+
 #ifdef USE_YAW_SPIN_RECOVERY
             if (yawSpinActive)  {
                 // zero PIDs on pitch and roll leaving yaw P to correct spin 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 3f4cd89bfc..81705db067 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -114,7 +114,8 @@ typedef struct pidProfile_s {
     uint16_t dterm_lowpass2_hz;                // Extra PT1 Filter on D in hz
     uint8_t throttle_boost;                 // how much should throttle be boosted during transient changes 0-100, 100 adds 10x hpf filtered throttle
     uint8_t throttle_boost_cutoff;          // Which cutoff frequency to use for throttle boost. higher cutoffs keep the boost on for shorter. Specified in hz.
-    uint8_t  iterm_rotation;                    // rotates iterm to translate world errors to local coordinate system
+    uint8_t  iterm_rotation;                // rotates iterm to translate world errors to local coordinate system
+    uint8_t  smart_feedforward;             // takes only the larger of P and the D weight feed forward term if they have the same sign.
 } pidProfile_t;
 
 #ifndef USE_OSD_SLAVE
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 6dd0078a27..d313e8a8a2 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -754,6 +754,7 @@ const clivalue_t valueTable[] = {
     { "crash_recovery",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CRASH_RECOVERY }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery) },
 
     { "iterm_rotation",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, iterm_rotation) },
+    { "smart_feedforward",          VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, smart_feedforward) },
     { "iterm_windup",               VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
     { "iterm_limit",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermLimit) },
     { "pidsum_limit",               VAR_UINT16 | PROFILE_VALUE, .config.minmax = { PIDSUM_LIMIT_MIN, PIDSUM_LIMIT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, pidSumLimit) },