diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index b6fd5900a2..01a3daca69 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -325,8 +325,8 @@ bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
     }
 
     // if a location target was set, return true once vehicle is close
-    if (guided_target_valid) {
-        if (rover.current_loc.get_distance(guided_target) <= rover.g.waypoint_radius) {
+    if (guided_target.valid) {
+        if (rover.current_loc.get_distance(guided_target.loc) <= rover.g.waypoint_radius) {
             return true;
         }
     }
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 2b2e030059..2dffe06bc3 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -340,10 +340,12 @@ private:
     uint32_t loiter_start_time;     // How long have we been loitering - The start time in millis
     bool previously_reached_wp;     // set to true if we have EVER reached the waypoint
 
-    // Guided variables
-    Location guided_target;         // location target sent to external navigation
-    bool guided_target_valid;       // true if guided_target is valid
-    uint32_t guided_target_sent_ms; // system time that target was last sent to offboard navigation
+    // Guided-within-Auto variables
+    struct {
+        Location loc;           // location target sent to external navigation
+        bool valid;             // true if loc is valid
+        uint32_t last_sent_ms;  // system time that target was last sent to offboard navigation
+    } guided_target;
 
     // Conditional command
     // A value used in condition commands (eg delay, change alt, etc.)
@@ -393,7 +395,7 @@ public:
     void limit_set(uint32_t timeout_ms, float horiz_max);
     void limit_clear();
     void limit_init_time_and_location();
-    bool limit_breached();
+    bool limit_breached() const;
 
 protected:
 
@@ -414,8 +416,8 @@ protected:
     float _desired_yaw_rate_cds;// target turn rate centi-degrees per second
 
     // limits
-    struct Guided_Limit {
-        uint32_t timeout_ms;// timeout (in seconds) from the time that guided is invoked
+    struct {
+        uint32_t timeout_ms;// timeout from the time that guided is invoked
         float horiz_max;    // horizontal position limit in meters from where guided mode was initiated (0 = no limit)
         uint32_t start_time;// system time in milliseconds that control was handed to the external computer
         Location start_loc; // starting location for checking horiz_max limit
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index b53df70b95..902522a11e 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -190,10 +190,10 @@ void ModeAuto::start_guided(const Location& loc)
         Location loc_sanitised = loc;
         if ((loc_sanitised.lat != 0) || (loc_sanitised.lng != 0)) {
             location_sanitize(rover.current_loc, loc_sanitised);
-            guided_target = loc_sanitised;
-            guided_target_valid = true;
+            guided_target.loc = loc_sanitised;
+            guided_target.valid = true;
         } else {
-            guided_target_valid = false;
+            guided_target.valid = false;
         }
     }
 }
@@ -201,21 +201,21 @@ void ModeAuto::start_guided(const Location& loc)
 // send latest position target to offboard navigation system
 void ModeAuto::send_guided_position_target()
 {
-    if (!guided_target_valid) {
+    if (!guided_target.valid) {
         return;
     }
 
     // send at maximum of 1hz
     uint32_t now_ms = AP_HAL::millis();
-    if ((guided_target_sent_ms == 0) || (now_ms - guided_target_sent_ms > AUTO_GUIDED_SEND_TARGET_MS)) {
-        guided_target_sent_ms = now_ms;
+    if ((guided_target.last_sent_ms == 0) || (now_ms - guided_target.last_sent_ms > AUTO_GUIDED_SEND_TARGET_MS)) {
+        guided_target.last_sent_ms = now_ms;
 
         // get system id and component id of offboard navigation system
         uint8_t sysid = 0;
         uint8_t compid = 0;
         mavlink_channel_t chan;
         if (GCS_MAVLINK::find_by_mavtype(MAV_TYPE_ONBOARD_CONTROLLER, sysid, compid, chan)) {
-            gcs().chan(chan-MAVLINK_COMM_0).send_set_position_target_global_int(sysid, compid, guided_target);
+            gcs().chan(chan-MAVLINK_COMM_0).send_set_position_target_global_int(sysid, compid, guided_target.loc);
         }
     }
 
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 5261a89b51..40c8dda32b 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -225,7 +225,7 @@ void ModeGuided::limit_init_time_and_location()
 }
 
 // returns true if guided mode has breached a limit
-bool ModeGuided::limit_breached()
+bool ModeGuided::limit_breached() const
 {
     // check if we have passed the timeout
     if ((limit.timeout_ms > 0) && (millis() - limit.start_time >= limit.timeout_ms)) {
@@ -233,7 +233,7 @@ bool ModeGuided::limit_breached()
     }
 
     // check if we have gone beyond horizontal limit
-    if (limit.horiz_max > 0.0f) {
+    if (is_positive(limit.horiz_max)) {
         return (rover.current_loc.get_distance(limit.start_loc) > limit.horiz_max);
     }