diff --git a/libraries/AP_Motors/AP_MotorsMatrixTS.cpp b/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
index 977bcd06a9..c9fec2e862 100644
--- a/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrixTS.cpp
@@ -76,7 +76,7 @@ void AP_MotorsMatrixTS::output_armed_stabilizing()
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain(); // compensation for battery voltage and altitude
     roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
-    pitch_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
+    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
     throttle_thrust = get_throttle() * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle