diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index f9f1c44147..22d97b8aab 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -127,7 +127,9 @@ void Plane::calc_airspeed_errors()
     // Set target to current airspeed + ground speed undershoot,
     // but only when this is faster than the target airspeed commanded
     // above.
-    if (control_mode >= FLY_BY_WIRE_B && (aparm.min_gndspeed_cm > 0)) {
+    if (auto_throttle_mode &&
+    	aparm.min_gndspeed_cm > 0 &&
+    	control_mode != CIRCLE) {
         int32_t min_gnd_target_airspeed = airspeed_measured*100 + groundspeed_undershoot;
         if (min_gnd_target_airspeed > target_airspeed_cm) {
             target_airspeed_cm = min_gnd_target_airspeed;