diff --git a/libraries/APM_Control/AP_SteerController.cpp b/libraries/APM_Control/AP_SteerController.cpp
index 7ff1cca332..8507d9ec89 100644
--- a/libraries/APM_Control/AP_SteerController.cpp
+++ b/libraries/APM_Control/AP_SteerController.cpp
@@ -114,7 +114,8 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
     _pid_info.desired = desired_rate;
 
 	// Calculate the steering rate error (deg/sec) and apply gain scaler
-	float rate_error = (desired_rate - ToDeg(_ahrs.get_gyro().z)) * scaler;
+    // We do this in earth frame to allow for rover leaning over in hard corners
+	float rate_error = (desired_rate - ToDeg(_ahrs.get_yaw_rate_earth())) * scaler;
 	
 	// Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law
     // No conversion is required for K_D