diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index a2aa37a5e7..d62bcd99ed 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -239,8 +239,8 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
 {
     mavlink_msg_nav_controller_output_send(
         chan,
-        lateral_acceleration,
-        0,
+        lateral_acceleration, // use nav_roll to hold demanded Y accel
+        ins.get_accel().y, // use nav_pitch to hold actual Y accel
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
         wp_distance,