diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index cc80d4fa97..dfea90ca82 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -463,7 +463,7 @@ void Plane::update_navigation()
               are within the maximum of the stopping distance and the
               RTL_RADIUS
              */
-            set_mode(mode_qrtl, ModeReason::UNKNOWN);
+            set_mode(mode_qrtl, ModeReason::RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL);
             break;
         } else if (g.rtl_autoland == 1 &&
             !auto_state.checked_for_autoland &&
@@ -473,7 +473,7 @@ void Plane::update_navigation()
             if (mission.jump_to_landing_sequence()) {
                 // switch from RTL -> AUTO
                 mission.set_force_resume(true);
-                set_mode(mode_auto, ModeReason::UNKNOWN);
+                set_mode(mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
             }
 
             // prevent running the expensive jump_to_landing_sequence
@@ -486,7 +486,7 @@ void Plane::update_navigation()
             if (mission.jump_to_landing_sequence()) {
                 // switch from RTL -> AUTO
                 mission.set_force_resume(true);
-                set_mode(mode_auto, ModeReason::UNKNOWN);
+                set_mode(mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
             }
 
             // prevent running the expensive jump_to_landing_sequence
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index a416588aee..c644f64217 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -72,7 +72,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-        set_mode(mode_rtl, ModeReason::UNKNOWN);
+        set_mode(mode_rtl, ModeReason::MISSION_CMD);
         break;
 
     case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 62a766c9ac..ca1c857fbb 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -142,7 +142,7 @@ void Plane::init_ardupilot()
     // choose the nav controller
     set_nav_controller();
 
-    set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::UNKNOWN);
+    set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);
 
     // set the correct flight mode
     // ---------------------------
@@ -169,7 +169,7 @@ void Plane::init_ardupilot()
 //********************************************************************************
 void Plane::startup_ground(void)
 {
-    set_mode(mode_initializing, ModeReason::UNKNOWN);
+    set_mode(mode_initializing, ModeReason::INITIALISED);
 
 #if (GROUND_START_DELAY > 0)
     gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");