diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 23fde837b7..8b67532c80 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -861,7 +861,7 @@ float pidHeadingHold(float dT)
  * TURN ASSISTANT mode is an assisted mode to do a Yaw rotation on a ground plane, allowing one-stick turn in RATE more
  * and keeping ROLL and PITCH attitude though the turn.
  */
-static void NOINLINE pidTurnAssistant(pidState_t *pidState)
+static void NOINLINE pidTurnAssistant(pidState_t *pidState, float bankAngleTarget, float pitchAngleTarget)
 {
     fpVector3_t targetRates;
     targetRates.x = 0.0f;
@@ -889,8 +889,9 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState)
             airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300, 6000);
 
             // Calculate rate of turn in Earth frame according to FAA's Pilot's Handbook of Aeronautical Knowledge
-            float bankAngle = DECIDEGREES_TO_RADIANS(attitude.values.roll);
-            float coordinatedTurnRateEarthFrame = GRAVITY_CMSS * tan_approx(-bankAngle) / airspeedForCoordinatedTurn;
+            bankAngleTarget = constrainf(bankAngleTarget, -DEGREES_TO_RADIANS(60), DEGREES_TO_RADIANS(60));
+            float turnRatePitchAdjustmentFactor = cos_approx(fabsf(pitchAngleTarget));
+            float coordinatedTurnRateEarthFrame = GRAVITY_CMSS * tan_approx(-bankAngleTarget) / airspeedForCoordinatedTurn * turnRatePitchAdjustmentFactor;
 
             targetRates.z = RADIANS_TO_DEGREES(coordinatedTurnRateEarthFrame);
         }
@@ -1003,8 +1004,10 @@ void FAST_CODE pidController(float dT)
         levelingEnabled = false;
     }
 
-    if (FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) {
-        pidTurnAssistant(pidState);
+    if ((FLIGHT_MODE(TURN_ASSISTANT) || navigationRequiresTurnAssistance()) && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || navigationRequiresTurnAssistance())) {
+        float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]));
+        float pitchAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_PITCH], pidProfile()->max_angle_inclination[FD_PITCH]));
+        pidTurnAssistant(pidState, bankAngleTarget, pitchAngleTarget);
         canUseFpvCameraMix = false;     // FPVANGLEMIX is incompatible with TURN_ASSISTANT
     }