diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 1d84008eee..9d4b2a0bf9 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1446,8 +1446,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
         // send request
         if (!pos_ignore && !vel_ignore && acc_ignore) {
-            copter.guided_set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
-            result = MAV_RESULT_ACCEPTED;
+            if (copter.guided_set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+                result = MAV_RESULT_ACCEPTED;
+            } else {
+                result = MAV_RESULT_FAILED;
+            }
         } else if (pos_ignore && !vel_ignore && acc_ignore) {
             copter.guided_set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
             result = MAV_RESULT_ACCEPTED;
@@ -1545,8 +1548,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         }
 
         if (!pos_ignore && !vel_ignore && acc_ignore) {
-            copter.guided_set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
-            result = MAV_RESULT_ACCEPTED;
+            if (copter.guided_set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
+                result = MAV_RESULT_ACCEPTED;
+            } else {
+                result = MAV_RESULT_FAILED;
+            }
         } else if (pos_ignore && !vel_ignore && acc_ignore) {
             copter.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
             result = MAV_RESULT_ACCEPTED;