diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index a8e334f6ef..373e1d9e7f 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1028,6 +1028,7 @@ protected:
 
     uint32_t wp_distance() const override;
     int32_t wp_bearing() const override;
+    float crosstrack_error() const override { return pos_control->crosstrack_error();}
 
 #if PRECISION_LANDING == ENABLED
     bool do_precision_loiter();
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 00f661fe5d..5cf4b0627a 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -1024,6 +1024,7 @@ float ModeGuided::crosstrack_error() const
     case SubMode::Accel:
     case SubMode::VelAccel:
     case SubMode::PosVelAccel:
+        return pos_control->crosstrack_error();
     case SubMode::Angle:
         // no track to have a crosstrack to
         return 0;