diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp
index bad5a89a15..24e935b19b 100644
--- a/APMrover2/mode_acro.cpp
+++ b/APMrover2/mode_acro.cpp
@@ -17,7 +17,7 @@ void ModeAcro::update()
     get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
 
     // convert pilot throttle input to desired speed (up to twice the cruise speed)
-    const float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
+    float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
 
     // convert pilot steering input to desired turn rate in radians/sec
     const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate);
@@ -35,6 +35,9 @@ void ModeAcro::update()
     const bool reversed = is_negative(target_speed);
     rover.set_reverse(reversed);
 
+    // apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
+    rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
+
     // run steering turn rate controller and throttle controller
     const float steering_out = attitude_control.get_steering_out_rate(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
     g2.motors.set_steering(steering_out * 4500.0f);
diff --git a/APMrover2/mode_steering.cpp b/APMrover2/mode_steering.cpp
index 75d83103e1..9f57850d3f 100644
--- a/APMrover2/mode_steering.cpp
+++ b/APMrover2/mode_steering.cpp
@@ -7,7 +7,7 @@ void ModeSteering::update()
     get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
 
     // convert pilot throttle input to desired speed (up to twice the cruise speed)
-    const float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
+    float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
 
     // get speed forward
     float speed;
@@ -47,12 +47,17 @@ void ModeSteering::update()
     // mark us as in_reverse when using a negative throttle
     rover.set_reverse(reversed);
 
+    // apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
+    rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
+
     // run speed to throttle output controller
     if (is_zero(target_speed) && !is_pivot_turning) {
         stop_vehicle();
     } else {
         // run lateral acceleration to steering controller
         calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);
+
+        // run speed to throttle controller
         calc_throttle(target_speed, false);
     }
 }