diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index 35cb5befe0..d09bddc9ff 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -241,10 +241,6 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
     // slew limit throttle
     slew_limit_throttle(dt);
 
-    if (rover.is_BalanceBot()) {
-        rover.balance_pitch(_throttle, armed);
-    }
-
     // output for regular steering/throttle style frames
     output_regular(armed, ground_speed, _steering, _throttle);
 
diff --git a/APMrover2/mode_manual.cpp b/APMrover2/mode_manual.cpp
index 15fcd7d932..992c0f2e1c 100644
--- a/APMrover2/mode_manual.cpp
+++ b/APMrover2/mode_manual.cpp
@@ -13,6 +13,11 @@ void ModeManual::update()
     get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
     get_pilot_desired_lateral(desired_lateral);
 
+    // if vehicle is balance bot, calculate actual throttle required for balancing
+    if (rover.is_BalanceBot()) {
+        rover.balance_pitch(desired_throttle, rover.arming.is_armed());
+    }
+
     // copy RC scaled inputs to outputs
     g2.motors.set_throttle(desired_throttle);
     g2.motors.set_steering(desired_steering, false);