diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index 366228cbac..0198db443e 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -131,6 +131,17 @@ void ModeLoiter::run()
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
         break;
 
+    case AltHold_Landed_Ground_Idle:
+        attitude_control->reset_yaw_target_and_rate();
+        FALLTHROUGH;
+
+    case AltHold_Landed_Pre_Takeoff:
+        attitude_control->reset_rate_controller_I_terms_smoothly();
+        loiter_nav->init_target();
+        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
+        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
+        break;
+
     case AltHold_Takeoff:
         // initiate take-off
         if (!takeoff.running()) {
@@ -150,17 +161,6 @@ void ModeLoiter::run()
         attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
         break;
 
-    case AltHold_Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
-        FALLTHROUGH;
-
-    case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms_smoothly();
-        loiter_nav->init_target();
-        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
-        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
-        break;
-
     case AltHold_Flying:
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 9ad5133836..7b47eeb7c3 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -115,6 +115,22 @@ void ModePosHold::run()
         init_wind_comp_estimate();
         break;
 
+    case AltHold_Landed_Ground_Idle:
+        loiter_nav->clear_pilot_desired_acceleration();
+        loiter_nav->init_target();
+        attitude_control->reset_yaw_target_and_rate();
+        init_wind_comp_estimate();
+        FALLTHROUGH;
+
+    case AltHold_Landed_Pre_Takeoff:
+        attitude_control->reset_rate_controller_I_terms_smoothly();
+        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
+
+        // set poshold state to pilot override
+        roll_mode = RPMode::PILOT_OVERRIDE;
+        pitch_mode = RPMode::PILOT_OVERRIDE;
+        break;
+
     case AltHold_Takeoff:
         // initiate take-off
         if (!takeoff.running()) {
@@ -136,22 +152,6 @@ void ModePosHold::run()
         pitch_mode = RPMode::PILOT_OVERRIDE;
         break;
 
-    case AltHold_Landed_Ground_Idle:
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
-        attitude_control->reset_yaw_target_and_rate();
-        init_wind_comp_estimate();
-        FALLTHROUGH;
-
-    case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms_smoothly();
-        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
-
-        // set poshold state to pilot override
-        roll_mode = RPMode::PILOT_OVERRIDE;
-        pitch_mode = RPMode::PILOT_OVERRIDE;
-        break;
-
     case AltHold_Flying:
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 0c2cbb4d6f..954a5a2b98 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -80,6 +80,15 @@ void ModeSport::run()
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
+    case AltHold_Landed_Ground_Idle:
+        attitude_control->reset_yaw_target_and_rate();
+        FALLTHROUGH;
+
+    case AltHold_Landed_Pre_Takeoff:
+        attitude_control->reset_rate_controller_I_terms_smoothly();
+        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
+        break;
+
     case AltHold_Takeoff:
         // initiate take-off
         if (!takeoff.running()) {
@@ -93,15 +102,6 @@ void ModeSport::run()
         takeoff.do_pilot_takeoff(target_climb_rate);
         break;
 
-    case AltHold_Landed_Ground_Idle:
-        attitude_control->reset_yaw_target_and_rate();
-        FALLTHROUGH;
-
-    case AltHold_Landed_Pre_Takeoff:
-        attitude_control->reset_rate_controller_I_terms_smoothly();
-        pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
-        break;
-
     case AltHold_Flying:
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);