diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index 88942b9b5da23..9fa7d434520fc 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -118,10 +118,10 @@ void ModePosHold::run()
     case AltHoldModeState::Landed_Ground_Idle:
         attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms_smoothly();
-        init_wind_comp_estimate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();
+        init_wind_comp_estimate();
 
         // set poshold state to pilot override
         roll_mode = RPMode::PILOT_OVERRIDE;
@@ -133,7 +133,6 @@ void ModePosHold::run()
             attitude_control->reset_target_and_rate(false);
         }
         attitude_control->reset_rate_controller_I_terms_smoothly();
-        init_wind_comp_estimate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
 
         // set poshold state to pilot override