diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 8e146bdca6..13ed8d8457 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -594,7 +594,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
     }
 
     // calculate final output
-    float throttle_out = _throttle_speed_pid.update_all(desired_speed, speed, (_throttle_limit_low || _throttle_limit_high));
+    float throttle_out = _throttle_speed_pid.update_all(desired_speed, speed, (motor_limit_low || motor_limit_high || _throttle_limit_low || _throttle_limit_high));
     throttle_out += _throttle_speed_pid.get_ff();
     throttle_out += throttle_base;