diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 0fd6148c5a..b8c33bd657 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -56,9 +56,6 @@ bool Mode::enter()
     plane.auto_state.vtol_mode = false;
     plane.auto_state.vtol_loiter = false;
 
-    // reset steering integrator on mode change
-    plane.steerController.reset_I();
-
     bool enter_result = _enter();
 
     if (enter_result) {
@@ -69,6 +66,12 @@ bool Mode::enter()
         plane.throttle_suppressed = plane.auto_throttle_mode;
 
         plane.adsb.set_is_auto_mode(plane.auto_navigation_mode);
+
+        // reset steering integrator on mode change
+        plane.steerController.reset_I();
+
+        // update RC failsafe, as mode change may have necessitated changing the failsafe throttle
+        plane.control_failsafe();
     }
 
     return enter_result;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 304ba7ff68..b74587176f 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -260,25 +260,11 @@ bool Plane::set_mode(Mode &new_mode, const mode_reason_t reason)
     previous_mode_reason = control_mode_reason;
     control_mode_reason = reason;
 
-#if CAMERA == ENABLED
-    camera.set_is_auto_mode(control_mode == &mode_auto);
-#endif
-
     if (previous_mode == &mode_autotune && control_mode != &mode_autotune) {
         // restore last gains
         autotune_restore();
     }
 
-    // zero initial pitch and highest airspeed on mode change
-    auto_state.highest_airspeed = 0;
-    auto_state.initial_pitch_cd = ahrs.pitch_sensor;
-
-    // disable taildrag takeoff on mode change
-    auto_state.fbwa_tdrag_takeoff_mode = false;
-
-    // start with previous WP at current location
-    prev_WP_loc = current_loc;
-
     // attempt to enter new mode
     if (!new_mode.enter()) {
         // Log error that we failed to enter desired flight mode
@@ -301,12 +287,6 @@ bool Plane::set_mode(Mode &new_mode, const mode_reason_t reason)
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
     notify_mode(*control_mode);
 
-    // reset steering integrator on mode change
-    steerController.reset_I();    
-
-    // update RC failsafe, as mode change may have necessitated changing the failsafe throttle
-    control_failsafe();
-
     return true;
 }