diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 17cc78bc17..cc3c81eb23 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -484,7 +484,7 @@ int16_t Plane::calc_nav_yaw_coordinated()
     bool using_rate_controller = false;
 
     // Received an external msg that guides yaw in the last 3 seconds?
-    if (control_mode->is_guided_mode() &&
+    if (control_mode->is_guided_or_adsb_mode() &&
             plane.guided_state.last_forced_rpy_ms.z > 0 &&
             millis() - plane.guided_state.last_forced_rpy_ms.z < 3000) {
         commanded_rudder = plane.guided_state.forced_rpy_cd.z;
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 7aaba22f70..95d7d530d1 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1129,7 +1129,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_CHANGE_SPEED(const mavlink_comma
         // controlled modes (e.g., MANUAL, TRAINING)
         // this command should be ignored since it comes in from GCS
         // or a companion computer:
-        if ((!plane.control_mode->is_guided_mode()) &&
+        if (!plane.control_mode->is_guided_or_adsb_mode() &&
             (plane.control_mode != &plane.mode_auto)) {
             // failed
             return MAV_RESULT_FAILED;
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index 1890e709d2..601fa4dc26 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -43,7 +43,7 @@ void Plane::fence_check()
             case AC_FENCE_ACTION_GUIDED_THROTTLE_PASS:
             case AC_FENCE_ACTION_RTL_AND_LAND:
                 if (plane.control_mode_reason == ModeReason::FENCE_BREACHED &&
-                    control_mode->is_guided_mode()) {
+                    control_mode->is_guided_or_adsb_mode()) {
                     set_mode(*previous_mode, ModeReason::FENCE_RETURN_PREVIOUS_MODE);
                 }
                 break;
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 8bece6d418..e2080c81c3 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -306,7 +306,7 @@ bool Mode::use_throttle_limits() const
         return !plane.g.throttle_passthru_stabilize;
     }
 
-    if (is_guided_mode() && plane.guided_throttle_passthru) {
+    if (is_guided_or_adsb_mode() && plane.guided_throttle_passthru) {
         // manual pass through of throttle while in GUIDED
         return false;
     }
@@ -338,7 +338,7 @@ bool Mode::use_battery_compensation() const
         return false;
     }
 
-    if (is_guided_mode() && plane.guided_throttle_passthru) {
+    if (is_guided_or_adsb_mode() && plane.guided_throttle_passthru) {
         // manual pass through of throttle while in GUIDED
         return false;
     }
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 213e547c6a..c1e8df36a3 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -103,6 +103,9 @@ public:
     virtual bool is_vtol_man_mode() const { return false; }
 
     // guided or adsb mode
+    virtual bool is_guided_or_adsb_mode() const { return is_guided_mode(); }
+
+    // guided mode
     virtual bool is_guided_mode() const { return false; }
 
     // true if mode can have terrain following disabled by switch
@@ -617,7 +620,8 @@ public:
 
     void navigate() override;
 
-    virtual bool is_guided_mode() const override { return true; }
+    // guided or adsb mode
+    virtual bool is_guided_or_adsb_mode() const override { return true; }
 
     bool does_auto_throttle() const override { return true; }
 
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index b47160836a..35fc44511e 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -359,7 +359,7 @@ void Plane::update_loiter(uint16_t radius)
             auto_state.wp_proportion > 1) {
             // we've reached the target, start the timer
             loiter.start_time_ms = millis();
-            if (control_mode->is_guided_mode()) {
+            if (control_mode->is_guided_or_adsb_mode()) {
                 // starting a loiter in GUIDED means we just reached the target point
                 gcs().send_mission_item_reached_message(0);
             }
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 87be3e1160..18c369ac51 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1303,7 +1303,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
 
     if ((plane.g.stick_mixing == StickMixing::NONE) &&
         (plane.control_mode == &plane.mode_qrtl ||
-         plane.control_mode->is_guided_mode() ||
+         plane.control_mode->is_guided_or_adsb_mode() ||
          in_vtol_auto())) {
         return 0;
     }
@@ -2077,7 +2077,7 @@ bool QuadPlane::in_vtol_mode(void) const
     if (plane.control_mode->is_vtol_mode()) {
         return true;
     }
-    if (plane.control_mode->is_guided_mode()
+    if (plane.control_mode->is_guided_or_adsb_mode()
         && plane.auto_state.vtol_loiter &&
         poscontrol.get_state() > QPOS_APPROACH) {
         return true;
@@ -2108,7 +2108,7 @@ bool QuadPlane::in_vtol_posvel_mode(void) const
 #if QAUTOTUNE_ENABLED
             plane.control_mode == &plane.mode_qautotune ||
 #endif
-            (plane.control_mode->is_guided_mode() &&
+            (plane.control_mode->is_guided_or_adsb_mode() &&
             plane.auto_state.vtol_loiter &&
              poscontrol.get_state() > QPOS_APPROACH) ||
             in_vtol_auto());