diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 4291944240..b1142cb00e 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -858,7 +858,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { rc_loop,               4,     10 },
     { throttle_loop,         8,     45 },
     { update_GPS,            8,     90 },
-    { update_nav_mode,       4,     40 },
     { update_batt_compass,  40,     72 },
     { read_aux_switches,    40,      5 },
     { arm_motors_check,     40,      1 },
@@ -913,7 +912,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { rc_loop,               1,     100 },
     { throttle_loop,         2,     450 },
     { update_GPS,            2,     900 },
-    { update_nav_mode,       1,     400 },
     { update_batt_compass,  10,     720 },
     { read_aux_switches,    10,      50 },
     { arm_motors_check,     10,      10 },
@@ -1169,6 +1167,9 @@ static void ten_hz_logging_loop()
     if (g.log_bitmask & MASK_LOG_RCOUT) {
         DataFlash.Log_Write_RCOUT();
     }
+    if (g.log_bitmask & MASK_LOG_NTUN && mode_requires_GPS(control_mode)) {
+        Log_Write_Nav_Tuning();
+    }
 }
 
 // fifty_hz_logging_loop
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index e75ccc47b1..d7258defe9 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -121,8 +121,6 @@ static bool set_nav_mode(uint8_t new_nav_mode)
 // called at 100hz
 static void update_nav_mode()
 {
-    static uint8_t log_counter;     // used to slow NTUN logging
-
     // exit immediately if not auto_armed or inertial nav position bad
     if (!ap.auto_armed || !inertial_nav.position_ok()) {
         return;
@@ -139,28 +137,11 @@ static void update_nav_mode()
             update_circle();
             break;
 
-        case NAV_LOITER:
-            // reset target if we are still on the ground
-            if (ap.land_complete) {
-                wp_nav.init_loiter_target();
-            }else{
-                // call loiter controller
-                wp_nav.update_loiter();
-            }
-            break;
-
         case NAV_WP:
             // call waypoint controller
             wp_nav.update_wpnav();
             break;
     }
-
-    // log to dataflash at 10hz
-    log_counter++;
-    if (log_counter >= 10 && (g.log_bitmask & MASK_LOG_NTUN) && nav_mode != NAV_NONE) {
-        log_counter = 0;
-        Log_Write_Nav_Tuning();
-    }
 }
 
 // Keeps old data out of our calculation / logs