diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index b28d06df67..97d146c4d4 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -26,6 +26,10 @@ static bool auto_init(bool ignore_checks)
         if (auto_yaw_mode == AUTO_YAW_ROI) {
             set_auto_yaw_mode(AUTO_YAW_HOLD);
         }
+
+        // initialise waypoint and spline controller
+        wp_nav.wp_and_spline_init();
+
         // start the mission
         mission.start();
         return true;
diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 72721f1f8a..adf331f4e0 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -14,6 +14,10 @@ static bool guided_pilot_yaw_override_yaw = false;
 static bool guided_init(bool ignore_checks)
 {
     if (GPS_ok() || ignore_checks) {
+
+        // initialise waypoint and spline controller
+        wp_nav.wp_and_spline_init();
+
         // initialise wpnav to stopping point at current altitude
         // To-Do: set to current location if disarmed?
         // To-Do: set to stopping point altitude?