An apparatus and method for estimating future pitch and roll angles of an aircraft to compensate for a time delay caused by a flight instrumentation system calculating the aircraft's pitch and roll. The apparatus may output signals to an aircraft autopilot system. The apparatus may comprise various inputs and outputs, at least one compensation module, and at least one addition module. The compensation module may multiply a gain value by the pitch rate of the aircraft and by the roll rate of the aircraft to determine a pitch compensation amount and a roll compensation amount. Then the pitch compensation amount may be added to the pitch of the aircraft, and the roll compensation amount may be added to the roll of the aircraft to solve for a compensated pitch and a compensated roll to send to the autopilot system.