diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 3ad1b70098..9cd4d11614 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -41,14 +41,17 @@ AC_Circle::AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosCont
 }
 
 /// init - initialise circle controller setting center specifically
+///     caller should set the position controller's x,y and z speeds and accelerations before calling this
 void AC_Circle::init(const Vector3f& center)
 {
     _center = center;
 
-	// To-Do: set target position, angle, etc so that copter begins circle from closest point to stopping point
-	_pos_control.set_pos_target(_inav.get_position());
+    // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
+    _pos_control.init_xy_controller();
 
-	// To-Do: set _pos_control speed and accel
+    // set initial position target to reasonable stopping point
+    _pos_control.set_target_to_stopping_point_xy();
+    _pos_control.set_target_to_stopping_point_z();
 
     // calculate velocities
     calc_velocities();
@@ -58,22 +61,24 @@ void AC_Circle::init(const Vector3f& center)
 }
 
 /// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
+///     caller should set the position controller's x,y and z speeds and accelerations before calling this
 void AC_Circle::init()
 {
-    Vector3f stopping_point;
+    // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
+    _pos_control.init_xy_controller();
 
-    // get reasonable stopping point
-    _pos_control.get_stopping_point_xy(stopping_point);
-    _pos_control.get_stopping_point_z(stopping_point);
+    // set initial position target to reasonable stopping point
+    _pos_control.set_target_to_stopping_point_xy();
+    _pos_control.set_target_to_stopping_point_z();
+
+    // get stopping point
+    const Vector3f& stopping_point = _pos_control.get_pos_target();
 
     // set circle center to circle_radius ahead of stopping point
     _center.x = stopping_point.x + _radius * _ahrs.cos_yaw();
     _center.y = stopping_point.y + _radius * _ahrs.sin_yaw();
     _center.z = stopping_point.z;
 
-    // update pos_control target to stopping point
-    _pos_control.set_pos_target(stopping_point);
-
     // calculate velocities
     calc_velocities();
 
diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index 8114c46ec1..f108c1f913 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -22,9 +22,11 @@ public:
     AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control);
 
     /// init - initialise circle controller setting center specifically
+    ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
     void init(const Vector3f& center);
 
     /// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
+    ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
     void init();
 
     /// set_circle_center in cm from home