diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 4d0a158b35f4ea..dc6af3d3a3dde9 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -166,7 +166,8 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
 {
     if (mission.jump_to_landing_sequence()) {
         mission.set_force_resume(true);
-        if (set_mode(Mode::Number::AUTO, reason)) {
+        // if not already in auto switch to auto
+        if ((copter.flightmode == &copter.mode_auto) || set_mode(Mode::Number::AUTO, reason)) {
             auto_RTL = true;
             return true;
         }