diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 8f7e7d3e05..647279a91b 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -140,7 +140,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
     pos_control = _pos_control;
     ahrs_view = _ahrs_view;
     inertial_nav = _inertial_nav;
-    motors = AP_Motors::get_instance();
+    motors = AP_Motors::get_singleton();
 
     switch (mode) {
     case FAILED: