diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 6cf01238d0..c599f91cd1 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -652,6 +652,9 @@ void ModeGuided::set_angle(const Quaternion &attitude_quat, const Vector3f &ang_
     // check we are in velocity control mode
     if (guided_mode != SubMode::Angle) {
         angle_control_start();
+    } else if (!use_thrust && guided_angle_state.use_thrust) {
+        // Already angle control but changing from thrust to climb rate
+        pos_control->init_z_controller();
     }
 
     guided_angle_state.attitude_quat = attitude_quat;