diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index a67b853c0a..2e7664a204 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -591,7 +591,7 @@ void ModeGuided::angle_control_run()
 
     // wrap yaw request
     float yaw_in = wrap_180_cd(guided_angle_state.yaw_cd);
-    float yaw_rate_in = wrap_180_cd(guided_angle_state.yaw_rate_cds);
+    float yaw_rate_in = guided_angle_state.yaw_rate_cds;
 
     float climb_rate_cms = 0.0f;
     if (!guided_angle_state.use_thrust) {