diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index e65699f95d..5a92488817 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -136,11 +136,12 @@ void AP_MotorsCoax::output_armed_stabilizing()
     float   actuator_allowed = 0.0f;    // amount of yaw we can fit in
 
     // apply voltage and air pressure compensation
-    roll_thrust = _roll_in * get_compensation_gain();
-    pitch_thrust = _pitch_in * get_compensation_gain();
-    yaw_thrust = _yaw_in * get_compensation_gain();
-    throttle_thrust = get_throttle() * get_compensation_gain();
-    throttle_avg_max = _throttle_avg_max * get_compensation_gain();
+    const float compensation_gain = get_compensation_gain();
+    roll_thrust = _roll_in * compensation_gain;
+    pitch_thrust = _pitch_in * compensation_gain;
+    yaw_thrust = _yaw_in * compensation_gain;
+    throttle_thrust = get_throttle() * compensation_gain;
+    throttle_avg_max = _throttle_avg_max * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle
     if (throttle_thrust <= 0.0f) {
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index da514fea18..3092bff1b9 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -146,11 +146,12 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     float   thr_adj;                    // the difference between the pilot's desired throttle and throttle_thrust_best_rpy
 
     // apply voltage and air pressure compensation
-    roll_thrust = _roll_in * get_compensation_gain();
-    pitch_thrust = _pitch_in * get_compensation_gain();
-    yaw_thrust = _yaw_in * get_compensation_gain();
-    throttle_thrust = get_throttle() * get_compensation_gain();
-    throttle_avg_max = _throttle_avg_max * get_compensation_gain();
+    const float compensation_gain = get_compensation_gain();
+    roll_thrust = _roll_in * compensation_gain;
+    pitch_thrust = _pitch_in * compensation_gain;
+    yaw_thrust = _yaw_in * compensation_gain;
+    throttle_thrust = get_throttle() * compensation_gain;
+    throttle_avg_max = _throttle_avg_max * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle
     if (throttle_thrust <= 0.0f) {
diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index 94bfc63da9..7b7096f132 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -146,11 +146,12 @@ void AP_MotorsSingle::output_armed_stabilizing()
     float   actuator_max = 0.0f;        // maximum actuator value
 
     // apply voltage and air pressure compensation
-    roll_thrust = _roll_in * get_compensation_gain();
-    pitch_thrust = _pitch_in * get_compensation_gain();
-    yaw_thrust = _yaw_in * get_compensation_gain();
-    throttle_thrust = get_throttle() * get_compensation_gain();
-    throttle_avg_max = _throttle_avg_max * get_compensation_gain();
+    const float compensation_gain = get_compensation_gain();
+    roll_thrust = _roll_in * compensation_gain;
+    pitch_thrust = _pitch_in * compensation_gain;
+    yaw_thrust = _yaw_in * compensation_gain;
+    throttle_thrust = get_throttle() * compensation_gain;
+    throttle_avg_max = _throttle_avg_max * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle
     if (throttle_thrust <= 0.0f) {
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 63dff1fa82..ad7d712292 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -134,11 +134,12 @@ void AP_MotorsTri::output_armed_stabilizing()
     _yaw_servo_angle_max_deg = constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX);
 
     // apply voltage and air pressure compensation
-    roll_thrust = _roll_in * get_compensation_gain();
-    pitch_thrust = _pitch_in * get_compensation_gain();
-    yaw_thrust = _yaw_in * get_compensation_gain()*sinf(radians(_yaw_servo_angle_max_deg)); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
-    throttle_thrust = get_throttle() * get_compensation_gain();
-    throttle_avg_max = _throttle_avg_max * get_compensation_gain();
+    const float compensation_gain = get_compensation_gain();
+    roll_thrust = _roll_in * compensation_gain;
+    pitch_thrust = _pitch_in * compensation_gain;
+    yaw_thrust = _yaw_in * compensation_gain * sinf(radians(_yaw_servo_angle_max_deg)); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
+    throttle_thrust = get_throttle() * compensation_gain;
+    throttle_avg_max = _throttle_avg_max * compensation_gain;
 
     // calculate angle of yaw pivot
     _pivot_angle = safe_asin(yaw_thrust);