diff --git a/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java b/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
index 2131bbe..1a0d296 100644
--- a/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
+++ b/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
@@ -197,15 +197,14 @@ private void rotateNoAdd(double x, double y, double z) {
 			if(limits.withinAll((float) (currentAngles.getYaw()-yawOffset), currentAngles.getPitch(), currentAngles.getRoll())) {
 				// Combine the current rotation with the incremental rotation
 				currentRotation.mul(incrementalRotation);
-				if (y != 0.0) {
-					driveYaw = ConvertedAngle.wrapDegrees(driveYaw + (float) Math.toDegrees(y));
-				}
 				
 				// Normalize to avoid floating-point precision errors
 				currentRotation.normalize();
 
 				// Apply the new rotation back to the animator
 				animator.getRotation().set(currentRotation.x, currentRotation.y, currentRotation.z, currentRotation.w);
+				// Local pitch while rolled turns the heading too (banked turns), so re-read it.
+				syncDriveYaw();
 			}
 	    }
 	    // Trigger the animation (update the model with the new rotation)
diff --git a/src/main/java/net/tfminecraft/vehicleframework/bones/ConvertedAngle.java b/src/main/java/net/tfminecraft/vehicleframework/bones/ConvertedAngle.java
index de671cd..d45713b 100644
--- a/src/main/java/net/tfminecraft/vehicleframework/bones/ConvertedAngle.java
+++ b/src/main/java/net/tfminecraft/vehicleframework/bones/ConvertedAngle.java
@@ -16,10 +16,10 @@ public ConvertedAngle(float yaw, float pitch, float roll) {
 	
 	public ConvertedAngle(Quaternionf quaternion) {
 
-		// Calculate the yaw (rotation around the Y-axis) in Minecraft's range (-180 to 180)
+		// Inverse of rotateYXZ(yaw, pitch, roll); yaw is in Minecraft's range (-180 to 180)
 		float yawRadians = (float) Math.atan2(
 		    2.0f * (quaternion.w * quaternion.y + quaternion.x * quaternion.z),
-		    1.0f - 2.0f * (quaternion.y * quaternion.y + quaternion.z * quaternion.z)
+		    1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.y * quaternion.y)
 		);
 		yaw = (float) Math.toDegrees(yawRadians);
 
diff --git a/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java b/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java
index 189897d..b8ad406 100644
--- a/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java
+++ b/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java
@@ -1,6 +1,7 @@
 package net.tfminecraft.vehicleframework.bones;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.RETURNS_DEEP_STUBS;
 import static org.mockito.Mockito.mock;
 import static org.mockito.Mockito.when;
@@ -43,6 +44,24 @@ void resetHeadingIsWhereTurningStarts() {
 		assertEquals(-1.2f, boneYaw(f.rotator), 0.01f);
 	}
 
+	@Test
+	void bankedTurnHeadingIsWhereGroundTurningStarts() {
+		Fixture f = new Fixture();
+		f.rotator.reset();
+		f.rotator.rotate(0, 0, -12);
+		for (int i = 0; i < 8; i++) {
+			f.rotator.rotate(-1, 0, 0);
+		}
+		// Landing: level pitch and roll, keep the heading.
+		f.rotator.rotateToTarget(0f, -10f, 0f, 1f, false, true, true);
+		float landed = boneYaw(f.rotator);
+
+		new RotateController().turnLeft(f.rotator, f.vehicle, f.captain);
+
+		assertTrue(Math.abs(landed) > 30f);
+		assertEquals(landed + 1.2f, boneYaw(f.rotator), 0.01f);
+	}
+
 	private static Quaternionf yaw(float degrees) {
 		return new Quaternionf().rotateYXZ((float) Math.toRadians(degrees), 0, 0);
 	}
diff --git a/src/test/java/net/tfminecraft/vehicleframework/bones/ConvertedAngleTest.java b/src/test/java/net/tfminecraft/vehicleframework/bones/ConvertedAngleTest.java
new file mode 100644
index 0000000..d108ca0
--- /dev/null
+++ b/src/test/java/net/tfminecraft/vehicleframework/bones/ConvertedAngleTest.java
@@ -0,0 +1,34 @@
+package net.tfminecraft.vehicleframework.bones;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import org.joml.Quaternionf;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.CsvSource;
+
+class ConvertedAngleTest {
+
+	@ParameterizedTest
+	@CsvSource({
+		"0, 0, 0",
+		"90, -10, 0",
+		"90, -10, 20",
+		"30, -20, 30",
+		"135, -15, -40",
+		"-60, -60, 0",
+		"90, -30, 60",
+		"-170, 45, -80"
+	})
+	void decodesRotateYxz(float yaw, float pitch, float roll) {
+		Quaternionf q = new Quaternionf().rotateYXZ(
+				(float) Math.toRadians(yaw),
+				(float) Math.toRadians(pitch),
+				(float) Math.toRadians(roll));
+
+		ConvertedAngle a = new ConvertedAngle(q);
+
+		assertEquals(yaw, a.getYaw(), 0.01f);
+		assertEquals(pitch, a.getPitch(), 0.01f);
+		assertEquals(roll, a.getRoll(), 0.01f);
+	}
+}