From f9acc8a666e874ff113eee66863b27ebafaea6fd Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Tue, 27 Jun 2017 23:11:37 +0900
Subject: [PATCH] Copter: guided removes xy mode in calls to pos-con

Also limit angle to hold altitude
---
 ArduCopter/mode_guided.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 7e2dc697a5..2e4cea5e28 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -553,7 +553,7 @@ void Copter::ModeGuided::posvel_control_run()
         pos_control->set_desired_velocity_xy(guided_vel_target_cms.x, guided_vel_target_cms.y);
 
         // run position controller
-        pos_control->update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler, false);
+        pos_control->update_xy_controller(ekfNavVelGainScaler);
     }
 
     pos_control->update_z_controller();