diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 154542753f..fa8c716427 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2226,8 +2226,8 @@ static void update_nav_wp()
 		if (circle_angle > 6.28318531)
 			circle_angle -= 6.28318531;
 
-		circle_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
-		circle_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
+		next_WP.lng = circle_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
+		next_WP.lat = circle_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle));
 
 		// calc the lat and long error to the target
 		calc_location_error(&circle_WP);
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 3d0aee089c..2ace5945fb 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -140,13 +140,13 @@ static void init_ardupilot()
 	pinMode(COPTER_LED_6, OUTPUT);		//Motor or Aux LED
 	pinMode(COPTER_LED_7, OUTPUT);		//Motor or GPS LED
 	pinMode(COPTER_LED_8, OUTPUT);		//Motor or GPS LED
-	
-	if ( !bitRead(g.copter_leds_mode, 3) ){	
+
+	if ( !bitRead(g.copter_leds_mode, 3) ){
 		piezo_beep();
 	}
-	
+
 #endif
-	
+
 
     // load parameters from EEPROM
     load_parameters();
@@ -453,6 +453,7 @@ static void set_mode(byte mode)
 			roll_pitch_mode = CIRCLE_RP;
 			throttle_mode 	= CIRCLE_THR;
 			set_next_WP(&current_loc);
+			circle_WP 		= next_WP;
 			circle_angle 	= 0;
 			break;