Did you create an issue for this?
I would think that GUIDED_NOGPS should be initialised at the current attitude.
Is there a better way to handle this?
What you have done may actually do the same thing but the correct initialisation would be the current target attitude. I would need to check the code to work out exactly what the right formulation of this would be.
Would you create an issue in git for this problem. Your words above would be enough and assign me to it.