diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 352a3e39f7..884365c8ae 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -339,9 +339,13 @@ void Plane::update_fbwb_speed_height(void)
         }
 
 #if SOARING_ENABLED == ENABLED
-        if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
-            // we're in soaring mode with throttle suppressed
-            set_target_altitude_current();;
+        if (g2.soaring_controller.is_active()) {
+            if (g2.soaring_controller.get_throttle_suppressed()) {
+                // we're in soaring mode with throttle suppressed
+                set_target_altitude_current();
+            } else {
+                target_altitude.amsl_cm = 100*plane.g2.soaring_controller.get_alt_cutoff() + 1000 + AP::ahrs().get_home().alt;
+            }
         }
 #endif
         
diff --git a/ArduPlane/soaring.cpp b/ArduPlane/soaring.cpp
index 6a598afd9f..89a38c5449 100644
--- a/ArduPlane/soaring.cpp
+++ b/ArduPlane/soaring.cpp
@@ -22,14 +22,9 @@ void Plane::update_soaring() {
     // Check for throttle suppression change.
     switch (control_mode->mode_number()) {
     case Mode::Number::AUTO:
-        g2.soaring_controller.suppress_throttle();
-        break;
     case Mode::Number::FLY_BY_WIRE_B:
     case Mode::Number::CRUISE:
-        if (!g2.soaring_controller.suppress_throttle() && aparm.throttle_max > 0) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Soaring: forcing RTL");
-            set_mode(mode_rtl, ModeReason::SOARING_FBW_B_WITH_MOTOR_RUNNING);
-        }
+        g2.soaring_controller.suppress_throttle();
         break;
     case Mode::Number::LOITER:
         // Never use throttle in LOITER with soaring active.
@@ -122,33 +117,23 @@ void Plane::update_soaring() {
             break;
         }
 
-        // Heading lined up and loiter status not good to continue. Need to switch mode.
-
-        // Determine appropriate mode.
-        Mode* exit_mode = previous_mode;
-
-        if (loiterStatus == SoaringController::LoiterStatus::ALT_TOO_LOW && 
-           ((previous_mode == &mode_cruise) || (previous_mode == &mode_fbwb))) {
-            exit_mode = &mode_rtl;
-        }
-
-        // Print message and set mode.
+        // Heading lined up and loiter status not good to continue. Need to restore previous mode.
         switch (loiterStatus) {
         case SoaringController::LoiterStatus::ALT_TOO_HIGH:
-            soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH, *exit_mode);
+            soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH, *previous_mode);
             break;
         case SoaringController::LoiterStatus::ALT_TOO_LOW:
-            soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW, *exit_mode);
+            soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW, *previous_mode);
             break;
         default:
         case SoaringController::LoiterStatus::THERMAL_WEAK:
-            soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED, *exit_mode);
+            soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED, *previous_mode);
             break;
         case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
-            soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED, *exit_mode);
+            soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED, *previous_mode);
             break;
         case SoaringController::LoiterStatus::EXIT_COMMANDED:
-            soaring_restore_mode("Exit via RC switch", ModeReason::RC_COMMAND, *exit_mode);
+            soaring_restore_mode("Exit via RC switch", ModeReason::RC_COMMAND, *previous_mode);
             break;
         } // switch loiterStatus