diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index a40cf8a7dd..f151e0a8e4 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1082,7 +1082,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
                 climb_rate_or_thrust = (packet.thrust - 0.5f) * 2.0f * copter.wp_nav->get_default_speed_up();
             } else {
                 // descend at up to WPNAV_SPEED_DN
-                climb_rate_or_thrust = (0.5f - packet.thrust) * 2.0f * -fabsf(copter.wp_nav->get_default_speed_down());
+                climb_rate_or_thrust = (0.5f - packet.thrust) * 2.0f * -copter.wp_nav->get_default_speed_down();
             }
         }
 
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index d6dce7b534..3da5852da3 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -820,7 +820,7 @@ void ModeGuided::angle_control_run()
     float climb_rate_cms = 0.0f;
     if (!guided_angle_state.use_thrust) {
         // constrain climb rate
-        climb_rate_cms = constrain_float(guided_angle_state.climb_rate_cms, -fabsf(wp_nav->get_default_speed_down()), wp_nav->get_default_speed_up());
+        climb_rate_cms = constrain_float(guided_angle_state.climb_rate_cms, -wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up());
 
         // get avoidance adjusted climb rate
         climb_rate_cms = get_avoidance_adjusted_climbrate(climb_rate_cms);