diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
index 7ea3de38cb..ea0a8f0f65 100644
--- a/ArduCopter/mode_zigzag.cpp
+++ b/ArduCopter/mode_zigzag.cpp
@@ -122,10 +122,14 @@ void ModeZigZag::return_to_manual_control(bool maintain_target)
     if (stage == AUTO) {
         stage = MANUAL_REGAIN;
         loiter_nav->clear_pilot_desired_acceleration();
-        const Vector3f wp_dest = wp_nav->get_wp_destination();
-        loiter_nav->init_target(wp_dest);
-        if (maintain_target && wp_nav->origin_and_destination_are_terrain_alt()) {
-            copter.surface_tracking.set_target_alt_cm(wp_dest.z);
+        if (maintain_target) {
+            const Vector3f wp_dest = wp_nav->get_wp_destination();
+            loiter_nav->init_target(wp_dest);
+            if (wp_nav->origin_and_destination_are_terrain_alt()) {
+                copter.surface_tracking.set_target_alt_cm(wp_dest.z);
+            }
+        } else {
+            loiter_nav->init_target();
         }
         gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: manual control");
     }