diff --git a/ArduSub/config.h b/ArduSub/config.h
index e477e36a21..bae4edba8e 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -203,7 +203,7 @@
 
 // AUTO Mode
 #ifndef WP_YAW_BEHAVIOR_DEFAULT
-# define WP_YAW_BEHAVIOR_DEFAULT   WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
+# define WP_YAW_BEHAVIOR_DEFAULT   WP_YAW_BEHAVIOR_CORRECT_XTRACK
 #endif
 
 #ifndef AUTO_YAW_SLEW_RATE