diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 4e8d54535a3..4acc20cc44d 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -196,7 +196,15 @@ static APM_COPTER_MODE inavToArduCopterMap(flightModeForTelemetry_e flightMode)
         case FLM_HORIZON:       return COPTER_MODE_STABILIZE;
         case FLM_ANGLEHOLD:     return COPTER_MODE_STABILIZE;
         case FLM_ALTITUDE_HOLD: return COPTER_MODE_ALT_HOLD;
-        case FLM_POSITION_HOLD: return COPTER_MODE_POSHOLD;
+        case FLM_POSITION_HOLD: 
+            {
+                if (IS_RC_MODE_ACTIVE(BOXGCSNAV)) {
+                    return COPTER_MODE_GUIDED;
+                }
+                else {
+                    return COPTER_MODE_POSHOLD;
+                }
+            }
         case FLM_RTH:           return COPTER_MODE_RTL;
         case FLM_MISSION:       return COPTER_MODE_AUTO;
         case FLM_LAUNCH:        return COPTER_MODE_THROW;
@@ -226,7 +234,15 @@ static APM_PLANE_MODE inavToArduPlaneMap(flightModeForTelemetry_e flightMode)
         case FLM_HORIZON:       return PLANE_MODE_STABILIZE;
         case FLM_ANGLEHOLD:     return PLANE_MODE_STABILIZE;
         case FLM_ALTITUDE_HOLD: return PLANE_MODE_FLY_BY_WIRE_B;
-        case FLM_POSITION_HOLD: return PLANE_MODE_LOITER;
+        case FLM_POSITION_HOLD: 
+            {
+                if (IS_RC_MODE_ACTIVE(BOXGCSNAV)) {
+                    return PLANE_MODE_GUIDED;
+                }
+                else {
+                    return PLANE_MODE_LOITER;
+                }
+            }
         case FLM_RTH:           return PLANE_MODE_RTL;
         case FLM_MISSION:       return PLANE_MODE_AUTO;
         case FLM_CRUISE:        return PLANE_MODE_CRUISE;