diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index 206f3e5279..cd73ea7b52 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -265,6 +265,9 @@ static void auto_land_start(const Vector3f& destination)
 {
     auto_mode = Auto_Land;
 
+    // Setup land controller
+    land_init(false);
+
     // initialise loiter target destination
     wp_nav.init_loiter_target(destination);