diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index d178d2f856..80b5aae0c2 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -336,7 +336,7 @@ static const char * const lookupTableGyroOverflowCheck[] = {
 #endif
 
 static const char * const lookupTableRatesType[] = {
-    "BETAFLIGHT", "RACEFLIGHT", "KISS"
+    "BETAFLIGHT", "RACEFLIGHT", "KISS", "ACTUAL"
 };
 
 #ifdef USE_OVERCLOCK
diff --git a/src/main/fc/controlrate_profile.h b/src/main/fc/controlrate_profile.h
index 08fd20119b..16ad114392 100644
--- a/src/main/fc/controlrate_profile.h
+++ b/src/main/fc/controlrate_profile.h
@@ -28,6 +28,7 @@ typedef enum {
     RATES_TYPE_BETAFLIGHT = 0,
     RATES_TYPE_RACEFLIGHT,
     RATES_TYPE_KISS,
+    RATES_TYPE_ACTUAL,
 } ratesType_e;
 
 typedef enum {
diff --git a/src/main/fc/rc.c b/src/main/fc/rc.c
index d45729c818..74b2e8ae6c 100644
--- a/src/main/fc/rc.c
+++ b/src/main/fc/rc.c
@@ -193,6 +193,18 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
     return kissAngle;
 }
 
+float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
+{
+    float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
+    expof = rcCommandfAbs * (powerf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
+
+    const float centerSensitivity = currentControlRateProfile->rcRates[axis];
+    const float stickMovement = MAX(0, currentControlRateProfile->rates[axis] * 10.0f - centerSensitivity);
+    const float angleRate = rcCommandf * centerSensitivity + stickMovement * expof;
+
+    return angleRate;
+}
+
 float applyCurve(int axis, float deflection)
 {
     return applyRates(axis, deflection, fabsf(deflection));
@@ -816,6 +828,10 @@ void initRcProcessing(void)
     case RATES_TYPE_KISS:
         applyRates = applyKissRates;
 
+        break;
+    case RATES_TYPE_ACTUAL:
+        applyRates = applyActualRates;
+
         break;
     }