diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 0b6eb33d18..d6b09dea15 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -207,9 +207,10 @@
   </section>
 
   <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
   </section>
 
   <section name="BAT">