diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h
index 9c392ca183..7a73cb1e2d 100644
--- a/libraries/AC_WPNav/AC_Circle.h
+++ b/libraries/AC_WPNav/AC_Circle.h
@@ -47,9 +47,9 @@ public:
     void update();
 
     /// get desired roll, pitch which should be fed into stabilize controllers
-    int32_t get_roll() const { return _pos_control.get_roll(); }
-    int32_t get_pitch() const { return _pos_control.get_pitch(); }
-    int32_t get_yaw() const { return _yaw; }
+    float get_roll() const { return _pos_control.get_roll(); }
+    float get_pitch() const { return _pos_control.get_pitch(); }
+    float get_yaw() const { return _yaw; }
 
     // get_closest_point_on_circle - returns closest point on the circle
     //  circle's center should already have been set
diff --git a/libraries/AC_WPNav/AC_Loiter.h b/libraries/AC_WPNav/AC_Loiter.h
index 5209e69579..c3b57fc81b 100644
--- a/libraries/AC_WPNav/AC_Loiter.h
+++ b/libraries/AC_WPNav/AC_Loiter.h
@@ -54,8 +54,8 @@ public:
     void update();
 
     /// get desired roll, pitch which should be fed into stabilize controllers
-    int32_t get_roll() const { return _pos_control.get_roll(); }
-    int32_t get_pitch() const { return _pos_control.get_pitch(); }
+    float get_roll() const { return _pos_control.get_roll(); }
+    float get_pitch() const { return _pos_control.get_pitch(); }
 
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index b82cd9e445..742a6ca521 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -214,8 +214,8 @@ public:
     ///
 
     /// get desired roll, pitch which should be fed into stabilize controllers
-    int32_t get_roll() const { return _pos_control.get_roll(); }
-    int32_t get_pitch() const { return _pos_control.get_pitch(); }
+    float get_roll() const { return _pos_control.get_roll(); }
+    float get_pitch() const { return _pos_control.get_pitch(); }
 
     /// advance_wp_target_along_track - move target location along track from origin to destination
     bool advance_wp_target_along_track(float dt);