diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 4eb63da04a..0247d04f60 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1243,11 +1243,9 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
 
         // prepare yaw
         float yaw_cd = 0.0f;
-        bool yaw_relative = false;
         float yaw_rate_cds = 0.0f;
         if (!yaw_ignore) {
             yaw_cd = ToDeg(packet.yaw) * 100.0f;
-            yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
         }
         if (!yaw_rate_ignore) {
             yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
@@ -1268,13 +1266,13 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
                 copter.mode_guided.init(true);
                 break;
             }
-            copter.mode_guided.set_destination_posvel(pos_neu_cm, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_destination_posvel(pos_neu_cm, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
         } else if (pos_ignore && !vel_ignore) {
-            copter.mode_guided.set_velaccel(vel_vector, accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_velaccel(vel_vector, accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
         } else if (pos_ignore && vel_ignore && !acc_ignore) {
-            copter.mode_guided.set_accel(accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_accel(accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
         } else if (!pos_ignore && vel_ignore && acc_ignore) {
-            copter.mode_guided.set_destination(loc, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
+            copter.mode_guided.set_destination(loc, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
         } else {
             // input is not valid so stop
             copter.mode_guided.init(true);