diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index ff880e33bd..6ebf3546ef 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -17,8 +17,6 @@ bool ModeAuto::_enter()
     
     if (plane.quadplane.available() && plane.quadplane.enable == 2) {
         plane.auto_state.vtol_mode = true;
-        // always zero forward throttle demand on entry into VTOL modes
-        quadplane.q_fwd_throttle = 0.0f;
     } else {
         plane.auto_state.vtol_mode = false;
     }
diff --git a/ArduPlane/mode_qacro.cpp b/ArduPlane/mode_qacro.cpp
index 13b16a066e..b74a434384 100644
--- a/ArduPlane/mode_qacro.cpp
+++ b/ArduPlane/mode_qacro.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQAcro::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
     quadplane.throttle_wait = false;
     quadplane.transition->force_transition_complete();
     attitude_control->relax_attitude_controllers();
diff --git a/ArduPlane/mode_qautotune.cpp b/ArduPlane/mode_qautotune.cpp
index 5d50f8b7c5..28bf977128 100644
--- a/ArduPlane/mode_qautotune.cpp
+++ b/ArduPlane/mode_qautotune.cpp
@@ -7,9 +7,6 @@
 
 bool ModeQAutotune::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
 #if QAUTOTUNE_ENABLED
     return quadplane.qautotune.init();
 #else
diff --git a/ArduPlane/mode_qhover.cpp b/ArduPlane/mode_qhover.cpp
index 0553c8dfae..1fe4848296 100644
--- a/ArduPlane/mode_qhover.cpp
+++ b/ArduPlane/mode_qhover.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQHover::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
     // set vertical speed and acceleration limits
     pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
     pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
diff --git a/ArduPlane/mode_qland.cpp b/ArduPlane/mode_qland.cpp
index 11b2bcbeea..e646c80746 100644
--- a/ArduPlane/mode_qland.cpp
+++ b/ArduPlane/mode_qland.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQLand::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
     plane.mode_qloiter._enter();
     quadplane.throttle_wait = false;
     quadplane.setup_target_position();
diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
index fe3a936d30..50dd8deea7 100644
--- a/ArduPlane/mode_qloiter.cpp
+++ b/ArduPlane/mode_qloiter.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQLoiter::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
     // initialise loiter
     loiter_nav->clear_pilot_desired_acceleration();
     loiter_nav->init_target();
diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index e4545c01d8..e31e4681ad 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQRTL::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    plane.quadplane.q_fwd_throttle = 0.0f;
-
     // treat QRTL as QLAND if we are in guided wait takeoff state, to cope
     // with failsafes during GUIDED->AUTO takeoff sequence
     if (plane.quadplane.guided_wait_takeoff_on_mode_enter) {
diff --git a/ArduPlane/mode_qstabilize.cpp b/ArduPlane/mode_qstabilize.cpp
index 61c79582d2..b0b3f27a18 100644
--- a/ArduPlane/mode_qstabilize.cpp
+++ b/ArduPlane/mode_qstabilize.cpp
@@ -5,9 +5,6 @@
 
 bool ModeQStabilize::_enter()
 {
-    // always zero forward throttle demand on entry into VTOL modes
-    quadplane.q_fwd_throttle = 0.0f;
-
     quadplane.throttle_wait = false;
     return true;
 }
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f896c7fa89..03f01c7f28 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2088,7 +2088,7 @@ bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state) const
             gcs().send_text(MAV_SEVERITY_NOTICE, "Entered VTOL mode");
         }
         plane.auto_state.vtol_mode = true;
-        // always zero forward throttle demand on entry into VTOL modes
+        // This is a precaustion. It should be looked after by the call to QuadPlane::mode_enter(void) on mode entry.
         plane.quadplane.q_fwd_throttle = 0.0f;
         return true;
         
@@ -4511,6 +4511,8 @@ void QuadPlane::mode_enter(void)
     // state for special behaviour
     guided_wait_takeoff_on_mode_enter = guided_wait_takeoff;
     guided_wait_takeoff = false;
+
+    q_fwd_throttle = 0.0f;
 }
 
 // Set attitude control yaw rate time constant to pilot input command model value