diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index c3e3787be7..f340346ed4 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1448,7 +1448,11 @@ static void update_flight_mode()
 {
     switch (control_mode) {
         case ACRO:
-            acro_run();
+            #if FRAME_CONFIG == HELI_FRAME
+                heli_acro_run();
+            #else
+                acro_run();
+            #endif
             break;
 
         case STABILIZE:
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 0ebcc56920..32b19583e0 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -387,7 +387,11 @@ static bool set_mode(uint8_t mode)
 
     switch(mode) {
         case ACRO:
-            success = acro_init(ignore_checks);
+            #if FRAME_CONFIG == HELI_FRAME
+                success = heli_acro_init(ignore_checks);
+            #else
+                success = acro_init(ignore_checks);
+            #endif
             break;
 
         case STABILIZE: