diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index e1e8cd5881..9aae816c83 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -213,7 +213,10 @@ float AR_AttitudeControl::get_steering_out_heading(float heading_rad, bool skid_
     const float yaw_error = wrap_PI(heading_rad - _ahrs.yaw);
 
     // Calculate the desired turn rate (in radians) from the angle error (also in radians)
-    const float desired_rate = _steer_angle_p.get_p(yaw_error);
+    float desired_rate = _steer_angle_p.get_p(yaw_error);
+    if (reversed) {
+        desired_rate = -desired_rate;
+    }
 
     return get_steering_out_rate(desired_rate, skid_steering, vect_thrust, motor_limit_left, motor_limit_right, reversed);
 }