diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index 16727a4e70..f7cedb56d5 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -8,8 +8,20 @@
 bool Copter::ModeLoiter::init(bool ignore_checks)
 {
     if (copter.position_ok() || ignore_checks) {
+        if (!copter.failsafe.radio) {
+            float target_roll, target_pitch;
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
 
-        // set target to current position
+            // convert pilot input to lean angles
+            get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
+
+            // process pilot's roll and pitch input
+            loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
+        } else {
+            // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
+            loiter_nav->clear_pilot_desired_acceleration();
+        }
         loiter_nav->init_target();
 
         // initialise position and desired velocity
@@ -19,7 +31,7 @@ bool Copter::ModeLoiter::init(bool ignore_checks)
         }
 
         return true;
-    }else{
+    } else {
         return false;
     }
 }