diff --git a/ArduCopter/heli.pde b/ArduCopter/heli.pde
index 4ce6a81d7a..7940adee98 100644
--- a/ArduCopter/heli.pde
+++ b/ArduCopter/heli.pde
@@ -204,7 +204,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
 		// rudder feed forward based on collective
 		#if HIL_MODE == HIL_MODE_DISABLED  // don't do rudder feed forward in simulator
 		if( !g.heli_ext_gyro_enabled ) {
-			yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - g.heli_collective_mid);
+			yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - heli_throttle_mid);
 		}
 		#endif
 	}