diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index a26dfa3fff..8552cce0b6 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -130,18 +130,26 @@ void GCS_MAVLINK_Copter::send_position_target_local_ned()
     const ModeGuided::SubMode guided_mode = copter.mode_guided.submode();
     Vector3f target_pos;
     Vector3f target_vel;
-    uint16_t type_mask;
+    uint16_t type_mask = 0;
 
-    if (guided_mode == ModeGuided::SubMode::WP) {
+    switch (guided_mode) {
+    case ModeGuided::SubMode::Angle:
+        // we don't have a local target when in angle mode
+        return;
+    case ModeGuided::SubMode::WP:
         type_mask = 0x0FF8; // ignore everything except position
         target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
-    } else if (guided_mode == ModeGuided::SubMode::Velocity) {
+        break;
+    case ModeGuided::SubMode::Velocity:
         type_mask = 0x0FC7; // ignore everything except velocity
         target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
-    } else {
+        break;
+    case ModeGuided::SubMode::TakeOff:
+    case ModeGuided::SubMode::PosVel:
         type_mask = 0x0FC0; // ignore everything except position & velocity
         target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
         target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
+        break;
     }
 
     mavlink_msg_position_target_local_ned_send(