diff --git a/ArduCopter/mode_autorotate.cpp b/ArduCopter/mode_autorotate.cpp
index 9b15040af3c371..8b20da63267ccf 100644
--- a/ArduCopter/mode_autorotate.cpp
+++ b/ArduCopter/mode_autorotate.cpp
@@ -44,9 +44,6 @@ bool ModeAutorotate::init(bool ignore_checks)
     _flags.touch_down_init = false;
     _flags.landed_init = false;
 
-    // Ensure the surface distance object is enabled.  We tidy this up on the mode exit function
-    copter.rangefinder_state.set_enabled_by_ap(true);
-
     // Setting default starting switches
     phase_switch = Autorotation_Phase::ENTRY;
 
@@ -62,10 +59,10 @@ bool ModeAutorotate::init(bool ignore_checks)
 void ModeAutorotate::run()
 {
     // Current time
-    uint32_t now = millis(); //milliseconds
+    const uint32_t now = millis();
 
     // Set dt in library
-    float const last_loop_time_s = AP::scheduler().get_last_loop_time_s();
+    const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
     g2.arot.set_dt(last_loop_time_s);
 
     // Update the height above ground measurement in the autorotation lib
@@ -180,8 +177,7 @@ void ModeAutorotate::run()
 
 void ModeAutorotate::exit()
 {
-    // Ensure we return the rangefinder state back to how we found it
-    copter.rangefinder_state.set_enabled_by_ap(false);
+    g2.arot.exit();
 }
 
 #endif