diff --git a/src/segway_RMP400.cpp b/src/segway_RMP400.cpp
index 002f68823f9c9c236820a19ed86a6aaa3d256320..1ddb630f2a22184508cbdc7fbba70f837ae7c17d 100644
--- a/src/segway_RMP400.cpp
+++ b/src/segway_RMP400.cpp
@@ -207,7 +207,7 @@ CSegwayRMP400::get_yaw_rate()
 {
     need_to_be_connected();
 
-    yaw_rate_ = get_yaw_displacement() * (PI / 180);
+    yaw_rate_ = get_yaw_rate() * (PI / 180);
     return yaw_rate_;
 }