diff --git a/conf/airframes/ardrone2_sdk.xml b/conf/airframes/ardrone2_sdk.xml
index 7544a9a391..dfbcab0f90 100644
--- a/conf/airframes/ardrone2_sdk.xml
+++ b/conf/airframes/ardrone2_sdk.xml
@@ -97,9 +97,10 @@
 	</section>
 
 	<section name="AUTOPILOT">
+		<define name="MODE_STARTUP" value="AP_MODE_NAV" />
 		<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
-		<define name="MODE_AUTO1" value="AP_MODE_NAV" />
-		<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
+		<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
+		<define name="MODE_AUTO2" value="AP_MODE_NAV" />
 	</section>
 
 	<section name="BAT">
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index ae91f2c2d1..1652b0b4ed 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -73,8 +73,13 @@ static inline int ahrs_is_aligned(void) {
 #include "autopilot_arming_yaw.h"
 #endif
 
+#ifndef MODE_STARTUP
+#define MODE_STARTUP AP_MODE_KILL
+PRINT_CONFIG_MSG("Using AP_MODE_KILL as MODE_STARTUP")
+#endif
+
 void autopilot_init(void) {
-  autopilot_mode = AP_MODE_KILL;
+  autopilot_mode = MODE_STARTUP;
   autopilot_motors_on = FALSE;
   kill_throttle = ! autopilot_motors_on;
   autopilot_in_flight = FALSE;