diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 8e0819f0b4..6912dfc569 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1074,5 +1074,9 @@ bool Plane::verify_loiter_heading(bool init)
         return true;
     }
 
-    return plane.mode_loiter.headingLinedUp(init, next_WP_loc, next_nav_cmd.content.location);
+    if (init) {
+        loiter.sum_cd = 0;
+    }
+
+    return plane.mode_loiter.headingLinedUp(next_WP_loc, next_nav_cmd.content.location);
 }
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 7b03492a75..8810c7fa4a 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -173,7 +173,7 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
-    bool headingLinedUp(const bool init, const Location loiterCenterLoc, const Location targetLoc);
+    bool headingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
 
 protected:
 
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index 9906e4aa92..e09e91abb6 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -7,6 +7,7 @@ bool ModeLoiter::_enter()
     plane.auto_throttle_mode = true;
     plane.auto_navigation_mode = true;
     plane.do_loiter_at_location();
+    plane.loiter_angle_reset();
 
 #if SOARING_ENABLED == ENABLED
     if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.suppress_throttle()) {
@@ -25,7 +26,7 @@ void ModeLoiter::update()
     plane.calc_throttle();
 }
 
-bool ModeLoiter::headingLinedUp(const bool init, const Location loiterCenterLoc, const Location targetLoc)
+bool ModeLoiter::headingLinedUp(const Location loiterCenterLoc, const Location targetLoc)
 {
     const uint16_t loiterRadius = abs(plane.aparm.loiter_radius);
     if (loiterCenterLoc.get_distance(targetLoc) < loiterRadius + loiterRadius*0.05) {
@@ -44,10 +45,6 @@ bool ModeLoiter::headingLinedUp(const bool init, const Location loiterCenterLoc,
 
     const int32_t heading_err_cd = wrap_180_cd(bearing_cd - heading_cd);
 
-    if (init) {
-        plane.loiter.sum_cd = 0;
-    }
-
     /*
       Check to see if the the plane is heading toward the land
       waypoint. We use 20 degrees (+/-10 deg) of margin so that
diff --git a/ArduPlane/soaring.cpp b/ArduPlane/soaring.cpp
index 503a9855c6..cbfc9b65bc 100644
--- a/ArduPlane/soaring.cpp
+++ b/ArduPlane/soaring.cpp
@@ -79,7 +79,7 @@ void Plane::update_soaring() {
             switch (loiterStatus) {
                 case SoaringController::LoiterStatus::ALT_TOO_HIGH: {
                     const bool homeIsSet = AP::ahrs().home_is_set();
-                    const bool headingLinedupToHome = homeIsSet && plane.mode_loiter.headingLinedUp(false, next_WP_loc, AP::ahrs().get_home());
+                    const bool headingLinedupToHome = homeIsSet && plane.mode_loiter.headingLinedUp(next_WP_loc, AP::ahrs().get_home());
                     if (!homeIsSet || headingLinedupToHome) {
                         gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_fbwb.name());
                         set_mode(mode_fbwb, ModeReason::SOARING_ALT_TOO_HIGH);
@@ -137,7 +137,7 @@ void Plane::update_soaring() {
                     //Get the lat/lon of next Nav waypoint after this one:
                     AP_Mission::Mission_Command next_nav_cmd;
                     const bool nextWpisValid = mission.get_next_nav_cmd(mission.get_current_nav_index() + 1, next_nav_cmd);
-                    const bool headingLinedupToWP = nextWpisValid && plane.mode_loiter.headingLinedUp(false, next_WP_loc, next_nav_cmd.content.location);
+                    const bool headingLinedupToWP = nextWpisValid && plane.mode_loiter.headingLinedUp(next_WP_loc, next_nav_cmd.content.location);
                     if (!nextWpisValid || headingLinedupToWP) {
                         gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_auto.name());
                         set_mode(mode_auto, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);