diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 45f5eb7d6f..32a0ae6b95 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -166,7 +166,7 @@ void Plane::ahrs_update()
     quadplane.check_yaw_reset();
 
     // update inertial_nav for quadplane
-    quadplane.inertial_nav.update(G_Dt);
+    quadplane.inertial_nav.update();
 }
 
 /*
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 3838c776e1..a0a63fedb9 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2254,7 +2254,10 @@ void QuadPlane::vtol_position_controller(void)
 void QuadPlane::setup_target_position(void)
 {
     const Location &loc = plane.next_WP_loc;
-    Location origin = inertial_nav.get_origin();
+    Location origin;
+    if (!ahrs.get_origin(origin)) {
+        origin.zero();
+    }
     motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     const Vector2f diff2d = origin.get_distance_NE(loc);