diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 9e4b863f7f..e660c7f5c7 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -85,8 +85,3 @@ bool Mode::enter()
     return enter_result;
 }
 
-void Mode::navigate()
-{
-    _navigate();
-}
-
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index a182b4404f..230543e844 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -74,8 +74,8 @@ public:
     // true if mode can have terrain following disabled by switch
     virtual bool allows_terrain_disable() const { return false; }
 
-    // navigation
-    void navigate();
+    // subclasses override this if they require navigation.
+    virtual void navigate() { return; }
 
 protected:
 
@@ -84,9 +84,6 @@ protected:
 
     // subclasses override this to perform any required cleanup when exiting the mode
     virtual void _exit() { return; }
-
-    // subclasses override this if they require navigation.
-    virtual void _navigate() { return; }
 };
 
 
@@ -117,11 +114,12 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
 protected:
 
     bool _enter() override;
     void _exit() override;
-    void _navigate() override;
 };
 
 
@@ -153,10 +151,11 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
 protected:
 
     bool _enter() override;
-    void _navigate() override;
 };
 
 class ModeCircle: public Mode
@@ -186,13 +185,14 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
     bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
 protected:
 
     bool _enter() override;
-    void _navigate() override;
 };
 
 class ModeManual : public Mode
@@ -224,10 +224,11 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
 protected:
 
     bool _enter() override;
-    void _navigate() override;
 };
 
 class ModeStabilize : public Mode
@@ -326,10 +327,11 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
 protected:
 
     bool _enter() override;
-    void _navigate() override;
 };
 
 class ModeAvoidADSB : public Mode
@@ -343,10 +345,10 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
 protected:
 
     bool _enter() override;
-    void _navigate() override;
 };
 
 class ModeQStabilize : public Mode
@@ -497,6 +499,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    void navigate() override;
+
     // var_info for holding parameter information
     static const struct AP_Param::GroupInfo var_info[];
     
@@ -510,5 +514,4 @@ protected:
     Location start_loc;
 
     bool _enter() override;
-    void _navigate() override;
 };
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index 6005ebfc3a..19994725e8 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -88,7 +88,7 @@ void ModeAuto::update()
     }
 }
 
-void ModeAuto::_navigate()
+void ModeAuto::navigate()
 {
     if (AP::ahrs().home_is_set()) {
         plane.mission.update();
diff --git a/ArduPlane/mode_avoidADSB.cpp b/ArduPlane/mode_avoidADSB.cpp
index 6c87688724..897084bf60 100644
--- a/ArduPlane/mode_avoidADSB.cpp
+++ b/ArduPlane/mode_avoidADSB.cpp
@@ -11,7 +11,7 @@ void ModeAvoidADSB::update()
     plane.mode_guided.update();
 }
 
-void ModeAvoidADSB::_navigate()
+void ModeAvoidADSB::navigate()
 {
     // Zero indicates to use WP_LOITER_RAD
     plane.update_loiter(0);
diff --git a/ArduPlane/mode_cruise.cpp b/ArduPlane/mode_cruise.cpp
index 9b48b4d415..7aa86d9adf 100644
--- a/ArduPlane/mode_cruise.cpp
+++ b/ArduPlane/mode_cruise.cpp
@@ -44,7 +44,7 @@ void ModeCruise::update()
   handle CRUISE mode, locking heading to GPS course when we have
   sufficient ground speed, and no aileron or rudder input
  */
-void ModeCruise::_navigate()
+void ModeCruise::navigate()
 {
     if (!plane.cruise_state.locked_heading &&
         plane.channel_roll->get_control_in() == 0 &&
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index 9ae854760c..d1bc47cc27 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -28,7 +28,7 @@ void ModeGuided::update()
     }
 }
 
-void ModeGuided::_navigate()
+void ModeGuided::navigate()
 {
     // Zero indicates to use WP_LOITER_RAD
     plane.update_loiter(0);
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index 30b994e2ac..645bb647d2 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -81,7 +81,7 @@ bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
     return false;
 }
 
-void ModeLoiter::_navigate()
+void ModeLoiter::navigate()
 {
     // Zero indicates to use WP_LOITER_RAD
     plane.update_loiter(0);
diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
index 7b9aeac347..bd581a5793 100644
--- a/ArduPlane/mode_rtl.cpp
+++ b/ArduPlane/mode_rtl.cpp
@@ -34,7 +34,7 @@ void ModeRTL::update()
     }
 }
 
-void ModeRTL::_navigate()
+void ModeRTL::navigate()
 {
     uint16_t qrtl_radius = abs(plane.g.rtl_radius);
     if (qrtl_radius == 0) {
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 1683508966..7878a6ce70 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -131,7 +131,7 @@ void ModeTakeoff::update()
     }
 }
 
-void ModeTakeoff::_navigate()
+void ModeTakeoff::navigate()
 {
     // Zero indicates to use WP_LOITER_RAD
     plane.update_loiter(0);