diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 40bda04ecb7..b50c7d104d1 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -16,7 +16,7 @@ void Copter::heli_init()
 {
     // pre-load stab col values as mode is initialized as Stabilize, but stabilize_init() function is not run on start-up.
     input_manager.set_use_stab_col(true);
-    input_manager.set_stab_col_ramp(1.0);
+    input_manager.set_collective_ramp(0);
 }
 
 // heli_check_dynamic_flight - updates the dynamic_flight flag based on our horizontal velocity
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 67ddb3ca15b..26feaf1a4ab 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -443,15 +443,13 @@ void Copter::exit_mode(Mode *&old_flightmode,
         motors->set_acro_tail(false);
     }
 
+    //last collective output
+    input_manager.set_last_coll_output(motors->get_throttle());
+
     // if we are changing from a mode that did not use manual throttle,
-    // stab col ramp value should be pre-loaded to the correct value to avoid a twitch
-    // heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
-    if (!old_flightmode->has_manual_throttle()){
-        if (new_flightmode == &mode_stabilize){
-            input_manager.set_stab_col_ramp(1.0);
-        } else if (new_flightmode == &mode_acro){
-            input_manager.set_stab_col_ramp(0.0);
-        }
+    // collective ramp functions should be called to blend the transition
+    if (new_flightmode->has_manual_throttle()) {
+        input_manager.set_collective_ramp(1.0);
     }
 
     // Make sure inverted flight is disabled if not supported in the new mode