diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 2a4ba4fb4a..c5c8729348 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -21,7 +21,6 @@ void Mode::exit()
 
 bool Mode::enter()
 {
-    g2.motors.slew_limit_throttle(false);
     return _enter();
 }
 
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 696eda7aa0..49b1a2bf70 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -20,7 +20,6 @@ bool ModeAuto::_enter()
 
     // other initialisation
     auto_triggered = false;
-    g2.motors.slew_limit_throttle(true);
 
     // initialise reversed to be false
     set_reversed(false);
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index d6ea771168..b7301465f6 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -13,7 +13,6 @@ bool ModeGuided::_enter()
     // guided mode never travels in reverse
     rover.set_reverse(false);
 
-    g2.motors.slew_limit_throttle(true);
     return true;
 }
 
diff --git a/APMrover2/mode_rtl.cpp b/APMrover2/mode_rtl.cpp
index 1de35c9fd6..58c7e902a6 100644
--- a/APMrover2/mode_rtl.cpp
+++ b/APMrover2/mode_rtl.cpp
@@ -14,7 +14,6 @@ bool ModeRTL::_enter()
     // RTL never reverses
     rover.set_reverse(false);
 
-    g2.motors.slew_limit_throttle(true);
     return true;
 }