diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index dd6dfca0bc..f957149cde 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -648,16 +648,21 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
     {
         // param1 : yaw angle to adjust direction by in centidegress
         // param2 : Speed - normalized to 0 .. 1
+        // param3 : 0 = absolute, 1 = relative
 
         // exit if vehicle is not in Guided mode
         if (!rover.control_mode->in_guided_mode()) {
             return MAV_RESULT_FAILED;
         }
 
-        // send yaw change and target speed to guided mode controller
-        const float speed_max = rover.control_mode->get_speed_default();
-        const float target_speed = constrain_float(packet.param2 * speed_max, -speed_max, speed_max);
-        rover.mode_guided.set_desired_heading_delta_and_speed(packet.param1, target_speed);
+        // get final angle, 1 = Relative, 0 = Absolute
+        if (packet.param3 > 0) {
+            // relative angle
+            rover.mode_guided.set_desired_heading_delta_and_speed(packet.param1 * 100.0f, packet.param2);
+        } else {
+            // absolute angle
+            rover.mode_guided.set_desired_heading_and_speed(packet.param1 * 100.0f, packet.param2);
+        }
         return MAV_RESULT_ACCEPTED;
     }