diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 544ba6df1e..41601fb88f 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -205,7 +205,7 @@ protected:
     // private members for waypoint navigation
     float _distance_to_destination; // distance from vehicle to final destination in meters
     bool _reached_destination;  // true once the vehicle has reached the destination
-    float _desired_yaw_cd;      // desired yaw in centi-degrees
+    float _desired_yaw_cd;      // desired yaw in centi-degrees.  used in Auto, Guided and Loiter
     float _desired_speed;       // desired speed in m/s
 };
 
diff --git a/APMrover2/mode_follow.cpp b/APMrover2/mode_follow.cpp
index 386364b6c7..72e9a3e9d9 100644
--- a/APMrover2/mode_follow.cpp
+++ b/APMrover2/mode_follow.cpp
@@ -11,9 +11,6 @@ bool ModeFollow::_enter()
     // initialise waypoint speed
     set_desired_speed_to_default();
 
-    // initialise heading to current heading
-    _desired_yaw_cd = ahrs.yaw_sensor;
-
     return true;
 }
 
@@ -64,10 +61,10 @@ void ModeFollow::update()
     }
 
     // calculate vehicle heading
-    _desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
+    const float desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
 
     // run steering and throttle controllers
-    calc_steering_to_heading(_desired_yaw_cd);
+    calc_steering_to_heading(desired_yaw_cd);
     calc_throttle(desired_speed, true);
 }