diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 8a53d1f3f8..6a92b97f68 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -248,13 +248,8 @@ void Mode::handle_tack_request()
     }
 }
 
-void Mode::calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled)
+void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
 {
-    // add in speed nudging
-    if (nudge_allowed) {
-        target_speed = calc_speed_nudge(target_speed, g.speed_cruise, g.throttle_cruise * 0.01f);
-    }
-
     // get acceleration limited target speed
     target_speed = attitude_control.get_desired_speed_accel_limited(target_speed, rover.G_Dt);
 
@@ -334,9 +329,8 @@ float Mode::calc_speed_max(float cruise_speed, float cruise_throttle) const
 
 // calculate pilot input to nudge speed up or down
 //  target_speed should be in meters/sec
-//  cruise_speed is vehicle's cruising speed, cruise_throttle is the throttle (from -1 to +1) that achieves the cruising speed
-//  return value is a new speed (in m/s) which up to the projected maximum speed based on the cruise speed and cruise throttle
-float Mode::calc_speed_nudge(float target_speed, float cruise_speed, float cruise_throttle)
+//  reversed should be true if the vehicle is intentionally backing up which allows the pilot to increase the backing up speed by pulling the throttle stick down
+float Mode::calc_speed_nudge(float target_speed, bool reversed)
 {
     // return immediately during RC/GCS failsafe
     if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
@@ -346,18 +340,18 @@ float Mode::calc_speed_nudge(float target_speed, float cruise_speed, float cruis
     // return immediately if pilot is not attempting to nudge speed
     // pilot can nudge up speed if throttle (in range -100 to +100) is above 50% of center in direction of travel
     const int16_t pilot_throttle = constrain_int16(rover.channel_throttle->get_control_in(), -100, 100);
-    if (((pilot_throttle <= 50) && (target_speed >= 0.0f)) ||
-        ((pilot_throttle >= -50) && (target_speed <= 0.0f))) {
+    if (((pilot_throttle <= 50) && !reversed) ||
+        ((pilot_throttle >= -50) && reversed)) {
         return target_speed;
     }
 
     // sanity checks
-    if (cruise_throttle > 1.0f || cruise_throttle < 0.05f) {
+    if (g.throttle_cruise > 100 || g.throttle_cruise < 5) {
         return target_speed;
     }
 
     // project vehicle's maximum speed
-    const float vehicle_speed_max = calc_speed_max(cruise_speed, cruise_throttle);
+    const float vehicle_speed_max = calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
 
     // return unadjusted target if already over vehicle's projected maximum speed
     if (fabsf(target_speed) >= vehicle_speed_max) {
@@ -382,9 +376,10 @@ void Mode::navigate_to_waypoint()
     g2.wp_nav.update(rover.G_Dt);
     _distance_to_destination = g2.wp_nav.get_distance_to_destination();
 
-    // pass speed to throttle controller
-    const float desired_speed = g2.wp_nav.get_speed();
-    calc_throttle(desired_speed, true, true);
+    // pass speed to throttle controller after applying nudge from pilot
+    float desired_speed = g2.wp_nav.get_speed();
+    desired_speed = calc_speed_nudge(desired_speed, g2.wp_nav.get_reversed());
+    calc_throttle(desired_speed, true);
 
     float desired_heading_cd = g2.wp_nav.wp_bearing_cd();
     _yaw_error_cd = wrap_180_cd(desired_heading_cd - ahrs.yaw_sensor);
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 290f69f8f3..d716b1900b 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -168,7 +168,7 @@ protected:
 
     // calculates the amount of throttle that should be output based
     // on things like proximity to corners and current speed
-    virtual void calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled);
+    virtual void calc_throttle(float target_speed, bool avoidance_enabled);
 
     // performs a controlled stop. returns true once vehicle has stopped
     bool stop_vehicle();
@@ -179,9 +179,8 @@ protected:
 
     // calculate pilot input to nudge speed up or down
     //  target_speed should be in meters/sec
-    //  cruise_speed is vehicle's cruising speed, cruise_throttle is the throttle (from -1 to +1) that achieves the cruising speed
-    //  return value is a new speed (in m/s) which up to the projected maximum speed based on the cruise speed and cruise throttle
-    float calc_speed_nudge(float target_speed, float cruise_speed, float cruise_throttle);
+    //  reversed should be true if the vehicle is intentionally backing up which allows the pilot to increase the backing up speed by pulling the throttle stick down
+    float calc_speed_nudge(float target_speed, bool reversed);
 
     // calculate vehicle stopping location using current location, velocity and maximum acceleration
     void calc_stopping_location(Location& stopping_loc);
@@ -244,7 +243,7 @@ public:
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
-    void calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled) override;
+    void calc_throttle(float target_speed, bool avoidance_enabled) override;
 
     // attributes of the mode
     bool is_autopilot_mode() const override { return true; }
diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp
index 268b7caf2a..30d15d9ae1 100644
--- a/APMrover2/mode_acro.cpp
+++ b/APMrover2/mode_acro.cpp
@@ -15,7 +15,7 @@ void ModeAcro::update()
         float desired_speed;
         // convert pilot stick input into desired steering and speed
         get_pilot_desired_steering_and_speed(desired_steering, desired_speed);
-        calc_throttle(desired_speed, false, true);
+        calc_throttle(desired_speed, true);
     }
 
     float steering_out;
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 30b0ab369c..ec2b7476ad 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -64,7 +64,7 @@ void ModeAuto::update()
             if (!_reached_heading) {
                 // run steering and throttle controllers
                 calc_steering_to_heading(_desired_yaw_cd);
-                calc_throttle(_desired_speed, true, true);
+                calc_throttle(calc_speed_nudge(_desired_speed, is_negative(_desired_speed)), true);
                 // check if we have reached within 5 degrees of target
                 _reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500);
             } else {
@@ -98,14 +98,14 @@ void ModeAuto::update()
     }
 }
 
-void ModeAuto::calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled)
+void ModeAuto::calc_throttle(float target_speed, bool avoidance_enabled)
 {
     // If not autostarting set the throttle to minimum
     if (!check_trigger()) {
         stop_vehicle();
         return;
     }
-    Mode::calc_throttle(target_speed, nudge_allowed, avoidance_enabled);
+    Mode::calc_throttle(target_speed, avoidance_enabled);
 }
 
 // return distance (in meters) to destination
diff --git a/APMrover2/mode_follow.cpp b/APMrover2/mode_follow.cpp
index b270c40602..018b440a19 100644
--- a/APMrover2/mode_follow.cpp
+++ b/APMrover2/mode_follow.cpp
@@ -69,7 +69,7 @@ void ModeFollow::update()
 
     // run steering and throttle controllers
     calc_steering_to_heading(_desired_yaw_cd);
-    calc_throttle(desired_speed, false, true);
+    calc_throttle(desired_speed, true);
 }
 
 // return desired heading (in degrees) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 9f33364074..d23e1bb429 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -57,7 +57,7 @@ void ModeGuided::update()
             if (have_attitude_target) {
                 // run steering and throttle controllers
                 calc_steering_to_heading(_desired_yaw_cd);
-                calc_throttle(_desired_speed, true, true);
+                calc_throttle(calc_speed_nudge(_desired_speed, is_negative(_desired_speed)), true);
             } else {
                 // we have reached the destination so stay here
                 if (rover.is_boat()) {
@@ -85,7 +85,7 @@ void ModeGuided::update()
                                                                             g2.motors.limit.steer_right,
                                                                             rover.G_Dt);
                 set_steering(steering_out * 4500.0f);
-                calc_throttle(_desired_speed, true, true);
+                calc_throttle(calc_speed_nudge(_desired_speed, is_negative(_desired_speed)), true);
             } else {
                 // we have reached the destination so stay here
                 if (rover.is_boat()) {
diff --git a/APMrover2/mode_loiter.cpp b/APMrover2/mode_loiter.cpp
index b4eefe3748..3685d98080 100644
--- a/APMrover2/mode_loiter.cpp
+++ b/APMrover2/mode_loiter.cpp
@@ -52,5 +52,5 @@ void ModeLoiter::update()
 
     // run steering and throttle controllers
     calc_steering_to_heading(_desired_yaw_cd);
-    calc_throttle(_desired_speed, false, true);
+    calc_throttle(_desired_speed, true);
 }
diff --git a/APMrover2/mode_simple.cpp b/APMrover2/mode_simple.cpp
index 75156ad11c..c91313134b 100644
--- a/APMrover2/mode_simple.cpp
+++ b/APMrover2/mode_simple.cpp
@@ -29,5 +29,5 @@ void ModeSimple::update()
 
     // run throttle and steering controllers
     calc_steering_to_heading(desired_heading_cd);
-    calc_throttle(desired_speed, false, true);
+    calc_throttle(desired_speed, true);
 }
diff --git a/APMrover2/mode_steering.cpp b/APMrover2/mode_steering.cpp
index f7fd78651f..a4d4dbf4bb 100644
--- a/APMrover2/mode_steering.cpp
+++ b/APMrover2/mode_steering.cpp
@@ -49,5 +49,5 @@ void ModeSteering::update()
     }
 
     // run speed to throttle controller
-    calc_throttle(desired_speed, false, true);
+    calc_throttle(desired_speed, true);
 }