diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 7658ac25da..9bc769a0e0 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -30,7 +30,7 @@ const AP_Param::GroupInfo AC_Circle::var_info[] = {
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
 //
-AC_Circle::AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control) :
+AC_Circle::AC_Circle(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control) :
     _inav(inav),
     _ahrs(ahrs),
     _pos_control(pos_control),
diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index 107ff7338f..5bd41c2226 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -18,7 +18,7 @@ class AC_Circle
 public:
 
     /// Constructor
-    AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control);
+    AC_Circle(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control);
 
     /// init - initialise circle controller setting center specifically
     ///     caller should set the position controller's x,y and z speeds and accelerations before calling this
@@ -82,7 +82,7 @@ private:
 
     // references to inertial nav and ahrs libraries
     const AP_InertialNav&       _inav;
-    const AP_AHRS&              _ahrs;
+    const AP_AHRS_View&         _ahrs;
     AC_PosControl&              _pos_control;
 
     // parameters
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index c70c1a59fb..c4f10d335b 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -110,7 +110,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] = {
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
 //
-AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control) :
+AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control) :
     _inav(inav),
     _ahrs(ahrs),
     _pos_control(pos_control),
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 4eb5236664..065932a6b6 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -54,7 +54,7 @@ public:
     };
 
     /// Constructor
-    AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
+    AC_WPNav(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
 
     /// provide pointer to terrain database
     void set_terrain(AP_Terrain* terrain_ptr) { _terrain = terrain_ptr; }
@@ -308,7 +308,7 @@ protected:
 
     // references and pointers to external libraries
     const AP_InertialNav&   _inav;
-    const AP_AHRS&          _ahrs;
+    const AP_AHRS_View&     _ahrs;
     AC_PosControl&          _pos_control;
     const AC_AttitudeControl& _attitude_control;
     AP_Terrain              *_terrain = nullptr;