diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 1c73e10f50..2d8da8acc0 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -220,6 +220,8 @@ void AP_MotorsHeli_Single::init_outputs()
             case TAIL_TYPE::DIRECTDRIVE_VARPITCH:
             case TAIL_TYPE::DIRECTDRIVE_VARPIT_EXT_GOV:
                 _tail_rotor.init_servo();
+                // yaw servo is an angle from -4500 to 4500
+                SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);
                 break;
 
             case TAIL_TYPE::SERVO_EXTGYRO: