diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 318d869d0c..142f2eeb76 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -31,6 +31,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         // once landed, post some landing statistics to the GCS
         auto_state.post_landing_stats = false;
 
+        // reset loiter start time. New command is a new loiter
+        loiter.start_time_ms = 0;
+
         gcs_send_text_fmt("Executing nav command ID #%i",cmd.id);
     } else {
         gcs_send_text_fmt("Executing command ID #%i",cmd.id);
@@ -405,7 +408,6 @@ void Plane::do_loiter_time(const AP_Mission::Mission_Command& cmd)
 {
     set_next_WP(cmd.content.location);
     // we set start_time_ms when we reach the waypoint
-    loiter.start_time_ms = 0;
     loiter.time_max_ms = cmd.p1 * (uint32_t)1000;     // units are seconds
     loiter_set_direction_wp(cmd);
 }
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 58d5f85a11..a4fce858f4 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -128,7 +128,25 @@ void Plane::calc_gndspeed_undershoot()
 
 void Plane::update_loiter()
 {
-    nav_controller->update_loiter(next_WP_loc, abs(g.loiter_radius), loiter.direction);
+    int16_t radius = abs(g.loiter_radius);
+
+    if (loiter.start_time_ms == 0 &&
+        control_mode == AUTO &&
+        !auto_state.no_crosstrack &&
+        get_distance(current_loc, next_WP_loc) > radius*2) {
+        // if never reached loiter point and using crosstrack and somewhat far away from loiter point
+        // navigate to it like in auto-mode for normal crosstrack behavior
+        nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
+    } else {
+        nav_controller->update_loiter(next_WP_loc, radius, loiter.direction);
+    }
+
+    if (loiter.start_time_ms == 0) {
+        if (nav_controller->reached_loiter_target()) {
+            // we've reached the target, start the timer
+            loiter.start_time_ms = millis();
+        }
+    }
 }
 
 /*
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 742aa472e2..4fbb518b50 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -360,6 +360,9 @@ void Plane::set_mode(enum FlightMode mode)
     // start with previous WP at current location
     prev_WP_loc = current_loc;
 
+    // new mode means new loiter
+    loiter.start_time_ms = 0;
+
     switch(control_mode)
     {
     case INITIALISING: