diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index b765319577..4413311124 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -85,7 +85,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100,  33),
     SCHED_TASK(update_wheel_encoder,   50,    200,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
-    SCHED_TASK(update_mission,         50,    200,  42),
     SCHED_TASK(update_logging1,        10,    200,  45),
     SCHED_TASK(update_logging2,        10,    200,  48),
     SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_receive,                    400,    500,  51),
@@ -408,16 +407,6 @@ void Rover::update_current_mode(void)
     control_mode->update();
 }
 
-// update mission including starting or stopping commands. called by scheduler at 10Hz
-void Rover::update_mission(void)
-{
-    if (control_mode == &mode_auto) {
-        if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
-            mode_auto.mission.update();
-        }
-    }
-}
-
 // vehicle specific waypoint info helpers
 bool Rover::get_wp_distance_m(float &distance) const
 {
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 027a2712a5..4eac85ade3 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -279,7 +279,6 @@ private:
     void update_logging2(void);
     void one_second_loop(void);
     void update_current_mode(void);
-    void update_mission(void);
 
     // balance_bot.cpp
     void balancebot_pitch_control(float &throttle);
diff --git a/Rover/mode.h b/Rover/mode.h
index 8cf95e445b..4e4f0d09c1 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -331,6 +331,7 @@ private:
         MIS_DONE_BEHAVE_MANUAL    = 3
     };
 
+    bool waiting_to_start;  // true if waiting for EKF origin before starting mission
     bool auto_triggered;        // true when auto has been triggered to start
 
     // HeadingAndSpeed sub mode variables
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index b530743e28..a3426b54ab 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -29,8 +29,9 @@ bool ModeAuto::_enter()
         start_stop();
     }
 
-    // restart mission processing
-    mission.start_or_resume();
+    // set flag to start mission
+    waiting_to_start = true;
+
     return true;
 }
 
@@ -44,6 +45,19 @@ void ModeAuto::_exit()
 
 void ModeAuto::update()
 {
+    // start or update mission
+    if (waiting_to_start) {
+        // don't start the mission until we have an origin
+        Location loc;
+        if (ahrs.get_origin(loc)) {
+            // start/resume the mission (based on MIS_RESTART parameter)
+            mission.start_or_resume();
+            waiting_to_start = false;
+        }
+    } else {
+        mission.update();
+    }
+
     switch (_submode) {
         case Auto_WP:
         {