diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 606d61c0dd..05eeb988fc 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -80,7 +80,7 @@ void AC_PosControl::set_dt(float delta_sec)
     _dt = delta_sec;
 
     // update rate controller's d filter
-    _pid_alt_accel.set_d_lpf_alpha(POSCONTROOL_ACCEL_Z_DTERM_FILTER, _dt);
+    _pid_alt_accel.set_d_lpf_alpha(POSCONTROL_ACCEL_Z_DTERM_FILTER, _dt);
 }
 
 /// set_speed_z - sets maximum climb and descent rates
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 6823be3da5..c06a6e007b 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -36,7 +36,7 @@
 
 #define POSCONTROL_ACTIVE_TIMEOUT_MS            200     // position controller is considered active if it has been called within the past 200ms (0.2 seconds)
 
-#define POSCONTROOL_ACCEL_Z_DTERM_FILTER        20      // Z axis accel controller's D term filter (in hz)
+#define POSCONTROL_ACCEL_Z_DTERM_FILTER         20      // Z axis accel controller's D term filter (in hz)
 
 class AC_PosControl
 {