diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 4aab083209..eee3848617 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -104,8 +104,6 @@ void Rover::setup()
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
-    in_auto_reverse = false;
-
     init_ardupilot();
 
     // initialise the main loop scheduler
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index c9318bc939..fb4fd6c96a 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -351,9 +351,6 @@ private:
     // set if we are driving backwards
     bool in_reverse;
 
-    // set if the users asks for auto reverse
-    bool in_auto_reverse;
-
     // true if pivoting (set by use_pivot_steering)
     bool pivot_steering_active;
 
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index d8f3176a77..13cbce5ec8 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -423,11 +423,6 @@ void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 
 void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
 {
-    if (cmd.p1 == 1) {
-        in_auto_reverse = true;
-        set_reverse(true);
-    } else {
-        in_auto_reverse = false;
-        set_reverse(false);
-    }
+    mode_auto.set_reversed(cmd.p1 == 1);
+    set_reverse(cmd.p1 == 1);
 }
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 622ede421f..5ca41857ca 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -276,10 +276,6 @@ void Rover::set_reverse(bool reverse)
     if (in_reverse == reverse) {
         return;
     }
-    g.pidSpeedThrottle.reset_I();
-    steerController.reset_I();
-    nav_controller->set_reverse(reverse);
-    steerController.set_reverse(reverse);
     in_reverse = reverse;
 }