A method of controlling rotor pitch in a helicopter comprising the steps of: generating at least one blade dynamics signal representing at least one dynamic force acting on at least one of a rotor blade rotating assembly and a helicopter non-rotating assembly, the rotor blade rotating assembly including a plurality of rotor blades and a pitch actuator for each rotor blade; extracting information representing the at least one dynamic force; generating a dynamic force compensation output representing a compensation for at least a portion of the at least one dynamic force; receiving flight control signals directing flight of the helicopter from flight controls of the helicopter; generating from the flight control signals and the dynamic force compensation output a compensated pitch control signal for each blade of the rotor blade rotating assembly, and providing a compensated pitch control signal to compensate for a portion of the at least one dynamic force.