diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 9854cd6d4de59e..03f40624d9e418 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -1046,7 +1046,7 @@ float AR_AttitudeControl::get_desired_speed_accel_limited(float desired_speed, f
 
     // acceleration limit desired speed
     float speed_change_max;
-    if (fabsf(desired_speed) < fabsf(_desired_speed) && is_positive(_throttle_decel_max)) {
+    if (fabsf(desired_speed) < fabsf(speed_prev) && is_positive(_throttle_decel_max)) {
         speed_change_max = _throttle_decel_max * dt;
     } else {
         speed_change_max = _throttle_accel_max * dt;