diff --git a/flight/OpenPilot/Modules/Guidance/guidance.c b/flight/OpenPilot/Modules/Guidance/guidance.c
index d918b904f..ecca4cf3a 100644
--- a/flight/OpenPilot/Modules/Guidance/guidance.c
+++ b/flight/OpenPilot/Modules/Guidance/guidance.c
@@ -109,7 +109,9 @@ static void guidanceTask(void *parameters)
 		GuidanceSettingsGet(&guidanceSettings);
 
 		if ((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
-		    (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
+		    ((systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) ||
+		     (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) ||
+		     (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX))){
 			updateVtolDesiredVelocity();
 			updateVtolDesiredAttitude();
 		} else {
diff --git a/ground/src/plugins/magicwaypoint/magicwaypoint.ui b/ground/src/plugins/magicwaypoint/magicwaypoint.ui
index e92644093..37a4fb562 100644
--- a/ground/src/plugins/magicwaypoint/magicwaypoint.ui
+++ b/ground/src/plugins/magicwaypoint/magicwaypoint.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>653</width>
-    <height>295</height>
+    <height>296</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -71,7 +71,7 @@
           <number>1</number>
          </property>
          <property name="maximum">
-          <number>999</number>
+          <number>9999</number>
          </property>
          <property name="orientation">
           <enum>Qt::Horizontal</enum>