diff --git a/AntennaTracker/control_auto.pde b/AntennaTracker/control_auto.pde
index 732050f35f..15827e00c5 100644
--- a/AntennaTracker/control_auto.pde
+++ b/AntennaTracker/control_auto.pde
@@ -10,10 +10,6 @@
  */
 static void update_auto(void)
 {
-    if (g.startup_delay > 0 &&
-        hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
-        return;
-    }
     float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
     float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
     update_pitch_servo(pitch);
diff --git a/AntennaTracker/tracking.pde b/AntennaTracker/tracking.pde
index f07d4a03d5..4187aba8c9 100644
--- a/AntennaTracker/tracking.pde
+++ b/AntennaTracker/tracking.pde
@@ -89,6 +89,12 @@ static void update_tracking(void)
     // update bearing and distance to vehicle
     update_bearing_and_distance();
 
+    // do not perform any servo updates until startup delay has passed
+    if (g.startup_delay > 0 &&
+        hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
+        return;
+    }
+
     switch (control_mode) {
     case AUTO:
         update_auto();