I used Evince for this, but I grew tired of the scrollbars. When setting it up for Xpdf, I encountered this very problem. This is a workaround - without exaggerating ;) - that seems to do the trick:
#!/usr/bin/zsh
# This allows you to use xpdf with options, although you're invoking
# it implicitly from Iceweasel. Just pick this script (instead of
# /usr/bin/xpdf) as your PDF reader under Preferences: Applications.
/usr/bin/xpdf -fullscreen -rv $1 &
while (( ! `wmctrl -l | grep Xpdf | wc -l` )) { sleep 0.1 }
xmacroplay "$DISPLAY" < ~/keydowns/xpdf &> /dev/null
# ~/keydowns/xpdf:
#
# KeyStrPress W
# KeyStrRelease W