diff --git a/ArduPlane/commands_process.pde b/ArduPlane/commands_process.pde
index fa6d1cf7b7..475c8e03fd 100644
--- a/ArduPlane/commands_process.pde
+++ b/ArduPlane/commands_process.pde
@@ -1,12 +1,20 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+// forward declaration of verify_command to keep compiler happy
+static bool verify_command(const AP_Mission::Mission_Command& cmd);
+
 // called by update navigation at 10Hz
 // --------------------
 static void update_commands(void)
 {
     if(control_mode == AUTO) {
         if(home_is_set == true && mission.num_commands() > 1) {
-            mission.update();
+            if(mission.state() == AP_Mission::MISSION_RUNNING) {
+                mission.update();
+            }else if(mission.state() == AP_Mission::MISSION_COMPLETE) {
+                // next_nav_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission
+                verify_command(next_nav_command);
+            }
         }
     }
 }