diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 43d15f6dda..4f6d28b6fe 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -118,17 +118,6 @@ float Copter::get_non_takeoff_throttle()
     return MAX(0,motors->get_throttle_hover()/2.0f);
 }
 
-// get target climb rate reduced to avoid obstacles and altitude fence
-float Copter::get_avoidance_adjusted_climbrate(float target_rate)
-{
-#if AC_AVOID_ENABLED == ENABLED
-    avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
-    return target_rate;
-#else
-    return target_rate;
-#endif
-}
-
 // set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
 void Copter::set_accel_throttle_I_from_pilot_throttle()
 {
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7e70dfd5de..5a44e67e35 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -662,7 +662,6 @@ private:
     void update_throttle_hover();
     float get_pilot_desired_climb_rate(float throttle_control);
     float get_non_takeoff_throttle();
-    float get_avoidance_adjusted_climbrate(float target_rate);
     void set_accel_throttle_I_from_pilot_throttle();
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn();
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 5a71cf7787..580521e1d3 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -718,6 +718,16 @@ float Mode::get_pilot_desired_throttle() const
     return throttle_out;
 }
 
+float Mode::get_avoidance_adjusted_climbrate(float target_rate)
+{
+#if AC_AVOID_ENABLED == ENABLED
+    AP::ac_avoid()->adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
+    return target_rate;
+#else
+    return target_rate;
+#endif
+}
+
 Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
 {
     // Alt Hold State Machine Determination
@@ -815,11 +825,6 @@ void Mode::set_throttle_takeoff()
     pos_control->init_takeoff();
 }
 
-float Mode::get_avoidance_adjusted_climbrate(float target_rate)
-{
-    return copter.get_avoidance_adjusted_climbrate(target_rate);
-}
-
 uint16_t Mode::get_pilot_speed_dn()
 {
     return copter.get_pilot_speed_dn();
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 0fc8ad549b..2d94ebdaf2 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -86,6 +86,10 @@ public:
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
     float get_pilot_desired_throttle() const;
 
+    // returns climb target_rate reduced to avoid obstacles and
+    // altitude fence
+    float get_avoidance_adjusted_climbrate(float target_rate);
+
     const Vector3f& get_desired_velocity() {
         // note that position control isn't used in every mode, so
         // this may return bogus data:
@@ -245,7 +249,6 @@ public:
     void set_land_complete(bool b);
     GCS_Copter &gcs();
     void set_throttle_takeoff(void);
-    float get_avoidance_adjusted_climbrate(float target_rate);
     uint16_t get_pilot_speed_dn(void);
 
     // end pass-through functions
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index 7b77e0ab32..063e3e8a63 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -84,7 +84,7 @@ float AutoTune::get_pilot_desired_climb_rate_cms(void) const
     float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
 
     // get avoidance adjusted climb rate
-    target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
+    target_climb_rate = copter.mode_autotune.get_avoidance_adjusted_climbrate(target_climb_rate);
 
     return target_climb_rate;
 }
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 50879c6716..946f3cd704 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -286,7 +286,7 @@ void ModeFlowHold::run()
         takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
         // get avoidance adjusted climb rate
-        target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
+        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
 
         // call position controller
         copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
@@ -309,7 +309,7 @@ void ModeFlowHold::run()
         target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
 
         // get avoidance adjusted climb rate
-        target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
+        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
 
         copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
         break;