diff --git a/src/segway_RMP400.cpp b/src/segway_RMP400.cpp
index 8661dfa2a78bd3144c48f9ba111af673308f86bd..1c26f5839c24a70c8f05cbc3e0309d32504c8173 100644
--- a/src/segway_RMP400.cpp
+++ b/src/segway_RMP400.cpp
@@ -223,7 +223,9 @@ CSegwayRMP400::get_yaw_rate()
 {
     need_to_be_connected();
 
-    yaw_rate_ = get_yaw_rate();
+    yaw_rate_ = (segways_[0]->get_yaw_rate() +
+                 segways_[1]->get_yaw_rate()) / 2;
+
     return yaw_rate_;
 }