Player > Feats > Creature Companion Virtuoso
Your creature companion can unleash its fury unbidden.
Creature Companion Master, Survival 13 ranks.
Each round on your turn, after you act and only if you didn’t grant your creature companion any actions, your creature companion can forgo its normal move action to make a full attack with a –4 penalty to its attacks. You can control your creature companion at a range of 120 feet.