diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 90ec232f7f..1ad8d66560 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -290,7 +290,7 @@ static void do_loiter_turns()
 	wp_control = CIRCLE_MODE;
 
 	// reset desired location
-	circle_angle = 0;
+
 
 	if(command_nav_queue.lat == 0){
 		// allow user to specify just the altitude
@@ -305,6 +305,10 @@ static void do_loiter_turns()
 	loiter_total = command_nav_queue.p1 * 360;
 	loiter_sum	 = 0;
 	old_target_bearing = target_bearing;
+
+	circle_angle = target_bearing + 18000;
+	circle_angle = wrap_360(circle_angle);
+	circle_angle *= RADX100;
 }
 
 static void do_loiter_time()