diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 8db5b0d35b..6f8fef929a 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -38,7 +38,7 @@ float Plane::get_speed_scaler(void)
  */
 bool Plane::stick_mixing_enabled(void)
 {
-    if (auto_throttle_mode) {
+    if (auto_throttle_mode && auto_navigation_mode) {
         // we're in an auto mode. Check the stick mixing flag
         if (g.stick_mixing != STICK_MIXING_DISABLED &&
             geofence_stickmixing() &&
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index dd049fabef..5a23ec71aa 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -560,10 +560,14 @@ private:
 
     // true if we are in an auto-throttle mode, which means
     // we need to run the speed/height controller
-    bool auto_throttle_mode;
+    bool auto_throttle_mode:1;
 
+    // true if we are in an auto-navigation mode, which controls whether control input is ignored
+    // with STICK_MIXING=0
+    bool auto_navigation_mode:1;
+    
     // this controls throttle suppression in auto modes
-    bool throttle_suppressed;
+    bool throttle_suppressed:1;
 	
     // reduce throttle to eliminate battery over-current
     int8_t  throttle_watt_limit_max;
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 367901af2a..fdb195c5c9 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -231,8 +231,11 @@ void Plane::read_radio()
         // in rudder only mode we discard rudder input and get target
         // attitude from the roll channel.
         rudder_input = 0;
-    } else {
+    } else if (stick_mixing_enabled()) {
         rudder_input = channel_rudder->get_control_in();
+    } else {
+        // no stick mixing
+        rudder_input = 0;
     }
 
     // check for transmitter tuning changes
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index b2e67bb95b..af6a773c4e 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -377,6 +377,7 @@ void Plane::set_mode(enum FlightMode mode)
     {
     case INITIALISING:
         auto_throttle_mode = true;
+        auto_navigation_mode = false;
         break;
 
     case MANUAL:
@@ -384,21 +385,25 @@ void Plane::set_mode(enum FlightMode mode)
     case TRAINING:
     case FLY_BY_WIRE_A:
         auto_throttle_mode = false;
+        auto_navigation_mode = false;
         break;
 
     case AUTOTUNE:
         auto_throttle_mode = false;
+        auto_navigation_mode = false;
         autotune_start();
         break;
 
     case ACRO:
         auto_throttle_mode = false;
+        auto_navigation_mode = false;
         acro_state.locked_roll = false;
         acro_state.locked_pitch = false;
         break;
         
     case CRUISE:
         auto_throttle_mode = true;
+        auto_navigation_mode = false;
         cruise_state.locked_heading = false;
         cruise_state.lock_timer_ms = 0;
         set_target_altitude_current();
@@ -406,17 +411,20 @@ void Plane::set_mode(enum FlightMode mode)
 
     case FLY_BY_WIRE_B:
         auto_throttle_mode = true;
+        auto_navigation_mode = false;
         set_target_altitude_current();
         break;
 
     case CIRCLE:
         // the altitude to circle at is taken from the current altitude
         auto_throttle_mode = true;
+        auto_navigation_mode = true;
         next_WP_loc.alt = current_loc.alt;
         break;
 
     case AUTO:
         auto_throttle_mode = true;
+        auto_navigation_mode = true;
         if (quadplane.available() && quadplane.enable == 2) {
             auto_state.vtol_mode = true;
         } else {
@@ -429,17 +437,20 @@ void Plane::set_mode(enum FlightMode mode)
 
     case RTL:
         auto_throttle_mode = true;
+        auto_navigation_mode = true;
         prev_WP_loc = current_loc;
         do_RTL(get_RTL_altitude());
         break;
 
     case LOITER:
         auto_throttle_mode = true;
+        auto_navigation_mode = true;
         do_loiter_at_location();
         break;
 
     case GUIDED:
         auto_throttle_mode = true;
+        auto_navigation_mode = true;
         guided_throttle_passthru = false;
         /*
           when entering guided mode we set the target as the current
@@ -454,6 +465,7 @@ void Plane::set_mode(enum FlightMode mode)
     case QLOITER:
     case QLAND:
     case QRTL:
+        auto_navigation_mode = false;
         if (!quadplane.init_mode()) {
             control_mode = previous_mode;
         } else {