diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index 1c79c87b8c..94432630ba 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -202,9 +202,9 @@ void AP_MotorsSingle::output_armed_stabilizing()
     float   actuator_max = 0.0f;        // maximum actuator value
 
     // apply voltage and air pressure compensation
-    roll_thrust = get_roll_thrust() * get_compensation_gain();
-    pitch_thrust = get_pitch_thrust() * get_compensation_gain();
-    yaw_thrust = get_yaw_thrust() * get_compensation_gain();
+    roll_thrust = _roll_in * get_compensation_gain();
+    pitch_thrust = _pitch_in * get_compensation_gain();
+    yaw_thrust = _yaw_in * get_compensation_gain();
     throttle_thrust = get_throttle() * get_compensation_gain();
 
     // sanity check throttle is above zero and below current limited throttle