diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 3da13dcef1..59877b4e61 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -135,7 +135,7 @@ void AC_Circle::set_center(const Location& center)
 void AC_Circle::set_rate(float deg_per_sec)
 {
     if (!is_equal(deg_per_sec, _rate.get())) {
-        _rate = deg_per_sec;
+        _rate.set(deg_per_sec);
     }
 }
 
diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp
index 0e66fdfe44..f8e0565ed7 100644
--- a/libraries/AC_WPNav/AC_Loiter.cpp
+++ b/libraries/AC_WPNav/AC_Loiter.cpp
@@ -195,8 +195,8 @@ void AC_Loiter::update(bool avoidance_on)
 // sanity check parameters
 void AC_Loiter::sanity_check_params()
 {
-    _speed_cms = MAX(_speed_cms, LOITER_SPEED_MIN);
-    _accel_cmss = MIN(_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max_cd() * 0.01f)));
+    _speed_cms.set(MAX(_speed_cms, LOITER_SPEED_MIN));
+    _accel_cmss.set(MIN(_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max_cd() * 0.01f))));
 }
 
 /// calc_desired_velocity - updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance