diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 5495b3f066..975b038d34 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -34,7 +34,7 @@ void Mode::set_desired_location(const struct Location& destination)
     _desired_speed = g.speed_cruise;
 
     // initialise distance
-    _distance_to_destination = get_distance(rover.current_loc, _destination);
+    _distance_to_destination = get_distance(_origin, _destination);
     _reached_destination = false;
 }
 
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index f85411f484..4cfe843e1a 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -106,7 +106,7 @@ protected:
     class AP_AHRS &ahrs;
     class Parameters &g;
     class ParametersG2 &g2;
-    class RC_Channel *&channel_steer;  // TODO : Pointer reference ?
+    class RC_Channel *&channel_steer;
     class RC_Channel *&channel_throttle;
     class AP_Mission &mission;
 
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index a9cb495bc7..a093123551 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -133,7 +133,7 @@ void ModeGuided::set_desired_heading_delta_and_speed(float yaw_delta_cd, float t
         _guided_mode = ModeGuided::Guided_HeadingAndSpeed;
         _desired_yaw_cd = ahrs.yaw_sensor;
     }
-    set_desired_heading_and_speed(wrap_180_cd(_desired_yaw_cd+yaw_delta_cd), target_speed);
+    set_desired_heading_and_speed(wrap_180_cd(_desired_yaw_cd + yaw_delta_cd), target_speed);
 }
 
 // set desired velocity