diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f067b6b0c8..853647efb2 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2407,7 +2407,7 @@ void QuadPlane::vtol_position_controller(void)
         const float aspeed_threshold = MAX(plane.aparm.airspeed_min-2, assist_speed);
 
         // run fixed wing navigation
-        plane.nav_controller->update_waypoint(plane.current_loc, loc);
+        plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc, loc);
 
         // use TECS for throttle
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.TECS_controller.get_throttle_demand());
@@ -3241,7 +3241,8 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
     plane.crash_state.is_crashed = false;
     
     // also update nav_controller for status output
-    plane.nav_controller->update_waypoint(plane.current_loc, plane.next_WP_loc);
+    plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc,
+                                          plane.next_WP_loc);
 
     poscontrol_init_approach();
     return true;