diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp
index 87c47d8a6f..aea8a5ceeb 100644
--- a/ArduCopter/control_guided.cpp
+++ b/ArduCopter/control_guided.cpp
@@ -481,10 +481,15 @@ void Copter::guided_vel_control_run()
     // set motors to full range
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
-    // set velocity to zero if no updates received for 3 seconds
+    // set velocity to zero and stop rotating if no updates received for 3 seconds
     uint32_t tnow = millis();
-    if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS && !pos_control->get_desired_velocity().is_zero()) {
-        guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f,0.0f,0.0f));
+    if (tnow - vel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) {
+        if (!pos_control->get_desired_velocity().is_zero()) {
+            guided_set_desired_velocity_with_accel_and_fence_limits(Vector3f(0.0f,0.0f,0.0f));
+        }
+        if (auto_yaw_mode == AUTO_YAW_RATE) {
+            set_auto_yaw_rate(0.0f);
+        }
     } else {
         guided_set_desired_velocity_with_accel_and_fence_limits(guided_vel_target_cms);
     }
@@ -540,10 +545,13 @@ void Copter::guided_posvel_control_run()
     // set motors to full range
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
-    // set velocity to zero if no updates received for 3 seconds
+    // set velocity to zero and stop rotating if no updates received for 3 seconds
     uint32_t tnow = millis();
-    if (tnow - posvel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS && !guided_vel_target_cms.is_zero()) {
+    if (tnow - posvel_update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) {
         guided_vel_target_cms.zero();
+        if (auto_yaw_mode == AUTO_YAW_RATE) {
+            set_auto_yaw_rate(0.0f);
+        }
     }
 
     // calculate dt