diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 54fdc5592f..e9e0005f90 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -95,11 +95,6 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
     ret &= quadplane_checks(display_failure);
 #endif
 
-    if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) {
-        check_failed(display_failure, "No mission loaded");
-        ret = false;
-    }
-
     // check adsb avoidance failsafe
     if (plane.failsafe.adsb) {
         check_failed(display_failure, "ADSB threat detected");
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 087e86cd41..ee58db454f 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -974,6 +974,10 @@ private:
     bool mode_allows_autotuning(void);
     uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
     Mode *mode_from_mode_num(const enum Mode::Number num);
+    bool current_mode_requires_mission() const override {
+        return control_mode == &mode_auto;
+    }
+
     bool autotuning;
 
     // events.cpp