diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 27c18aadf5..863482e4df 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -558,8 +558,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // @Param: MIS_DONE_BEHAVE
     // @DisplayName: Mission done behave
-    // @Description: Mode to become after mission done
-    // @Values: 0:Hold,1:Loiter, 2:Acro
+    // @Description: Behaviour after mission completes
+    // @Values: 0:Hold,1:Loiter,2:Acro
     // @User: Standard
     AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
 
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 45fcb7231a..75ff6e41c5 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -437,7 +437,7 @@ void ModeAuto::exit_mission()
     // send message
     gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
 
-    if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) {
+    if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) {
         return;
     }
 
@@ -445,7 +445,7 @@ void ModeAuto::exit_mission()
         return;
     }
 
-    rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END);
+    start_stop();
 }
 
 // verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run