diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f6faed8ef3..189fa36a58 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1314,7 +1314,11 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
         return 0;
     }
 
-    if (plane.g.stick_mixing == STICK_MIXING_DISABLED) {
+    if ((plane.g.stick_mixing == STICK_MIXING_DISABLED) &&
+        (plane.control_mode == &plane.mode_qrtl ||
+         plane.control_mode == &plane.mode_guided ||
+         plane.control_mode == &plane.mode_avoidADSB ||
+         in_vtol_auto())) {
         return 0;
     }