diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.cpp b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
index bb4b70d084..ea62ff9b07 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.cpp
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
@@ -138,8 +138,8 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
     // apply voltage and air pressure compensation
     const float compensation_gain = get_compensation_gain();
     roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
-    pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
-    yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain;
+    pitch_thrust = _pitch_in + _pitch_in_ff;
+    yaw_thrust = _yaw_in + _yaw_in_ff;
     throttle_thrust = get_throttle() * compensation_gain;
 
     // sanity check throttle is above zero and below current limited throttle