diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 1b77cb2e27..1056180223 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -436,17 +436,19 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
 }
 
 // move_yaw
-void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
+void AP_MotorsHeli_Single::move_yaw(float yaw_out)
 {
-    _yaw_servo.servo_out = constrain_int16(yaw_out, -4500, 4500);
-
-    if (_yaw_servo.servo_out != yaw_out) {
+    // sanity check yaw_out
+    if (yaw_out < -1.0f) {
+        yaw_out = -1.0f;
+        limit.yaw = true;
+    }
+    if (yaw_out > 1.0f) {
+        yaw_out = 1.0f;
         limit.yaw = true;
     }
 
-    _yaw_servo.calc_pwm();
-
-    rc_write(AP_MOTORS_MOT_4, _yaw_servo.radio_out);
+    rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
 
     if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
         // output gain to exernal gyro
@@ -457,7 +459,8 @@ void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
         }
     } else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
         // output yaw servo to tail rsc
-        write_aux(_yaw_servo.servo_out);
+        // To-Do: fix this messy calculation
+        write_aux((yaw_out*0.5f+1.0f) * 1000.0f);
     }
 }
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 2fb6967e90..857f88ebe1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -146,7 +146,7 @@ protected:
     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out);
 
     // move_yaw - moves the yaw servo
-    void move_yaw(int16_t yaw_out);
+    void move_yaw(float yaw_out);
 
     // write_aux - outputs pwm onto output aux channel (ch7). servo_out parameter is of the range 0 ~ 1000
     void write_aux(int16_t servo_out);