diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index a21be436f9868e..25852206e50db1 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -151,6 +151,7 @@ class AC_AttitudeControl {
     // set the rate control input smoothing time constant
     void set_input_tc(float input_tc) { _input_tc.set(constrain_float(input_tc, 0.0f, 1.0f)); }
 
+    // rate loop visible functions
     // Ensure attitude controller have zero errors to relax rate controller output
     void relax_attitude_controllers();
 
@@ -177,6 +178,24 @@ class AC_AttitudeControl {
     // handle reset of attitude from EKF since the last iteration
     void inertial_frame_reset();
 
+    // Command euler yaw rate and pitch angle with roll angle specified in body frame
+    // (implemented only in AC_AttitudeControl_TS for tailsitter quadplanes)
+    virtual void input_euler_rate_yaw_euler_angle_pitch_bf_roll(bool plane_controls, float euler_roll_angle_cd, 
+        float euler_pitch_angle_cd, float euler_yaw_rate_cds) {}
+
+    ////// begin rate update functions //////
+    // These functions all update _ang_vel_body which is used as the rate target by the rate controller.
+    // Since _ang_vel_body can be seen by the rate controller thread all these functions only set it
+    // at the end once all of the calculations have been performed. This avoids intermediate results being
+    // used by the rate controller when running concurrently. _ang_vel_body is accessed so commonly that
+    // locking proves to be moderately expensive, however since this is changing incrementally values combining 
+    // previous and current elements are safe and do not have an impact on control.
+    // Any additional functions that are added to manipulate _ang_vel_body should follow this pattern.
+
+    // Calculates the body frame angular velocities to follow the target attitude
+    // This is used by most of the subsequent functions
+    void attitude_controller_run_quat();
+
     // Command a Quaternion attitude with feedforward and smoothing
     // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the body frame angular velocity
     virtual void input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_body);
@@ -186,11 +205,6 @@ class AC_AttitudeControl {
     // Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
     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);
 
-    // Command euler yaw rate and pitch angle with roll angle specified in body frame
-    // (implemented only in AC_AttitudeControl_TS for tailsitter quadplanes)
-    virtual void input_euler_rate_yaw_euler_angle_pitch_bf_roll(bool plane_controls, float euler_roll_angle_cd, 
-        float euler_pitch_angle_cd, float euler_yaw_rate_cds) {}
-
     // Command an euler roll, pitch, and yaw rate with angular velocity feedforward and smoothing
     virtual void input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds);
 
@@ -214,9 +228,12 @@ class AC_AttitudeControl {
 
     // Command a thrust vector in the earth frame and a heading angle and/or rate
     virtual void input_thrust_vector_rate_heading(const Vector3f& thrust_vector, float heading_rate_cds, bool slew_yaw = true);
+
     virtual void input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds);
     void input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_cd) {input_thrust_vector_heading(thrust_vector, heading_cd, 0.0f);}
 
+    ////// end rate update functions //////
+
     // Converts thrust vector and heading angle to quaternion rotation in the earth frame
     Quaternion attitude_from_thrust_vector(Vector3f thrust_vector, float heading_angle) const;
 
@@ -358,9 +375,6 @@ class AC_AttitudeControl {
     // translates body frame acceleration limits to the euler axis
     Vector3f euler_accel_limit(const Quaternion &att, const Vector3f &euler_accel);
 
-    // Calculates the body frame angular velocities to follow the target attitude
-    void attitude_controller_run_quat();
-
     // thrust_heading_rotation_angles - calculates two ordered rotations to move the attitude_body quaternion to the attitude_target quaternion.
     // The maximum error in the yaw axis is limited based on the angle yaw P value and acceleration.
     void thrust_heading_rotation_angles(Quaternion& attitude_target, const Quaternion& attitude_body, Vector3f& attitude_error, float& thrust_angle, float& thrust_error_angle) const;
@@ -524,7 +538,7 @@ class AC_AttitudeControl {
     Vector3f            _ang_vel_target;
 
     // This represents the angular velocity in radians per second in the body frame, used in the angular
-    // velocity controller.
+    // velocity controller and most importantly the rate controller.
     Vector3f            _ang_vel_body;
 
     // This is the angular velocity in radians per second in the body frame, added to the output angular