diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 885772e66f..852aab97c8 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -761,6 +761,7 @@ void Mode::land_run_normal_or_precland(bool pause_descent)
 // The passed in location is expected to be NED and in m
 void Mode::precland_retry_position(const Vector3f &retry_pos)
 {
+    float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
             AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
@@ -787,6 +788,11 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
                 copter.ap.land_repo_active = true;
             }
         }
+
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        if (!is_zero(target_yaw_rate)) {
+            auto_yaw.set_mode(AUTO_YAW_HOLD);
+        }
     }
 
     Vector3p retry_pos_NEU{retry_pos.x, retry_pos.y, retry_pos.z * -1.0f};
@@ -800,8 +806,14 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
 
     const Vector3f thrust_vector{pos_control->get_thrust_vector()};
 
-    // roll, pitch from position controller, yaw heading from auto_heading()
-    attitude_control->input_thrust_vector_heading(thrust_vector, auto_yaw.yaw());
+    // call attitude controller
+    if (auto_yaw.mode() == AUTO_YAW_HOLD) {
+        // roll & pitch from waypoint controller, yaw rate from pilot
+        attitude_control->input_thrust_vector_rate_heading(thrust_vector, target_yaw_rate);
+    } else {
+        // roll, pitch from waypoint controller, yaw heading from auto_heading()
+        attitude_control->input_thrust_vector_heading(thrust_vector, auto_yaw.yaw());
+    }
 }
 
 // Run precland statemachine. This function should be called from any mode that wants to do precision landing.