diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 6ee583dddc..a254617449 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -72,7 +72,7 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed)
     }
 
     // call throttle controller and convert output to -100 to +100 range
-    float throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.have_skid_steering(), g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f);
+    float 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);
 
     // send to motor
     g2.motors.set_throttle(throttle_out);
@@ -83,7 +83,7 @@ bool Mode::stop_vehicle()
 {
     // call throttle controller and convert output to -100 to +100 range
     bool stopped = false;
-    float throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.have_skid_steering(), g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, stopped);
+    float 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, stopped);
 
     // send to motor
     g2.motors.set_throttle(throttle_out);