diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index d466e545ff9..4454bc3abdc 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -117,10 +117,10 @@ public:
     void input_quaternion(Quaternion attitude_desired_quat, float smoothing_gain);
 
     // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
-    void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain);
+    virtual void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain);
 
     // Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
-    void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain);
+    virtual void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain);
 
     // Command an euler roll, pitch, and yaw rate with angular velocity feedforward and smoothing
     void input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds);
@@ -263,6 +263,9 @@ public:
 
     // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
     virtual void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) {};
+
+    // enable inverted flight on backends that support it
+    virtual void set_inverted_flight(bool inverted) {}
     
     // User settable parameters
     static const struct AP_Param::GroupInfo var_info[];
@@ -394,6 +397,9 @@ protected:
     void control_monitor_filter_pid(float value, float &rms_P);
     void control_monitor_update(void);
 
+    // true in inverted flight mode
+    bool _inverted_flight;
+    
 public:
     // log a CTRL message
     void control_monitor_log(void);
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
index 0ff12e6055b..36c53a70704 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
@@ -437,3 +437,21 @@ void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_ang
     // Clear angle_boost for logging purposes
     _angle_boost = 0.0f;
 }
+
+// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
+void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain)
+{
+    if (_inverted_flight) {
+        euler_roll_angle_cd = wrap_180_cd(euler_roll_angle_cd + 18000);
+    }
+    AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_rate_cds, smoothing_gain);
+}
+
+// Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
+void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain)
+{
+    if (_inverted_flight) {
+        euler_roll_angle_cd = wrap_180_cd(euler_roll_angle_cd + 18000);
+    }
+    AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_angle_cd, slew_yaw, smoothing_gain);
+}
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
index aaf1dc185dd..0d3214078eb 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -95,6 +95,17 @@ public:
     // Set output throttle
     void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;
 
+    // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
+    void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain) override;
+
+    // Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
+    void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain) override;
+    
+    // enable/disable inverted flight
+    void set_inverted_flight(bool inverted) override {
+        _inverted_flight = inverted;
+    }
+    
     // user settable parameters
     static const struct AP_Param::GroupInfo var_info[];