diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 4d955eb514..b4bc209b38 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -354,7 +354,12 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
     lat_accel = constrain_float(lat_accel, -g.turn_max_g * GRAVITY_MSS, g.turn_max_g * GRAVITY_MSS);
 
     // send final steering command to motor library
-    const float steering_out = attitude_control.get_steering_out_lat_accel(lat_accel, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
+    const float steering_out = attitude_control.get_steering_out_lat_accel(lat_accel,
+                                                                           g2.motors.have_skid_steering(),
+                                                                           g2.motors.have_vectored_thrust(),
+                                                                           g2.motors.limit.steer_left,
+                                                                           g2.motors.limit.steer_right,
+                                                                           reversed);
     g2.motors.set_steering(steering_out * 4500.0f);
 }
 
@@ -362,7 +367,12 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
 void Mode::calc_steering_to_heading(float desired_heading_cd, bool reversed)
 {
     // calculate yaw error (in radians) and pass to steering angle controller
-    const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f), g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
+    const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f),
+                                                                         g2.motors.have_skid_steering(),
+                                                                         g2.motors.have_vectored_thrust(),
+                                                                         g2.motors.limit.steer_left,
+                                                                         g2.motors.limit.steer_right,
+                                                                         reversed);
     g2.motors.set_steering(steering_out * 4500.0f);
 }
 
diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp
index 95e33949e5..61ce6cc70b 100644
--- a/APMrover2/mode_acro.cpp
+++ b/APMrover2/mode_acro.cpp
@@ -19,6 +19,7 @@ void ModeAcro::update()
     const float steering_out = attitude_control.get_steering_out_rate(
                                                                     target_turn_rate,
                                                                     g2.motors.have_skid_steering(),
+                                                                    g2.motors.have_vectored_thrust(),
                                                                     g2.motors.limit.steer_left,
                                                                     g2.motors.limit.steer_right,
                                                                     reversed);
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 2e37e81f0d..9352ff457c 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -65,7 +65,12 @@ void ModeGuided::update()
             }
             if (have_attitude_target) {
                 // run steering and throttle controllers
-                float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f), g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, _desired_speed < 0);
+                float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f),
+                                                                            g2.motors.have_skid_steering(),
+                                                                            g2.motors.have_vectored_thrust(),
+                                                                            g2.motors.limit.steer_left,
+                                                                            g2.motors.limit.steer_right,
+                                                                            _desired_speed < 0);
                 g2.motors.set_steering(steering_out * 4500.0f);
                 calc_throttle(_desired_speed, true, true);
             } else {