diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a80de7973d7ec..797be5639d0c7 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11552,6 +11552,35 @@ def REQUIRE_POSITION_FOR_ARMING(self):
         self.context_pop()
         self.reboot_sitl()
 
+    def AutoContinueOnRCFailsafe(self):
+        '''check LOITER when entered after RC failsafe is ignored in auto'''
+        self.set_parameters({
+            "FS_OPTIONS": 1,  # 1 is "RC continue if in auto"
+        })
+
+        self.upload_simple_relhome_mission([
+            #                                      N   E  U
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,   0, 0, 10),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 10),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 40, 0, 10),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 60, 0, 10),
+        ])
+
+        self.takeoff(mode='LOITER')
+        self.set_rc(1, 1200)
+        self.delay_sim_time(1)  # build up some pilot desired stuff
+        self.change_mode('AUTO')
+        self.wait_waypoint(2, 2)
+        self.set_parameters({
+            'SIM_RC_FAIL': 1,
+        })
+#        self.set_rc(1, 1500)  # note we are still in RC fail!
+        self.wait_waypoint(3, 3)
+        self.assert_mode_is('AUTO')
+        self.change_mode('LOITER')
+        self.wait_groundspeed(0, 0.1, minimum_duration=30, timeout=450)
+        self.do_RTL()
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -11605,6 +11634,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.WatchAlts,
             self.GuidedEKFLaneChange,
             self.Sprayer,
+            self.AutoContinueOnRCFailsafe,
             self.EK3_RNG_USE_HGT,
             self.TerrainDBPreArm,
             self.ThrottleGainBoost,
diff --git a/libraries/AC_WPNav/AC_Loiter.h b/libraries/AC_WPNav/AC_Loiter.h
index 02e8085877b1f..81bc70dc80cde 100644
--- a/libraries/AC_WPNav/AC_Loiter.h
+++ b/libraries/AC_WPNav/AC_Loiter.h
@@ -33,7 +33,9 @@ class AC_Loiter
     Vector2f get_pilot_desired_acceleration() const { return Vector2f{_desired_accel.x, _desired_accel.y}; }
 
     /// clear pilot desired acceleration
-    void clear_pilot_desired_acceleration() { _desired_accel.zero(); }
+    void clear_pilot_desired_acceleration() {
+        set_pilot_desired_acceleration(0, 0);
+    }
 
     /// get vector to stopping point based on a horizontal position and velocity
     void get_stopping_point_xy(Vector2f& stopping_point) const;