diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index ea218f3d8b..7648856742 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -70,6 +70,8 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
 	_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
 	_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID");
 	_params_handles_tiltrotor.airspeed_mode = param_find("FW_ARSP_MODE");
+	_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
+	_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
 }
 
 Tiltrotor::~Tiltrotor()
@@ -134,6 +136,11 @@ Tiltrotor::parameters_update()
 	/* airspeed mode */
 	param_get(_params_handles_tiltrotor.airspeed_mode, &l);
 	_params_tiltrotor.airspeed_mode = math::constrain(l, 0, 2);
+
+	param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
+
+	param_get(_params_handles_tiltrotor.diff_thrust_scale, &v);
+	_params_tiltrotor.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
 }
 
 int Tiltrotor::get_motor_off_channels(int channels)
@@ -425,6 +432,12 @@ void Tiltrotor::fill_actuator_outputs()
 		_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
 
+		/* allow differential thrust if enabled */
+		if (_params_tiltrotor.diff_thrust == 1) {
+			_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
+				_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params_tiltrotor.diff_thrust_scale;
+		}
+
 	} else {
 		_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;
diff --git a/src/modules/vtol_att_control/tiltrotor.h b/src/modules/vtol_att_control/tiltrotor.h
index 39363a7744..3d791db8ea 100644
--- a/src/modules/vtol_att_control/tiltrotor.h
+++ b/src/modules/vtol_att_control/tiltrotor.h
@@ -73,6 +73,8 @@ private:
 		float front_trans_dur_p2;
 		int fw_motors_off;			/**< bitmask of all motors that should be off in fixed wing mode */
 		int airspeed_mode;
+		int diff_thrust;
+		float diff_thrust_scale;
 	} _params_tiltrotor;
 
 	struct {
@@ -87,6 +89,8 @@ private:
 		param_t front_trans_dur_p2;
 		param_t fw_motors_off;
 		param_t airspeed_mode;
+		param_t diff_thrust;
+		param_t diff_thrust_scale;
 	} _params_handles_tiltrotor;
 
 	enum vtol_mode {
diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c
index bbd5ec3e7d..6f4cb7bb45 100644
--- a/src/modules/vtol_att_control/tiltrotor_params.c
+++ b/src/modules/vtol_att_control/tiltrotor_params.c
@@ -98,3 +98,28 @@ PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_FW_MOT_OFFID, 0);
+
+/**
+ * Differential thrust in forwards flight.
+ *
+ * Set to 1 to enable differential thrust in fixed-wing flight.
+ *
+ * @min 0
+ * @max 1
+ * @decimal 0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
+
+/**
+ * Differential thrust scaling factor
+ *
+ * This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.1
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);