diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 9afc8f5afe..c4ac17fe89 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -515,9 +515,8 @@ Vector3f AC_AttitudeControl::euler_accel_limit(Vector3f euler_rad, Vector3f eule
 void AC_AttitudeControl::shift_ef_yaw_target(float yaw_shift_cd)
 {
     float yaw_shift = radians(yaw_shift_cd*0.01f);
-    _attitude_target_euler_angle.z = wrap_2PI(_attitude_target_euler_angle.z + yaw_shift);
     Quaternion _attitude_target_update_quat;
-    _attitude_target_update_quat.from_axis_angle(Vector3f(0.0f, 0.0f, _attitude_target_euler_angle.z));
+    _attitude_target_update_quat.from_axis_angle(Vector3f(0.0f, 0.0f, yaw_shift));
     _attitude_target_quat = _attitude_target_update_quat*_attitude_target_quat;
 }