diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 50a5834278..c615fab1ca 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -487,13 +487,15 @@ void Plane::handle_auto_mode(void)
 {
     uint16_t nav_cmd_id;
 
-    // we should be either running a mission or RTLing home
-    if (mission.state() == AP_Mission::MISSION_RUNNING) {
-        nav_cmd_id = mission.get_current_nav_cmd().id;
-    }else{
-        nav_cmd_id = auto_rtl_command.id;
+    if (mission.state() != AP_Mission::MISSION_RUNNING) {
+        // this should never be reached
+        set_mode(RTL);
+        GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Aircraft in auto without a running mission");
+        return;
     }
 
+    nav_cmd_id = mission.get_current_nav_cmd().id;
+
     if (quadplane.in_vtol_auto()) {
         quadplane.control_auto(next_WP_loc);
     } else if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
@@ -739,7 +741,9 @@ void Plane::update_navigation()
     
     switch(control_mode) {
     case AUTO:
-        update_commands();
+        if (home_is_set != HOME_UNSET) {
+            mission.update();
+        }
         break;
             
     case RTL:
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 507a5ac342..47ce76dc80 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -661,9 +661,6 @@ private:
     // The location of the active waypoint in Guided mode.
     struct Location guided_WP_loc {};
 
-    // special purpose command used only after mission completed to return vehicle to home or rally point
-    struct AP_Mission::Mission_Command auto_rtl_command;
-
     // Altitude control
     struct {
         // target altitude above sea level in cm. Used for barometric
@@ -854,7 +851,6 @@ private:
     bool verify_loiter_heading(bool init);
     void log_picture();
     void exit_mission_callback();
-    void update_commands(void);
     void mavlink_delay(uint32_t ms);
     void read_control_switch();
     uint8_t readSwitch(void);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 49db030bdc..be70214d9f 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -607,10 +607,7 @@ bool Plane::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
 
 bool Plane::verify_loiter_unlim()
 {
-    if (control_mode == AUTO && mission.state() != AP_Mission::MISSION_RUNNING) {
-        // end of mission RTL
-        update_loiter(g.rtl_radius? g.rtl_radius : g.loiter_radius);
-    } else if (mission.get_current_nav_cmd().p1 <= 1 && abs(g.rtl_radius) > 1) {
+    if (mission.get_current_nav_cmd().p1 <= 1 && abs(g.rtl_radius) > 1) {
         // if mission radius is 0,1, and rtl_radius is valid, use rtl_radius.
         loiter.direction = (g.rtl_radius < 0) ? -1 : 1;
         update_loiter(abs(g.rtl_radius));
@@ -1008,15 +1005,8 @@ bool Plane::verify_command_callback(const AP_Mission::Mission_Command& cmd)
 void Plane::exit_mission_callback()
 {
     if (control_mode == AUTO) {
-        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Returning to HOME");
-        memset(&auto_rtl_command, 0, sizeof(auto_rtl_command));
-        auto_rtl_command.content.location = 
-            rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
-        auto_rtl_command.id = MAV_CMD_NAV_LOITER_UNLIM;
-        setup_terrain_target_alt(auto_rtl_command.content.location);
-        setup_glide_slope();
-        setup_turn_angle();
-        start_command(auto_rtl_command);
+        set_mode(RTL);
+        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Mission complete, changing mode to RTL");
     }
 }
 
diff --git a/ArduPlane/commands_process.cpp b/ArduPlane/commands_process.cpp
deleted file mode 100644
index eaefeefae2..0000000000
--- a/ArduPlane/commands_process.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#include "Plane.h"
-
-// called by update navigation at 10Hz
-// --------------------
-void Plane::update_commands(void)
-{
-    if(control_mode == AUTO) {
-        if (home_is_set != HOME_UNSET) {
-            if(mission.state() == AP_Mission::MISSION_RUNNING) {
-                mission.update();
-            } else {
-                // auto_rtl_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission
-                verify_command(auto_rtl_command);
-            }
-        }
-    }
-}
-