diff --git a/ArduCopter/control_circle.pde b/ArduCopter/control_circle.pde
index deb905873a..98ae564450 100644
--- a/ArduCopter/control_circle.pde
+++ b/ArduCopter/control_circle.pde
@@ -9,12 +9,16 @@ static bool circle_init(bool ignore_checks)
 {
     if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) {
         circle_pilot_yaw_override = false;
-        circle_nav.init();
 
-        // initialize vertical speeds and leash lengths
+        // initialize speeds and accelerations
+        pos_control.set_speed_xy(wp_nav.get_speed_xy());
+        pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
         pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
         pos_control.set_accel_z(g.pilot_accel_z);
 
+        // initialise circle controller including setting the circle center based on vehicle speed
+        circle_nav.init();
+
         return true;
     }else{
         return false;