diff --git a/APMrover2/Steering.pde b/APMrover2/Steering.pde
index 0883dc27b3e787a4a233fd1939d380892c813f12..ccbb69bbb245d3b06cfee932fe341eb7ab456f1e 100644
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@@ -109,7 +109,7 @@ static void calc_throttle(float target_speed)
     
     if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
         // in auto-modes we reduce speed when approaching waypoints
-        float reduction2 = 1.0 - speed_turn_reduction*((g.speed_turn_dist - wp_distance)/g.speed_turn_dist);
+        float reduction2 = 1.0 - speed_turn_reduction;
         if (reduction2 < reduction) {
             reduction = reduction2;
         }