diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 856f48b9df..c040e7f365 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -876,7 +876,7 @@ Vector3f AC_AttitudeControl::euler_accel_limit(const Vector3f &euler_rad, const
 }
 
 // Sets yaw target to vehicle heading and sets yaw rate to zero
-void AC_AttitudeControl::set_yaw_target_to_current_heading()
+void AC_AttitudeControl::reset_yaw_target_and_rate()
 {
     // move attitude target to current heading
     float yaw_shift = _ahrs.yaw - _euler_angle_target.z;
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index bfbeb50d2c..325a916af0 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -133,7 +133,7 @@ public:
     void set_attitude_target_to_current_attitude() { _ahrs.get_quat_body_to_ned(_attitude_target); }
 
     // Sets yaw target to vehicle heading and sets yaw rate to zero
-    void set_yaw_target_to_current_heading();
+    void reset_yaw_target_and_rate();
 
     // handle reset of attitude from EKF since the last iteration
     void inertial_frame_reset();