diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 7d17686564..2f6ae171b6 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -128,8 +128,7 @@ void GCS_MAVLINK_Tracker::send_pid_tuning()
 
     // Pitch PID
     if (g.gcs_pid_mask & 1) {
-        const AP_Logger::PID_Info *pid_info;
-        pid_info = &g.pidPitch2Srv.get_pid_info();
+        const AP_PIDInfo *pid_info = &g.pidPitch2Srv.get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
                                     pid_info->target,
                                     pid_info->actual,
@@ -146,8 +145,7 @@ void GCS_MAVLINK_Tracker::send_pid_tuning()
 
     // Yaw PID
     if (g.gcs_pid_mask & 2) {
-        const AP_Logger::PID_Info *pid_info;
-        pid_info = &g.pidYaw2Srv.get_pid_info();
+        const AP_PIDInfo *pid_info = &g.pidYaw2Srv.get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
                                     pid_info->target,
                                     pid_info->actual,