diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 2defaefd59..a939a1da24 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -287,7 +287,7 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
         _mode = Auto_CircleMoveToEdge;
 
         // convert circle_edge_neu to Location
-        Location circle_edge(circle_edge_neu);
+        Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
 
         // convert altitude to same as command
         circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
@@ -1199,7 +1199,7 @@ void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
         // To-Do: make this simpler
         Vector3f temp_pos;
         copter.wp_nav->get_wp_stopping_point_xy(temp_pos);
-        const Location temp_loc(temp_pos);
+        const Location temp_loc(temp_pos, Location::AltFrame::ABOVE_ORIGIN);
         target_loc.lat = temp_loc.lat;
         target_loc.lng = temp_loc.lng;
     }
@@ -1707,7 +1707,7 @@ bool ModeAuto::verify_payload_place()
         }
         FALLTHROUGH;
     case PayloadPlaceStateType_Ascending_Start: {
-        Location target_loc = inertial_nav.get_position();
+        Location target_loc(inertial_nav.get_position(), Location::AltFrame::ABOVE_ORIGIN);
         target_loc.alt = nav_payload_place.descend_start_altitude;
         wp_start(target_loc);
         nav_payload_place.state = PayloadPlaceStateType_Ascending;
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index aca72cf9fd..80ec54d46e 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -241,7 +241,7 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
 {
 #if AC_FENCE == ENABLED
     // reject destination if outside the fence
-    const Location dest_loc(destination);
+    const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
         AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
@@ -340,7 +340,7 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
 {
 #if AC_FENCE == ENABLED
     // reject destination if outside the fence
-    const Location dest_loc(destination);
+    const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
         AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index b929c2e577..8ae13e6920 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -419,7 +419,7 @@ void ModeRTL::build_path()
     Vector3f stopping_point;
     pos_control->get_stopping_point_xy(stopping_point);
     pos_control->get_stopping_point_z(stopping_point);
-    rtl_path.origin_point = Location(stopping_point);
+    rtl_path.origin_point = Location(stopping_point, Location::AltFrame::ABOVE_ORIGIN);
     rtl_path.origin_point.change_alt_frame(Location::AltFrame::ABOVE_HOME);
 
     // compute return target