diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp
index e79d5909fc..526d269b0e 100644
--- a/ArduCopter/takeoff.cpp
+++ b/ArduCopter/takeoff.cpp
@@ -108,7 +108,7 @@ void Mode::auto_takeoff_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
     }