diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 464616dbcd..c6aba6f3d3 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -447,4 +447,5 @@ public:
 protected:
 
     bool _enter() override;
+    void _exit() override;
 };
diff --git a/ArduPlane/mode_qautotune.cpp b/ArduPlane/mode_qautotune.cpp
index e4df660909..475fcea77d 100644
--- a/ArduPlane/mode_qautotune.cpp
+++ b/ArduPlane/mode_qautotune.cpp
@@ -11,3 +11,10 @@ void ModeQAutotune::update()
     plane.mode_qstabilize.update();
 }
 
+void ModeQAutotune::_exit()
+{
+#if QAUTOTUNE_ENABLED
+    plane.quadplane.qautotune.stop();
+#endif
+}
+