diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index d20d549698..7c025e0009 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -532,6 +532,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/APM_Control/AR_AttitudeControl.cpp
     AP_SUBGROUPINFO(attitude_control, "ATC", 10, ParametersG2, AR_AttitudeControl),
 
+    // @Param: TURN_RADIUS
+    // @DisplayName: Turn radius of vehicle
+    // @Description: Turn radius of vehicle in meters while at low speeds.  Lower values produce tighter turns in steering mode
+    // @Units: m
+    // @Range: 0 10
+    // @Increment: 0.1
+    // @User: Standard
+    AP_GROUPINFO("TURN_RADIUS", 11, ParametersG2, turn_radius, 0.9),
+
     AP_GROUPEND
 };
 
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 7fc90f7657..7cc7d1e9e9 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -326,6 +326,9 @@ public:
 
     // steering and throttle controller
     AR_AttitudeControl attitude_control;
+
+    // turn radius of vehicle (only used in steering mode)
+    AP_Float turn_radius;
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/APMrover2/mode_steering.cpp b/APMrover2/mode_steering.cpp
index ba559c1c10..6d14ee7770 100644
--- a/APMrover2/mode_steering.cpp
+++ b/APMrover2/mode_steering.cpp
@@ -12,7 +12,7 @@ void ModeSteering::update()
     // acceleration at full steering lock for this speed. That is V^2/R where R is the radius of turn.
     // We get the radius of turn from half the STEER2SRV_P.
     const float ground_speed = rover.ground_speed;
-    float max_g_force = ground_speed * ground_speed / rover.steerController.get_turn_radius();
+    float max_g_force = ground_speed * ground_speed / MAX(g2.turn_radius, 0.1f);
 
     // constrain to user set TURN_MAX_G
     max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);