From a70f98552eff5b2d1e82c4048ed0722565a6e8df Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 6 Feb 2015 16:59:35 +0900
Subject: [PATCH] Copter: rename xy_mode

---
 ArduCopter/control_guided.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 9f7944d191..be9e811c8a 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -313,7 +313,7 @@ static void guided_posvel_control_run()
     pos_control.set_desired_velocity_xy(posvel_vel_target_cms.x, posvel_vel_target_cms.y);
 
     // run position controller
-    pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL, ekfNavVelGainScaler);
+    pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler);
     pos_control.update_z_controller();
 
     // call attitude controller