diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index f88a0aa256..ad51a4b222 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -35,6 +35,7 @@ public:
         k_param_scheduler,
         k_param_relay,
         k_param_BoardConfig,
+        k_param_pivot_turn_angle,
 
         // IO pins
         k_param_rssi_pin = 20,
@@ -207,6 +208,7 @@ public:
     AP_Int8     auto_trigger_pin;
     AP_Float    auto_kickstart;
     AP_Float    turn_max_g;
+    AP_Int16    pivot_turn_angle;
 
     // RC channels
     RC_Channel      rc_1;
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index b4a07008e5..87222e54c8 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -145,6 +145,15 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(speed_turn_dist,    "SPEED_TURN_DIST",  2.0f),
 
+    // @Param: PIVOT_TURN_ANGLE
+    // @DisplayName: Pivot turn angle
+    // @Description: Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.
+    // @Units: degrees
+    // @Range: 0 360
+    // @Increment: 1
+    // @User: Standard
+	GSCALAR(pivot_turn_angle,   "PIVOT_TURN_ANGLE",  30),
+
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
diff --git a/APMrover2/Steering.pde b/APMrover2/Steering.pde
index 0d88dd3146..cdbe0aae14 100644
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@@ -64,6 +64,20 @@ static bool auto_check_trigger(void)
     return false;   
 }
 
+/*
+  work out if we are going to use pivot steering
+ */
+static bool use_pivot_steering(void)
+{
+    if (g.skid_steer_out && g.pivot_turn_angle != 0) {
+        int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
+        if (abs(bearing_error) > g.pivot_turn_angle) {
+            return true;
+        }
+    }
+    return false;
+}
+
 
 /*
   calculate the throtte for auto-throttle modes
@@ -110,6 +124,10 @@ static void calc_throttle(float target_speed)
     } else {
         channel_throttle->servo_out = constrain_int16(throttle, g.throttle_min, g.throttle_max);
     }
+    
+    if (use_pivot_steering()) {
+        channel_throttle->servo_out = 0;
+    }
 }
 
 /*****************************************
@@ -137,6 +155,14 @@ static void calc_lateral_acceleration()
     // negative error = left turn
 	// positive error = right turn
     lateral_acceleration = nav_controller->lateral_acceleration();
+    if (use_pivot_steering()) {
+        int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
+        if (bearing_error > 0) {
+            lateral_acceleration = g.turn_max_g*GRAVITY_MSS;
+        } else {
+            lateral_acceleration = -g.turn_max_g*GRAVITY_MSS;
+        }
+    }
 }
 
 /*