diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a070d8ba65..cbc2d0d732 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -563,7 +563,7 @@ static int16_t waypoint_speed_gov;
 static int32_t	long_error, lat_error;
 // Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
 static boolean 	loiter_override;
-
+static int16_t waypoint_radius;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Orientation
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index bcb49d604b..2ce6553412 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -403,6 +403,9 @@ static void reset_nav_params(void)
 
 	// make sure we stick to Nav yaw on takeoff
 	auto_yaw = nav_yaw;
+
+	// revert to smaller radius set in params
+	waypoint_radius = g.waypoint_radius;
 }
 
 /*
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 8c988c6160..b60c78b51e 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -452,7 +452,7 @@ static bool verify_nav_wp()
 	}
 
 	// Did we pass the WP?	// Distance checking
-	if((wp_distance <= (g.waypoint_radius * 100)) || check_missed_wp()){
+	if((wp_distance <= (waypoint_radius * 100)) || check_missed_wp()){
 
 		// if we have a distance calc error, wp_distance may be less than 0
 		if(wp_distance > 0){
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index c5c32ca0d6..734a6f4081 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -260,8 +260,10 @@ static int16_t get_desired_speed(int16_t max_speed, bool _slow)
 	*/
 
 	if(fast_corner){
+		waypoint_radius = g.waypoint_radius * 2;
 		//max_speed 		= max_speed;
 	}else{
+		waypoint_radius = g.waypoint_radius;
 		max_speed 		= min(max_speed, (wp_distance - g.waypoint_radius) / 3);
 		max_speed 		= max(max_speed, WAYPOINT_SPEED_MIN);	// go at least 100cm/s
 	}