diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index d2163c5bc1..66e44e47f5 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -807,6 +807,9 @@ Serial.println(tempaccel.z, DEC);
 		case 1:
 			medium_loopCounter++;
 
+			// Read 6-position switch on radio
+			// -------------------------------
+			read_control_switch();
 
 			if(g_gps->new_data){
 				g_gps->new_data 	= false;
@@ -896,10 +899,6 @@ static void slow_loop()
 		case 1:
 			slow_loopCounter++;
 
-			// Read 3-position switch on radio
-			// -------------------------------
-			read_control_switch();
-
 			// Read Control Surfaces/Mix switches
 			// ----------------------------------
 			update_servo_switches();
diff --git a/ArduPlane/control_modes.pde b/ArduPlane/control_modes.pde
index 1c545559ef..c70a4b2796 100644
--- a/ArduPlane/control_modes.pde
+++ b/ArduPlane/control_modes.pde
@@ -1,8 +1,9 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+
 static void read_control_switch()
 {
-	
+	static bool switch_debouncer;
 	byte switchPosition = readSwitch();
 	
 	// If switchPosition = 255 this indicates that the mode control channel input was out of range
@@ -19,6 +20,15 @@ static void read_control_switch()
         (g.reset_switch_chan != 0 && 
          APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
 
+        if (switch_debouncer == false) {
+            // this ensures that mode switches only happen if the
+            // switch changes for 2 reads. This prevents momentary
+            // spikes in the mode control channel from causing a mode
+            // switch
+            switch_debouncer = true;
+            return;
+        }
+
 		set_mode(flight_modes[switchPosition]);
 
 		oldSwitchPosition = switchPosition;
@@ -29,6 +39,8 @@ static void read_control_switch()
 		reset_I();
 	}
 
+    switch_debouncer = false;
+
     if (g.inverted_flight_ch != 0) {
         // if the user has configured an inverted flight channel, then
         // fly upside down when that channel goes above INVERTED_FLIGHT_PWM