diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 2a5591b157..ccd4db6bb5 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -31,8 +31,11 @@ void ModeGuided::update()
                 calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed);
                 calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
             } else {
-                if (rover.is_boat() && !start_loiter()) {
-                    stop_vehicle();
+                // we have reached the destination so stay here
+                if (rover.is_boat()) {
+                    if (!start_loiter()) {
+                        stop_vehicle();
+                    }
                 } else {
                     stop_vehicle();
                 }
@@ -52,8 +55,11 @@ void ModeGuided::update()
                 calc_steering_to_heading(_desired_yaw_cd);
                 calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
             } else {
-                if (rover.is_boat() && !start_loiter()) {
-                    stop_vehicle();
+                // we have reached the destination so stay here
+                if (rover.is_boat()) {
+                    if (!start_loiter()) {
+                        stop_vehicle();
+                    }
                 } else {
                     stop_vehicle();
                 }
@@ -77,8 +83,11 @@ void ModeGuided::update()
                 g2.motors.set_steering(steering_out * 4500.0f);
                 calc_throttle(_desired_speed, true, true);
             } else {
-                if (rover.is_boat() && !start_loiter()) {
-                    stop_vehicle();
+                // we have reached the destination so stay here
+                if (rover.is_boat()) {
+                    if (!start_loiter()) {
+                        stop_vehicle();
+                    }
                 } else {
                     stop_vehicle();
                 }