diff --git a/configuration/packages/configuring-rotation-shim-controller.rst b/configuration/packages/configuring-rotation-shim-controller.rst
index 21ec3ff8e..1b8a5f3f8 100644
--- a/configuration/packages/configuring-rotation-shim-controller.rst
+++ b/configuration/packages/configuring-rotation-shim-controller.rst
@@ -149,7 +149,7 @@ Rotation Shim Controller Parameters
   ============== ===========================
 
   Description
-    If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path point's relative locations. If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path points. Use for for feasible planners like the Smac Planner which generate feasible paths with orientations for forward and reverse motion.
+    If true, the controller will use the orientations of the path points to compute the heading of the path instead of computing the heading from the path point's relative locations. If false, the controller will compute the heading from the path point's relative locations instead of using the path point orientations. Use for feasible planners like the Smac Planner which generate feasible paths with orientations for forward and reverse motion.
 
 Example
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