diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 7067f9fc6d..6265e07289 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -98,10 +98,6 @@ void Rover::setup()
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
-    notify.init(false);
-
-    AP_Notify::flags.failsafe_battery = false;
-
     rssi.init();
 
     init_ardupilot();
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 429716bbc7..f09a39a873 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -108,6 +108,11 @@ void Rover::init_ardupilot()
 
     BoardConfig.init();
 
+    // initialise notify system
+    notify.init(false);
+    AP_Notify::flags.failsafe_battery = false;
+    notify_mode(control_mode);
+
     ServoRelayEvents.set_channel_mask(0xFFF0);
 
     set_control_channels();