diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
index eecd918248..3788398d00 100644
--- a/ArduPlane/mode_qloiter.cpp
+++ b/ArduPlane/mode_qloiter.cpp
@@ -6,9 +6,121 @@ bool ModeQLoiter::_enter()
     return plane.mode_qstabilize._enter();
 }
 
+void ModeQLoiter::init()
+{
+    // initialise loiter
+    loiter_nav->clear_pilot_desired_acceleration();
+    loiter_nav->init_target();
+
+    // set vertical speed and acceleration limits
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+
+    quadplane.init_throttle_wait();
+
+    // remember initial pitch
+    quadplane.loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
+
+    // prevent re-init of target position
+    quadplane.last_loiter_ms = AP_HAL::millis();
+}
+
 void ModeQLoiter::update()
 {
     plane.mode_qstabilize.update();
 }
 
+// run quadplane loiter controller
+void ModeQLoiter::run()
+{
+    if (quadplane.throttle_wait) {
+        quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
+        attitude_control->set_throttle_out(0, true, 0);
+        quadplane.relax_attitude_control();
+        pos_control->relax_z_controller(0);
+        loiter_nav->clear_pilot_desired_acceleration();
+        loiter_nav->init_target();
+        return;
+    }
+    if (!quadplane.motors->armed()) {
+        plane.mode_qloiter.init();
+    }
+
+    quadplane.check_attitude_relax();
+
+    if (quadplane.should_relax()) {
+        loiter_nav->soften_for_landing();
+    }
+
+    const uint32_t now = AP_HAL::millis();
+    if (now - quadplane.last_loiter_ms > 500) {
+        loiter_nav->clear_pilot_desired_acceleration();
+        loiter_nav->init_target();
+    }
+    quadplane.last_loiter_ms = now;
+
+    // motors use full range
+    quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
+
+    // set vertical speed and acceleration limits
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+
+    // process pilot's roll and pitch input
+    float target_roll_cd, target_pitch_cd;
+    quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
+    loiter_nav->set_pilot_desired_acceleration(target_roll_cd, target_pitch_cd);
+    
+    // run loiter controller
+    if (!pos_control->is_active_xy()) {
+        pos_control->init_xy_controller();
+    }
+    loiter_nav->update();
+
+    // nav roll and pitch are controller by loiter controller
+    plane.nav_roll_cd = loiter_nav->get_roll();
+    plane.nav_pitch_cd = loiter_nav->get_pitch();
+
+    if (now - quadplane.last_pidz_init_ms < (uint32_t)quadplane.transition_time_ms*2 && !quadplane.tailsitter.enabled()) {
+        // we limit pitch during initial transition
+        float pitch_limit_cd = linear_interpolate(quadplane.loiter_initial_pitch_cd, quadplane.aparm.angle_max,
+                                                  now,
+                                                  quadplane.last_pidz_init_ms, quadplane.last_pidz_init_ms+quadplane.transition_time_ms*2);
+        if (plane.nav_pitch_cd > pitch_limit_cd) {
+            plane.nav_pitch_cd = pitch_limit_cd;
+            pos_control->set_externally_limited_xy();
+        }
+    }
+    
+    
+    // call attitude controller with conservative smoothing gain of 4.0f
+    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
+                                                                  plane.nav_pitch_cd,
+                                                                  quadplane.get_desired_yaw_rate_cds());
+
+    if (plane.control_mode == &plane.mode_qland) {
+        if (poscontrol.get_state() < QuadPlane::QPOS_LAND_FINAL && quadplane.check_land_final()) {
+            poscontrol.set_state(QuadPlane::QPOS_LAND_FINAL);
+            quadplane.setup_target_position();
+            // cut IC engine if enabled
+            if (quadplane.land_icengine_cut != 0) {
+                plane.g2.ice_control.engine_control(0, 0, 0);
+            }
+        }
+        float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
+        float descent_rate_cms = quadplane.landing_descent_rate_cms(height_above_ground);
+
+        if (poscontrol.get_state() == QuadPlane::QPOS_LAND_FINAL && (quadplane.options & QuadPlane::OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
+            quadplane.ahrs.set_touchdown_expected(true);
+        }
+
+        quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
+        quadplane.check_land_complete();
+    } else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
+        quadplane.set_climb_rate_cms(0, false);
+    } else {
+        // update altitude target and call position controller
+        quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false);
+    }
+    quadplane.run_z_controller();
+}
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 263fc90937..43f65c25f2 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1170,25 +1170,6 @@ float QuadPlane::get_pilot_land_throttle(void) const
     return constrain_float(throttle_in, 0, 1);
 }
 
-void ModeQLoiter::init()
-{
-    // initialise loiter
-    loiter_nav->clear_pilot_desired_acceleration();
-    loiter_nav->init_target();
-
-    // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-
-    quadplane.init_throttle_wait();
-
-    // remember initial pitch
-    quadplane.loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
-
-    // prevent re-init of target position
-    quadplane.last_loiter_ms = AP_HAL::millis();
-}
-
 // helper for is_flying()
 bool QuadPlane::is_flying(void)
 {
@@ -1301,101 +1282,6 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground) const
     return ret;
 }
 
-
-// run quadplane loiter controller
-void ModeQLoiter::run()
-{
-    if (quadplane.throttle_wait) {
-        quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0, true, 0);
-        quadplane.relax_attitude_control();
-        pos_control->relax_z_controller(0);
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
-        return;
-    }
-    if (!quadplane.motors->armed()) {
-        plane.mode_qloiter.init();
-    }
-
-    quadplane.check_attitude_relax();
-
-    if (quadplane.should_relax()) {
-        loiter_nav->soften_for_landing();
-    }
-
-    const uint32_t now = AP_HAL::millis();
-    if (now - quadplane.last_loiter_ms > 500) {
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
-    }
-    quadplane.last_loiter_ms = now;
-
-    // motors use full range
-    quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-
-    // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-
-    // process pilot's roll and pitch input
-    float target_roll_cd, target_pitch_cd;
-    quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
-    loiter_nav->set_pilot_desired_acceleration(target_roll_cd, target_pitch_cd);
-    
-    // run loiter controller
-    if (!pos_control->is_active_xy()) {
-        pos_control->init_xy_controller();
-    }
-    loiter_nav->update();
-
-    // nav roll and pitch are controller by loiter controller
-    plane.nav_roll_cd = loiter_nav->get_roll();
-    plane.nav_pitch_cd = loiter_nav->get_pitch();
-
-    if (now - quadplane.last_pidz_init_ms < (uint32_t)quadplane.transition_time_ms*2 && !quadplane.tailsitter.enabled()) {
-        // we limit pitch during initial transition
-        float pitch_limit_cd = linear_interpolate(quadplane.loiter_initial_pitch_cd, quadplane.aparm.angle_max,
-                                                  now,
-                                                  quadplane.last_pidz_init_ms, quadplane.last_pidz_init_ms+quadplane.transition_time_ms*2);
-        if (plane.nav_pitch_cd > pitch_limit_cd) {
-            plane.nav_pitch_cd = pitch_limit_cd;
-            pos_control->set_externally_limited_xy();
-        }
-    }
-    
-    
-    // call attitude controller with conservative smoothing gain of 4.0f
-    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
-                                                                  plane.nav_pitch_cd,
-                                                                  quadplane.get_desired_yaw_rate_cds());
-
-    if (plane.control_mode == &plane.mode_qland) {
-        if (poscontrol.get_state() < QuadPlane::QPOS_LAND_FINAL && quadplane.check_land_final()) {
-            poscontrol.set_state(QuadPlane::QPOS_LAND_FINAL);
-            quadplane.setup_target_position();
-            // cut IC engine if enabled
-            if (quadplane.land_icengine_cut != 0) {
-                plane.g2.ice_control.engine_control(0, 0, 0);
-            }
-        }
-        float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
-        float descent_rate_cms = quadplane.landing_descent_rate_cms(height_above_ground);
-
-        if (poscontrol.get_state() == QuadPlane::QPOS_LAND_FINAL && (quadplane.options & QuadPlane::OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
-            quadplane.ahrs.set_touchdown_expected(true);
-        }
-
-        quadplane.set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
-        quadplane.check_land_complete();
-    } else if (plane.control_mode == &plane.mode_guided && quadplane.guided_takeoff) {
-        quadplane.set_climb_rate_cms(0, false);
-    } else {
-        // update altitude target and call position controller
-        quadplane.set_climb_rate_cms(quadplane.get_pilot_desired_climb_rate_cms(), false);
-    }
-    quadplane.run_z_controller();
-}
-
 /*
   get pilot input yaw rate in cd/s
  */