diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index de75ebdc20..1cbacd3968 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -91,6 +91,9 @@ void Plane::set_guided_WP(void)
     setup_glide_slope();
     setup_turn_angle();
 
+    // disable crosstrack, head directly to the point
+    auto_state.crosstrack = false;
+
     // reset loiter start time.
     loiter.start_time_ms = 0;
 
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 1a26dfe9a9..7a6975ddb0 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -190,7 +190,7 @@ void Plane::update_loiter(uint16_t radius)
             quadplane.guided_start();
         }
     } else if ((loiter.start_time_ms == 0 &&
-                control_mode == AUTO &&
+                (control_mode == AUTO || control_mode == GUIDED) &&
                 auto_state.crosstrack &&
                 get_distance(current_loc, next_WP_loc) > radius*3) ||
                (control_mode == RTL && quadplane.available() && quadplane.rtl_mode == 1)) {