diff --git a/ArduPlane/mode_manual.cpp b/ArduPlane/mode_manual.cpp
index e30954331b..854b1fd4cd 100644
--- a/ArduPlane/mode_manual.cpp
+++ b/ArduPlane/mode_manual.cpp
@@ -6,5 +6,8 @@ void ModeManual::update()
     SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
     SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
     plane.steering_control.steering = plane.steering_control.rudder = plane.rudder_in_expo(false);
+
+    plane.nav_roll_cd = plane.ahrs.roll_sensor;
+    plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
 }
 
diff --git a/ArduPlane/mode_stabilize.cpp b/ArduPlane/mode_stabilize.cpp
index 7414d57506..1004c60c28 100644
--- a/ArduPlane/mode_stabilize.cpp
+++ b/ArduPlane/mode_stabilize.cpp
@@ -3,7 +3,7 @@
 
 void ModeStabilize::update()
 {
-    plane.nav_roll_cd = 0;
-    plane.nav_pitch_cd = 0;
+    plane.nav_roll_cd = plane.ahrs.roll_sensor;
+    plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
 }