diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 2cf2c5ee04..ab0a4e8617 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -208,6 +208,10 @@ static void do_RTL(void)
 	// --------------------
 	set_next_WP(&temp);
 
+
+	// We want to come home and stop on a dime
+	slow_wp = true;
+
 	// output control mode to the ground station
 	// -----------------------------------------
 	gcs_send_message(MSG_HEARTBEAT);