diff --git a/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java b/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
index e481c5f..4366155 100644
--- a/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
+++ b/src/main/java/net/tfminecraft/vehicleframework/bones/BoneRotator.java
@@ -70,8 +70,14 @@ public SimpleManualAnimator getAnimator() {
 
 	public void rawSet(float x, float y, float z, float w) {
 		animator.getRotation().set(x, y, z, w);
+		syncDriveYaw();
 		//animator.animate(bone);
 	}
+
+	// Turning steps from driveYaw, so a stale value snaps the bone back to it.
+	private void syncDriveYaw() {
+		driveYaw = new ConvertedAngle(animator.getRotation()).getYaw();
+	}
 	
 	public void rotateEntity(float yaw, float pitch) {
 		Location loc = e.getLocation().clone();
@@ -110,6 +116,7 @@ public void rotate(double targetX, double targetY, double targetZ) {
 	public void reset() {
 		Quaternionf q = new Quaternionf();
 		animator.getRotation().set(q.x, q.y, q.z, q.w);
+		syncDriveYaw();
 	    //animator.animate(bone);
 	}
 	
diff --git a/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java b/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java
new file mode 100644
index 0000000..189897d
--- /dev/null
+++ b/src/test/java/net/tfminecraft/vehicleframework/bones/BoneRotatorDriveYawTest.java
@@ -0,0 +1,72 @@
+package net.tfminecraft.vehicleframework.bones;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.mockito.Mockito.RETURNS_DEEP_STUBS;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.when;
+
+import org.bukkit.entity.Entity;
+import org.bukkit.entity.Player;
+import org.joml.Quaternionf;
+import org.junit.jupiter.api.Test;
+
+import com.ticxo.modelengine.api.model.bone.ModelBone;
+
+import net.tfminecraft.vehicleframework.enums.SeatType;
+import net.tfminecraft.vehicleframework.vehicles.ActiveVehicle;
+import net.tfminecraft.vehicleframework.vehicles.controller.RotateController;
+import net.tfminecraft.vehicleframework.vehicles.seat.Seat;
+import net.tfminecraft.vehicleframework.vehicles.util.AccessPanel;
+
+class BoneRotatorDriveYawTest {
+
+	@Test
+	void restoredHeadingIsWhereTurningStarts() {
+		Fixture f = new Fixture();
+		Quaternionf saved = yaw(170f);
+		f.rotator.rawSet(saved.x, saved.y, saved.z, saved.w);
+
+		new RotateController().turnLeft(f.rotator, f.vehicle, f.captain);
+
+		assertEquals(171.2f, boneYaw(f.rotator), 0.01f);
+		assertEquals(171.2f, f.rotator.getDriveYaw(), 0.01f);
+	}
+
+	@Test
+	void resetHeadingIsWhereTurningStarts() {
+		Fixture f = new Fixture();
+		f.rotator.setRotation(120, 0, 0, true, false, false);
+		f.rotator.reset();
+
+		new RotateController().turnRight(f.rotator, f.vehicle, f.captain);
+
+		assertEquals(-1.2f, boneYaw(f.rotator), 0.01f);
+	}
+
+	private static Quaternionf yaw(float degrees) {
+		return new Quaternionf().rotateYXZ((float) Math.toRadians(degrees), 0, 0);
+	}
+
+	private static float boneYaw(BoneRotator rotator) {
+		return new ConvertedAngle(rotator.getAnimator().getRotation()).getYaw();
+	}
+
+	private static final class Fixture {
+		final ActiveVehicle vehicle = mock(ActiveVehicle.class);
+		final Player captain = mock(Player.class);
+		final BoneRotator rotator;
+
+		Fixture() {
+			AccessPanel panel = new AccessPanel();
+			panel.setSpeed(0.13);
+			panel.setTurnRate(0.24);
+			when(vehicle.getAccessPanel()).thenReturn(panel);
+			Seat seat = mock(Seat.class);
+			when(seat.getType()).thenReturn(SeatType.CAPTAIN);
+			when(vehicle.getSeat(captain)).thenReturn(seat);
+			ModelBone bone = mock(ModelBone.class, RETURNS_DEEP_STUBS);
+			when(bone.getBoneId()).thenReturn("body_controller");
+			rotator = new BoneRotator(vehicle, mock(Entity.class), bone, new RotationLimits());
+		}
+	}
+}