diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index e913678acb..4ac15d383f 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -185,7 +185,7 @@ void GCS_MAVLINK_Plane::send_nav_controller_output() const
             targets.y * 0.01,
             targets.z * 0.01,
             degrees(error.angle()),
-            error.length(),
+            MIN(error.length(), UINT16_MAX),
             (plane.control_mode != &plane.mode_qstabilize) ? quadplane.pos_control->get_pos_error_z_cm() * 0.01 : 0,
             plane.airspeed_error * 100,  // incorrect units; see PR#7933
             quadplane.wp_nav->crosstrack_error());
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 7904d67400..6b7f698e25 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -23,7 +23,7 @@ void Plane::Log_Write_Attitude(void)
     } else {
         ahrs.Write_Attitude(targets);
     }
-    if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight() || quadplane.in_vtol_airbrake()) {
+    if (AP_HAL::millis() - quadplane.last_att_control_ms < 100) {
         // log quadplane PIDs separately from fixed wing PIDs
         logger.Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
         logger.Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index f4ca11a06c..3042a93956 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -80,6 +80,10 @@ bool Mode::enter()
     // initialize speed variable used in AUTO and GUIDED for DO_CHANGE_SPEED commands
     plane.new_airspeed_cm = -1;
 
+#if HAL_QUADPLANE_ENABLED
+    quadplane.mode_enter();
+#endif
+
     bool enter_result = _enter();
 
     if (enter_result) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 1a3a6eb697..c6a8e80da6 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2400,7 +2400,8 @@ void QuadPlane::vtol_position_controller(void)
 
         const Vector2f diff_wp = plane.current_loc.get_distance_NE(loc);
         const float distance = diff_wp.length();
-        const float groundspeed = plane.ahrs.groundspeed();
+        const Vector2f rel_groundspeed_vector = landing_closing_velocity();
+        const float rel_groundspeed_sq = rel_groundspeed_vector.length_squared();
 
         // calculate speed we should be at to reach the position2
         // target speed at the position2 distance threshold, assuming
@@ -2411,14 +2412,13 @@ void QuadPlane::vtol_position_controller(void)
 
         // maximum configured VTOL speed
         const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
-        const float current_speed_sq = plane.ahrs.groundspeed_vector().length_squared();
         const float scaled_wp_speed = get_scaled_wp_speed(degrees(diff_wp.angle()));
 
         // limit target speed to initial pos1 speed, but at least twice the Q_WP_SPEED
         target_speed = MIN(MAX(poscontrol.pos1_start_speed, 2*wp_speed), target_speed);
 
         if (poscontrol.reached_wp_speed ||
-            current_speed_sq < sq(wp_speed) ||
+            rel_groundspeed_sq < sq(wp_speed) ||
             wp_speed > 1.35*scaled_wp_speed) {
             // once we get below the Q_WP_SPEED then we don't want to
             // speed up again. At that point we should fly within the
@@ -2435,7 +2435,7 @@ void QuadPlane::vtol_position_controller(void)
 
         Vector2f target_speed_xy_cms;
         Vector2f target_accel_cms;
-        const float target_accel = accel_needed(distance, sq(groundspeed));
+        const float target_accel = accel_needed(distance, rel_groundspeed_sq);
         if (distance > 0.1) {
             Vector2f diff_wp_norm = diff_wp.normalized();
             target_speed_xy_cms = diff_wp_norm * target_speed * 100;
@@ -3722,14 +3722,16 @@ bool QuadPlane::use_fw_attitude_controllers(void) const
 }
 
 /*
-  calculate our closing velocity vector on the landing point. In the
-  future this will take account of the landing point having a
-  velocity
+  calculate our closing velocity vector on the landing point, taking
+  into account target velocity
 */
 Vector2f QuadPlane::landing_closing_velocity()
 {
-    Vector2f vel = ahrs.groundspeed_vector();
-    return vel;
+    Vector2f landing_velocity;
+    if (AP_HAL::millis() - poscontrol.last_velocity_match_ms < 1000) {
+        landing_velocity = poscontrol.velocity_match;
+    }
+    return ahrs.groundspeed_vector() - landing_velocity;
 }
 
 /*
@@ -3927,4 +3929,12 @@ bool QuadPlane::in_vtol_takeoff(void) const
     return false;
 }
 
+// called when we change mode (for any mode, not just Q modes)
+void QuadPlane::mode_enter(void)
+{
+    poscontrol.xy_correction.zero();
+    poscontrol.velocity_match.zero();
+    poscontrol.last_velocity_match_ms = 0;
+}
+
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 5ef4039123..bad2f79544 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -164,6 +164,9 @@ public:
     };
     void set_q_assist_state(Q_ASSIST_STATE_ENUM state) {q_assist_state = state;};
 
+    // called when we change mode (for any mode, not just Q modes)
+    void mode_enter(void);
+
 private:
     AP_AHRS &ahrs;
     AP_Vehicle::MultiCopter aparm;