diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index ffc34f3a90..5042cd4899 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -940,9 +940,6 @@ private:
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
     float get_wp_radius() const;
 
-    void do_nav_delay(const AP_Mission::Mission_Command& cmd);
-    bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
-
     bool is_land_command(uint16_t cmd) const;
 
     bool do_change_speed(uint8_t speedtype, float speed_target_ms, float rhtottle_pct);
@@ -950,13 +947,7 @@ private:
       return true if in a specific AUTO mission command
     */
     bool in_auto_mission_id(uint16_t command) const;
-    
-    // Delay the next navigation command
-    struct {
-        uint32_t time_max_ms;
-        uint32_t time_start_ms;
-    } nav_delay;
-    
+
 #if AP_SCRIPTING_ENABLED
     // nav scripting support
     void do_nav_script_time(const AP_Mission::Mission_Command& cmd);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index e5ac80ae73..70653ba336 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -206,7 +206,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
 #endif
 
     case MAV_CMD_NAV_DELAY:
-        do_nav_delay(cmd);
+        mode_auto.do_nav_delay(cmd);
         break;
         
     default:
@@ -311,7 +311,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
 #endif
 
      case MAV_CMD_NAV_DELAY:
-         return verify_nav_delay(cmd);
+         return mode_auto.verify_nav_delay(cmd);
 
     // do commands (always return true)
     case MAV_CMD_DO_CHANGE_SPEED:
@@ -533,7 +533,7 @@ void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
 }
 
 // do_nav_delay - Delay the next navigation command
-void Plane::do_nav_delay(const AP_Mission::Mission_Command& cmd)
+void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
 {
     nav_delay.time_start_ms = millis();
 
@@ -880,9 +880,9 @@ bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
 }
 
 // verify_nav_delay - check if we have waited long enough
-bool Plane::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
+bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
 {
-    if (arming.is_armed_and_safety_off()) {
+    if (AP::arming().is_armed_and_safety_off()) {
         // don't delay while armed, we need a nav controller running
         return true;
     }
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 4da472cd06..a88dbec5b6 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -8,6 +8,7 @@
 #include <AP_Vehicle/ModeReason.h>
 #include "quadplane.h"
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Mission/AP_Mission.h>
 
 class AC_PosControl;
 class AC_AttitudeControl_Multi;
@@ -220,12 +221,24 @@ public:
     bool mode_allows_autotuning() const override { return true; }
 
     bool is_landing() const override;
-    
+
+    void do_nav_delay(const AP_Mission::Mission_Command& cmd);
+    bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
+
 protected:
 
     bool _enter() override;
     void _exit() override;
     bool _pre_arm_checks(size_t buflen, char *buffer) const override;
+
+private:
+
+    // Delay the next navigation command
+    struct {
+        uint32_t time_max_ms;
+        uint32_t time_start_ms;
+    } nav_delay;
+
 };