diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index e0963d3b72..b10a685427 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1491,7 +1491,7 @@ int16_t GCS_MAVLINK_Copter::high_latency_target_altitude() const
 {
     AP_AHRS &ahrs = AP::ahrs();
     struct Location global_position_current;
-    UNUSED_RESULT(ahrs.get_position(global_position_current));
+    UNUSED_RESULT(ahrs.get_location(global_position_current));
 
     //return units are m
     if (copter.ap.initialised) {
diff --git a/ArduCopter/avoidance_adsb.cpp b/ArduCopter/avoidance_adsb.cpp
index b075af558b..85fee2d752 100644
--- a/ArduCopter/avoidance_adsb.cpp
+++ b/ArduCopter/avoidance_adsb.cpp
@@ -179,7 +179,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
     // decide on whether we should climb or descend
     bool should_climb = false;
     Location my_loc;
-    if (AP::ahrs().get_position(my_loc)) {
+    if (AP::ahrs().get_location(my_loc)) {
         should_climb = my_loc.alt > obstacle->_location.alt;
     }
 
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index c7a805ef62..fd0c22a630 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -24,7 +24,7 @@ void Copter::set_home_to_current_location_inflight() {
     // get current location from EKF
     Location temp_loc;
     Location ekf_origin;
-    if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
+    if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
         temp_loc.alt = ekf_origin.alt;
         if (!set_home(temp_loc, false)) {
             return;
@@ -40,7 +40,7 @@ void Copter::set_home_to_current_location_inflight() {
 bool Copter::set_home_to_current_location(bool lock) {
     // get current location from EKF
     Location temp_loc;
-    if (ahrs.get_position(temp_loc)) {
+    if (ahrs.get_location(temp_loc)) {
         if (!set_home(temp_loc, lock)) {
             return false;
         }
diff --git a/ArduCopter/inertia.cpp b/ArduCopter/inertia.cpp
index bd9c5bdab0..f9ef19b59c 100644
--- a/ArduCopter/inertia.cpp
+++ b/ArduCopter/inertia.cpp
@@ -8,7 +8,7 @@ void Copter::read_inertia()
 
     // pull position from ahrs
     Location loc;
-    ahrs.get_position(loc);
+    ahrs.get_location(loc);
     current_loc.lat = loc.lat;
     current_loc.lng = loc.lng;