diff --git a/ArduCopter/control_auto.cpp b/ArduCopter/control_auto.cpp
index 41dead009d..5243634026 100644
--- a/ArduCopter/control_auto.cpp
+++ b/ArduCopter/control_auto.cpp
@@ -420,6 +420,12 @@ void Copter::auto_land_run()
 
     // process roll, pitch inputs
     wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
+#if PRECISION_LANDING == ENABLED
+    // run precision landing
+    if (!ap.land_repo_active) {
+        wp_nav.shift_loiter_target(precland.get_target_shift(wp_nav.get_loiter_target()));
+    }
+#endif
 
     // run loiter controller
     wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);