diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index ba3315f577..6c108f0d69 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -352,6 +352,10 @@ void Plane::stabilize_yaw(float speed_scaler)
       now calculate steering_control.rudder for the rudder
      */
     calc_nav_yaw_coordinated(speed_scaler);
+    /*
+      When not running the yaw rate controller, we need to reset the rate
+    */
+    yawController.reset_rate_PID();
 }
 
 
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 4465ca392b..986f8a3eb6 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1159,10 +1159,12 @@ void Plane::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
     nav_scripting.done = false;
     nav_scripting.id++;
     nav_scripting.start_ms = AP_HAL::millis();
+    nav_scripting.current_ms = 0;
 
     // start with current roll rate, pitch rate and throttle
     nav_scripting.roll_rate_dps = plane.rollController.get_pid_info().target;
     nav_scripting.pitch_rate_dps = plane.pitchController.get_pid_info().target;
+    nav_scripting.yaw_rate_dps = degrees(ahrs.get_gyro().z);
     nav_scripting.throttle_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
 }