diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index cba542202e..c64a8e78f3 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -429,6 +429,7 @@ static struct AP_System{
 // updated after GPS read - 5-10hz
 static int16_t lon_speed;       // expressed in cm/s.  positive numbers mean moving east
 static int16_t lat_speed;       // expressed in cm/s.  positive numbers when moving north
+static int16_t ground_bearing;	// expressed in centidegrees
 
 static int16_t desired_climb_rate;
 
@@ -804,8 +805,6 @@ static int8_t alt_change_flag;
 ////////////////////////////////////////////////////////////////////////////////
 // The Commanded Yaw from the autopilot.
 static int32_t nav_yaw;
-// Commanded Yaw to automatically look ahead.
-static int32_t look_ahead_yaw;
 // A speed governer for Yaw control - limits the rate the quad can be turned by the autopilot
 static int32_t auto_yaw;
 static uint8_t yaw_timer;
@@ -1508,13 +1507,16 @@ void update_yaw_mode(void)
 		
 	case YAW_LOOK_AHEAD:
 		
-		if (g_gps->ground_speed > 300){														// Speed in cm/s. Create deadband of 3m/s.
-			look_ahead_yaw = (float)((g_gps->ground_speed - 300)/YAW_LOOK_AHEAD_RATE * (g_gps->ground_course - nav_yaw));
-			look_ahead_yaw = constrain ((look_ahead_yaw + g.rc_4.control_in), -4500, 4500);
-		} else { 
-			look_ahead_yaw = g.rc_4.control_in;
+		// Commanded Yaw to automatically look ahead.
+		if (g_gps->ground_speed > YAW_LOOK_AHEAD_RATE){									// Speed in cm/s.
+			nav_yaw += constrain(wrap_180(ground_bearing - nav_yaw), -60, 60);    		// 40 deg a second
+			nav_yaw  = wrap_360(nav_yaw);
+			get_stabilize_yaw(nav_yaw + g.rc_4.control_in);								// Allow pilot to "skid" around corners up to 45°
+        } else { 
+			nav_yaw += g.rc_4.control_in * g.acro_p * G_Dt;
+			nav_yaw = wrap_360(nav_yaw);
+			get_stabilize_yaw(nav_yaw);
 		}
-		get_yaw_rate_stabilized_ef(look_ahead_yaw);
         break;		
     }
 }
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 743b9bcf90..42f4ce350a 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -46,6 +46,9 @@ static void update_navigation()
 
         // calculate velocity
         calc_velocity_and_position();
+		
+		// calculate ground bearing
+		calc_ground_bearing();
 
         // calculate distance, angles to target
         calc_distance_and_bearing();
@@ -127,6 +130,10 @@ static void calc_velocity_and_position(){
     last_gps_latitude   = g_gps->latitude;
 }
 
+static void calc_ground_bearing(){
+	ground_bearing = atan2( lat_speed , lon_speed ) * DEGX100;
+}
+
 //****************************************************************
 // Function that will calculate the desired direction to fly and distance
 //****************************************************************