diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 9b41d53461..36900b12d5 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -24,7 +24,7 @@ const AP_Param::GroupInfo AC_Circle::var_info[] = {
     // @Range: -90 90
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("RATE",    1, AC_Circle, _rate,    AC_CIRCLE_RATE_DEFAULT),
+    AP_GROUPINFO("RATE",    1, AC_Circle, _rate_parm,    AC_CIRCLE_RATE_DEFAULT),
 
     // @Param: OPTIONS
     // @DisplayName: Circle options
@@ -55,15 +55,18 @@ AC_Circle::AC_Circle(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_Po
 
     // init flags
     _flags.panorama = false;
+    _rate = _rate_parm;
 }
 
 /// init - initialise circle controller setting center specifically
-///     set terrain_alt to true if center.z should be interpreted as an alt-above-terrain
+///     set terrain_alt to true if center.z should be interpreted as an alt-above-terrain. Rate should be +ve in deg/sec for cw turn
 ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
-void AC_Circle::init(const Vector3p& center, bool terrain_alt)
+void AC_Circle::init(const Vector3p& center, bool terrain_alt, float rate_deg_per_sec)
 {
     _center = center;
     _terrain_alt = terrain_alt;
+    _rate = rate_deg_per_sec;
+
     // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
     _pos_control.init_xy_controller_stopping_point();
     _pos_control.init_z_controller_stopping_point();
@@ -79,9 +82,10 @@ void AC_Circle::init(const Vector3p& center, bool terrain_alt)
 ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
 void AC_Circle::init()
 {
-    // initialize radius from params
+    // initialize radius and rate from params
     _radius = _radius_parm;
     _last_radius_param = _radius_parm;
+    _rate = _rate_parm;
 
     // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
     _pos_control.init_xy_controller_stopping_point();
@@ -134,8 +138,8 @@ void AC_Circle::set_center(const Location& center)
 /// set_circle_rate - set circle rate in degrees per second
 void AC_Circle::set_rate(float deg_per_sec)
 {
-    if (!is_equal(deg_per_sec, _rate.get())) {
-        _rate.set(deg_per_sec);
+    if (!is_equal(deg_per_sec, _rate)) {
+        _rate = deg_per_sec;
     }
 }
 
diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index f0ce123753..94f578042c 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -20,9 +20,9 @@ public:
     AC_Circle(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control);
 
     /// init - initialise circle controller setting center specifically
-    ///     set terrain_alt to true if center.z should be interpreted as an alt-above-terrain
+    ///     set terrain_alt to true if center.z should be interpreted as an alt-above-terrain. Rate should be +ve in deg/sec for cw turn
     ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
-    void init(const Vector3p& center, bool terrain_alt);
+    void init(const Vector3p& center, bool terrain_alt, float rate_deg_per_sec);
 
     /// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
     ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
@@ -139,12 +139,13 @@ private:
 
     // parameters
     AP_Float    _radius_parm;   // radius of circle in cm loaded from params
-    AP_Float    _rate;          // rotation speed in deg/sec
+    AP_Float    _rate_parm;     // rotation speed in deg/sec
     AP_Int16    _options;       // stick control enable/disable
 
     // internal variables
     Vector3p    _center;        // center of circle in cm from home
     float       _radius;        // radius of circle in cm
+    float       _rate;          // rotation speed of circle in deg/sec. +ve for cw turn
     float       _yaw;           // yaw heading (normally towards circle center)
     float       _angle;         // current angular position around circle in radians (0=directly north of the center of the circle)
     float       _angle_total;   // total angle traveled in radians