diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 2903d37dd8..12a5b38dec 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -852,6 +852,7 @@ static void update_current_mode(void)
     case AUTO:
     case RTL:
     case GUIDED:
+        set_reverse(false);
         calc_lateral_acceleration();
         calc_nav_steer();
         calc_throttle(g.speed_cruise);
@@ -906,6 +907,7 @@ static void update_current_mode(void)
         // hold position - stop motors and center steering
         channel_throttle->servo_out = 0;
         channel_steer->servo_out = 0;
+        set_reverse(false);
         break;
 
     case INITIALISING: