diff --git a/ArduPlane/mode_avoidADSB.cpp b/ArduPlane/mode_avoidADSB.cpp
index 054410a297..6c87688724 100644
--- a/ArduPlane/mode_avoidADSB.cpp
+++ b/ArduPlane/mode_avoidADSB.cpp
@@ -13,6 +13,7 @@ void ModeAvoidADSB::update()
 
 void ModeAvoidADSB::_navigate()
 {
-    plane.mode_loiter.navigate();
+    // Zero indicates to use WP_LOITER_RAD
+    plane.update_loiter(0);
 }
 
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index 4d00218832..9ae854760c 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -30,6 +30,7 @@ void ModeGuided::update()
 
 void ModeGuided::_navigate()
 {
-    plane.mode_loiter.navigate();
+    // Zero indicates to use WP_LOITER_RAD
+    plane.update_loiter(0);
 }
 
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index e994678a94..1683508966 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -133,6 +133,7 @@ void ModeTakeoff::update()
 
 void ModeTakeoff::_navigate()
 {
-    plane.mode_loiter.navigate();
+    // Zero indicates to use WP_LOITER_RAD
+    plane.update_loiter(0);
 }