diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index bb2d3bc2f67879..171c974c565009 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -448,6 +448,9 @@ void Copter::allocate_motors(void)
         AP_BoardConfig::allocation_error("PosControl");
     }
     AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
+#if AP_AVOIDANCE_ENABLED
+    avoid.set_pos_control(pos_control);
+#endif
 
 #if AP_OAPATHPLANNER_ENABLED
     wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control);