diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp
index b52377547c..9c8e326565 100644
--- a/ArduCopter/control_guided.cpp
+++ b/ArduCopter/control_guided.cpp
@@ -271,7 +271,7 @@ void Copter::guided_takeoff_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -286,7 +286,7 @@ void Copter::guided_takeoff_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // run waypoint controller
     wp_nav.update_wpnav();
@@ -309,7 +309,7 @@ void Copter::guided_pos_control_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -327,7 +327,7 @@ void Copter::guided_pos_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // run waypoint controller
     wp_nav.update_wpnav();
@@ -358,7 +358,7 @@ void Copter::guided_vel_control_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -376,7 +376,7 @@ void Copter::guided_vel_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // set velocity to zero if no updates received for 3 seconds
     uint32_t tnow = millis();
@@ -411,7 +411,7 @@ void Copter::guided_posvel_control_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
@@ -430,7 +430,7 @@ void Copter::guided_posvel_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // set velocity to zero if no updates received for 3 seconds
     uint32_t tnow = millis();
@@ -483,7 +483,7 @@ void Copter::guided_angle_control_run()
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0.0f, 0.0f, 0.0f, get_smoothing_gain());
         attitude_control.set_throttle_out(0.0f,false,g.throttle_filt);
 #else
-        motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
+        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
         // multicopters do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
 #endif
@@ -517,7 +517,7 @@ void Copter::guided_angle_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // call attitude controller
     attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);