diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 6de98b2e6b..edc16371ab 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -205,8 +205,6 @@ void ModeAuto::takeoff_start(const Location& dest_loc)
 // auto_wp_start - initialises waypoint controller to implement flying to a particular destination
 void ModeAuto::wp_start(const Location& dest_loc)
 {
-    _mode = Auto_WP;
-
     // send target to waypoint controller
     if (!wp_nav->set_wp_destination_loc(dest_loc)) {
         // failure to set destination can only be because of missing terrain data
@@ -214,6 +212,8 @@ void ModeAuto::wp_start(const Location& dest_loc)
         return;
     }
 
+    _mode = Auto_WP;
+
     // initialise yaw
     // To-Do: reset the yaw only when the previous navigation command is not a WP.  this would allow removing the special check for ROI
     if (auto_yaw.mode() != AUTO_YAW_ROI) {