diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index ae858691ea3..20fa99906a6 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -175,7 +175,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
     }
 
     // calculate angle of input stick vector
-    heading_out = wrap_360_cd(atan2f(desired_steering, desired_throttle) * DEGX100);
+    heading_out = wrap_360_cd(rad_to_cd(atan2f(desired_steering, desired_throttle)));
 
     // calculate throttle using magnitude of input stick vector
     const float throttle = MIN(safe_sqrt(sq(desired_throttle) + sq(desired_steering)), 1.0f);
diff --git a/Rover/mode_follow.cpp b/Rover/mode_follow.cpp
index bf36049b5ac..f63b5a49be7 100644
--- a/Rover/mode_follow.cpp
+++ b/Rover/mode_follow.cpp
@@ -67,7 +67,7 @@ void ModeFollow::update()
     }
 
     // calculate vehicle heading
-    const float desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
+    const float desired_yaw_cd = wrap_180_cd(rad_to_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x)));
 
     // run steering and throttle controllers
     calc_steering_to_heading(desired_yaw_cd);