diff --git a/ArduCopter/AP_ExternalControl_Copter.cpp b/ArduCopter/AP_ExternalControl_Copter.cpp
index 94f740e97e42a1..398b99a9ac7e18 100644
--- a/ArduCopter/AP_ExternalControl_Copter.cpp
+++ b/ArduCopter/AP_ExternalControl_Copter.cpp
@@ -33,12 +33,13 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
   Sets the target orientation, angular velocity, angular acceleration and desired thrust
   in body frame
 */
-bool set_angular_goals(const Quaternion &orientation, const Vector3f &angular_velocity, const Vector3f &angular_acceleration, const float &thrust)
+bool AP_ExternalControl_Copter::set_angular_goals(const Quaternion &orientation, const Vector3f &angular_velocity, const Vector3f &angular_acceleration, const float &thrust)
 {
     if (!ready_for_external_control()) {
-        return false
+        return false;
     }
-    copter.mode_guided.set_angle(orientation, angular_velocity, angular_acceleration, thrust, true)
+    copter.mode_guided.set_angle(orientation, angular_velocity, angular_acceleration, thrust, true);
+    return true;
 }
 
 bool AP_ExternalControl_Copter::ready_for_external_control()
diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/AngularVelandAccn.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/AngularVelandAccn.idl
index 08614e0649304c..0be735e2d67abe 100644
--- a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/AngularVelandAccn.idl
+++ b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/AngularVelandAccn.idl
@@ -28,7 +28,7 @@ module custom_msgs {
 
       @verbatim (language="comment", text="Thrust represented as a single floating-point number. \
                                            It describes the magnitude of the thrust force.")
-      floatgit thrust;
+      float thrust;
     };
   };
 };