diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index 2750c23229..ca6cc75b88 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -339,6 +339,7 @@ void AP_L1_Control::update_waypoint(const Location &prev_WP, const Location &nex
 
     // Waypoint capture status is always false during waypoint following
     _WPcircle = false;
+    _last_loiter.reached_loiter_target_ms = 0;
 
     _bearing_error = Nu; // bearing error angle (radians), +ve to left of track
 
@@ -348,6 +349,8 @@ void AP_L1_Control::update_waypoint(const Location &prev_WP, const Location &nex
 // update L1 control for loitering
 void AP_L1_Control::update_loiter(const Location &center_WP, float radius, int8_t loiter_direction)
 {
+    const float radius_unscaled = radius;
+
     Location _current_loc;
 
     // scale loiter radius with square of EAS2TAS to allow us to stay
@@ -442,18 +445,43 @@ void AP_L1_Control::update_loiter(const Location &center_WP, float radius, int8_
     // Perform switchover between 'capture' and 'circle' modes at the
     // point where the commands cross over to achieve a seamless transfer
     // Only fly 'capture' mode if outside the circle
+    const uint32_t now_ms = AP_HAL::millis();
     if (xtrackErrCirc > 0.0f && loiter_direction * latAccDemCap < loiter_direction * latAccDemCirc) {
         _latAccDem = latAccDemCap;
-        _WPcircle = false;
+
+        /*
+          if we were previously on the circle and the target has not
+          changed then keep _WPcircle true. This prevents
+          reached_loiter_target() from going false due to a gust of
+          wind or an unachievable loiter radius
+         */
+        if (_WPcircle &&
+            _last_loiter.reached_loiter_target_ms != 0 &&
+            now_ms - _last_loiter.reached_loiter_target_ms < 200U &&
+            loiter_direction == _last_loiter.direction &&
+            is_equal(radius_unscaled, _last_loiter.radius) &&
+            center_WP.same_loc_as(_last_loiter.center_WP)) {
+            // same location, within 200ms, keep the _WPcircle status as true
+            _last_loiter.reached_loiter_target_ms = now_ms;
+        } else {
+            _WPcircle = false;
+            _last_loiter.reached_loiter_target_ms = 0;
+        }
+
         _bearing_error = Nu; // angle between demanded and achieved velocity vector, +ve to left of track
         _nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians) from AC to L1 point
     } else {
         _latAccDem = latAccDemCirc;
         _WPcircle = true;
+        _last_loiter.reached_loiter_target_ms = now_ms;
         _bearing_error = 0.0f; // bearing error (radians), +ve to left of track
         _nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians)from AC to L1 point
     }
 
+    _last_loiter.radius = radius_unscaled;
+    _last_loiter.direction = loiter_direction;
+    _last_loiter.center_WP = center_WP;
+
     _data_is_stale = false; // status are correctly updated with current waypoint data
 }
 
@@ -487,6 +515,7 @@ void AP_L1_Control::update_heading_hold(int32_t navigation_heading_cd)
 
     // Waypoint capture status is always false during heading hold
     _WPcircle = false;
+    _last_loiter.reached_loiter_target_ms = 0;
 
     _crosstrack_error = 0;
 
@@ -510,6 +539,7 @@ void AP_L1_Control::update_level_flight(void)
 
     // Waypoint capture status is always false during heading hold
     _WPcircle = false;
+    _last_loiter.reached_loiter_target_ms = 0;
 
     _latAccDem = 0;
 
diff --git a/libraries/AP_L1_Control/AP_L1_Control.h b/libraries/AP_L1_Control/AP_L1_Control.h
index e3035a4dd5..20eb6e5777 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.h
+++ b/libraries/AP_L1_Control/AP_L1_Control.h
@@ -124,6 +124,14 @@ private:
 
     AP_Float _loiter_bank_limit;
 
+    // remember reached_loiter_target decision
+    struct {
+        uint32_t reached_loiter_target_ms;
+        float radius;
+        int8_t direction;
+        Location center_WP;
+    } _last_loiter;
+
     bool _reverse = false;
     float get_yaw() const;
     int32_t get_yaw_sensor() const;