diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
index 05fda86c174dab..17cc288ec48dd4 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -815,7 +815,8 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
         if (is_positive(dwell_freq)) {
             float ang_limit_rate = radians(rate_max) / dwell_freq;
             float ang_limit_accel = radians(accel_max) / sq(dwell_freq);
-            tgt_att_limited = MIN(tgt_attitude, ang_limit_rate, ang_limit_accel);
+            float tgt_att_temp = MIN(ang_limit_rate, tgt_attitude);
+            tgt_att_limited = MIN(ang_limit_rate, tgt_att_trmp);
         }
         target_angle_cd = -chirp_input.update((now - dwell_start_time_ms) * 0.001, degrees(tgt_att_limited) * 100.0f);
         dwell_freq = chirp_input.get_frequency_rads();