diff --git a/ArduCopter/mode_acro.cpp b/ArduCopter/mode_acro.cpp
index 03160ab2a0..c1767407ce 100644
--- a/ArduCopter/mode_acro.cpp
+++ b/ArduCopter/mode_acro.cpp
@@ -162,7 +162,7 @@ void ModeAcro::get_pilot_desired_angle_rates(float roll_in, float pitch_in, floa
         }
 
         // convert earth-frame level rates to body-frame level rates
-        attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd() * radians(0.01f), rate_ef_level_cd, rate_bf_level_cd);
+        attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level_cd, rate_bf_level_cd);
 
         // combine earth frame rate corrections with rate requests
         if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 17dc05bad2..91259ce975 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -144,7 +144,7 @@ void ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, float &ya
     rate_ef_level.z = 0;
 
     // convert earth-frame leak rates to body-frame leak rates
-    attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
+    attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
 
     // combine earth frame rate corrections with rate requests
     roll_out += rate_bf_level.x;