diff --git a/ArduCopter/control_acro.cpp b/ArduCopter/control_acro.cpp
index 01ee6e7790..87a2a0725e 100644
--- a/ArduCopter/control_acro.cpp
+++ b/ArduCopter/control_acro.cpp
@@ -100,12 +100,16 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
     // calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
 
     if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
+
+        // get attitude targets
+        const Vector3f att_target = attitude_control->get_att_target_euler_cd();
+
         // Calculate trainer mode earth frame rate command for roll
-        int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
+        int32_t roll_angle = wrap_180_cd(att_target.x);
         rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
 
         // Calculate trainer mode earth frame rate command for pitch
-        int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
+        int32_t pitch_angle = wrap_180_cd(att_target.y);
         rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
         // Calculate trainer mode earth frame rate command for yaw
diff --git a/ArduCopter/control_sport.cpp b/ArduCopter/control_sport.cpp
index 492abb22b2..f56cf5ab08 100644
--- a/ArduCopter/control_sport.cpp
+++ b/ArduCopter/control_sport.cpp
@@ -40,11 +40,15 @@ void Copter::sport_run()
     float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
     float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
 
-    int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
+    // get attitude targets
+    const Vector3f att_target = attitude_control->get_att_target_euler_cd();
+
+    // Calculate trainer mode earth frame rate command for roll
+    int32_t roll_angle = wrap_180_cd(att_target.x);
     target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
 
     // Calculate trainer mode earth frame rate command for pitch
-    int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
+    int32_t pitch_angle = wrap_180_cd(att_target.y);
     target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
     if (roll_angle > aparm.angle_max){