diff --git a/msg/rate_ctrl_status.msg b/msg/rate_ctrl_status.msg
index a3f033ec9e..0e28ede022 100644
--- a/msg/rate_ctrl_status.msg
+++ b/msg/rate_ctrl_status.msg
@@ -1,5 +1,11 @@
-float32 roll_integ		# roll rate integrator
-float32 pitch_integ	# pitch rate integrator
-float32 yaw_integ		# yaw rate integrator
 
-float32 additional_integ1	# FW: wheel rate integrator
+# rates used by the controller
+float32 rollspeed		# Bias corrected angular velocity about X body axis in rad/s
+float32 pitchspeed		# Bias corrected angular velocity about Y body axis in rad/s
+float32 yawspeed		# Bias corrected angular velocity about Z body axis in rad/s
+
+# rate controller integrator status
+float32 rollspeed_integ
+float32 pitchspeed_integ
+float32 yawspeed_integ
+float32 additional_integ1	# FW: wheel rate integrator (optional)
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 17ce9eebbb..47ff935281 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -1179,9 +1179,12 @@ FixedwingAttitudeControl::task_main()
 
 				rate_ctrl_status_s rate_ctrl_status;
 				rate_ctrl_status.timestamp = hrt_absolute_time();
-				rate_ctrl_status.roll_integ = _roll_ctrl.get_integrator();
-				rate_ctrl_status.pitch_integ = _pitch_ctrl.get_integrator();
-				rate_ctrl_status.yaw_integ = _yaw_ctrl.get_integrator();
+				rate_ctrl_status.rollspeed = _att.rollspeed;
+				rate_ctrl_status.pitchspeed = _att.pitchspeed;
+				rate_ctrl_status.yawspeed = _att.yawspeed;
+				rate_ctrl_status.rollspeed_integ = _roll_ctrl.get_integrator();
+				rate_ctrl_status.pitchspeed_integ = _pitch_ctrl.get_integrator();
+				rate_ctrl_status.yawspeed_integ = _yaw_ctrl.get_integrator();
 				rate_ctrl_status.additional_integ1 = _wheel_ctrl.get_integrator();
 
 				int instance;
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 03d79c00d9..8066bc4448 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -599,7 +599,7 @@ void Logger::add_default_topics()
 	add_topic("mission_result");
 	add_topic("optical_flow", 50);
 	add_topic("position_setpoint_triplet", 200);
-	add_topic("rate_ctrl_status", 200);
+	add_topic("rate_ctrl_status", 30);
 	add_topic("safety");
 	add_topic("sensor_combined", 100);
 	add_topic("sensor_preflight", 200);
@@ -629,6 +629,7 @@ void Logger::add_high_rate_topics()
 	add_topic("actuator_controls_0");
 	add_topic("actuator_outputs");
 	add_topic("manual_control_setpoint");
+	add_topic("rate_ctrl_status");
 	add_topic("sensor_combined");
 	add_topic("vehicle_attitude");
 	add_topic("vehicle_attitude_setpoint");
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index da330e0c3c..fefa3802c9 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1257,9 +1257,12 @@ MulticopterAttitudeControl::task_main()
 				/* publish controller status */
 				rate_ctrl_status_s rate_ctrl_status;
 				rate_ctrl_status.timestamp = hrt_absolute_time();
-				rate_ctrl_status.roll_integ = _rates_int(0);
-				rate_ctrl_status.pitch_integ = _rates_int(1);
-				rate_ctrl_status.yaw_integ = _rates_int(2);
+				rate_ctrl_status.rollspeed = _rates_prev(0);
+				rate_ctrl_status.pitchspeed = _rates_prev(1);
+				rate_ctrl_status.yawspeed = _rates_prev(2);
+				rate_ctrl_status.rollspeed_integ = _rates_int(0);
+				rate_ctrl_status.pitchspeed_integ = _rates_int(1);
+				rate_ctrl_status.yawspeed_integ = _rates_int(2);
 
 				int instance;
 				orb_publish_auto(ORB_ID(rate_ctrl_status), &_controller_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index b378f2df29..faf4470af6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2082,9 +2082,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
 			if (copy_if_updated(ORB_ID(rate_ctrl_status), &subs.rate_ctrl_status_sub, &buf.rate_ctrl_status)) {
 				log_msg.msg_type = LOG_MACS_MSG;
-				log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.roll_integ;
-				log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitch_integ;
-				log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yaw_integ;
+				log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.rollspeed_integ;
+				log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitchspeed_integ;
+				log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yawspeed_integ;
 				LOGBUFFER_WRITE_AND_COUNT(MACS);
 			}
 		}