diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index ad4c5449a3..0fef3df67c 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -20,7 +20,7 @@
 // auto_init - initialise auto controller
 static bool auto_init(bool ignore_checks)
 {
-    if ((GPS_ok() && inertial_nav.position_ok() && mission.num_commands() > 0) || ignore_checks) {
+    if ((GPS_ok() && inertial_nav.position_ok() && mission.num_commands() > 1) || ignore_checks) {
         // stop ROI from carrying over from previous runs of the mission
         // To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
         if (auto_yaw_mode == AUTO_YAW_ROI) {