diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index ba9a52f60e..9f8c0cf2bd 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -313,14 +313,11 @@ void ModeGuided::angle_control_start()
 
     // initialise targets
     guided_angle_state.update_time_ms = millis();
-    guided_angle_state.attitude_quat.initialise();
+    guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
     guided_angle_state.ang_vel.zero();
     guided_angle_state.climb_rate_cms = 0.0f;
     guided_angle_state.yaw_rate_cds = 0.0f;
     guided_angle_state.use_yaw_rate = false;
-
-    // pilot always controls yaw
-    auto_yaw.set_mode(AutoYaw::Mode::HOLD);
 }
 
 // set_destination - sets guided mode's target destination
@@ -939,7 +936,7 @@ void ModeGuided::angle_control_run()
     // check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
     uint32_t tnow = millis();
     if (tnow - guided_angle_state.update_time_ms > get_timeout_ms()) {
-        guided_angle_state.attitude_quat.initialise();
+        guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
         guided_angle_state.ang_vel.zero();
         climb_rate_cms = 0.0f;
         if (guided_angle_state.use_thrust) {