diff --git a/Rover/balance_bot.cpp b/Rover/balance_bot.cpp
index 2e55174cce..9b50625b10 100644
--- a/Rover/balance_bot.cpp
+++ b/Rover/balance_bot.cpp
@@ -8,7 +8,7 @@ void Rover::balancebot_pitch_control(float &throttle)
     const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim);
 
     // calculate required throttle using PID controller
-    throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, g2.motors.limit.throttle_lower || g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
+    throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, radians(g2.bal_pitch_max), g2.motors.limit.throttle_lower || g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
 }
 
 // returns true if vehicle is a balance bot
diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index 76898d9bf6..1509b72436 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -317,7 +317,9 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
             bool stopped;
             throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt, stopped);
         } else {
-            throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt);
+            bool motor_lim_low = g2.motors.limit.throttle_lower || attitude_control.pitch_limited();
+            bool motor_lim_high = g2.motors.limit.throttle_upper || attitude_control.pitch_limited();
+            throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, motor_lim_low, motor_lim_high, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt);
         }
 
         // if vehicle is balance bot, calculate actual throttle required for balancing