diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index e7af029d3c..b8701abcb9 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -68,7 +68,7 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed)
 {
     // add in speed nudging
     if (nudge_allowed) {
-        target_speed = calc_speed_nudge(target_speed, g.speed_cruise, g.throttle_cruise / 100.0f);
+        target_speed = calc_speed_nudge(target_speed, g.speed_cruise, g.throttle_cruise * 0.01f);
     }
 
     // call throttle controller and convert output to -100 to +100 range
diff --git a/APMrover2/mode_steering.cpp b/APMrover2/mode_steering.cpp
index a440773870..b1d5dba20b 100644
--- a/APMrover2/mode_steering.cpp
+++ b/APMrover2/mode_steering.cpp
@@ -4,7 +4,7 @@
 void ModeSteering::update()
 {
     // convert pilot throttle input to desired speed (up to twice the cruise speed)
-    float target_speed = channel_throttle->get_control_in() * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise);
+    float target_speed = channel_throttle->get_control_in() * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
 
     // get speed forward
     float speed;