diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index b5e3139228..d3a6964251 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -56,7 +56,7 @@
 #include <AC_PID/AC_PI_2D.h>           // PID library (2-axis)
 #include <AC_PID/AC_P.h>               // P library
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
-#include <AC_AttitudeControl/AC_PosControl.h>      // Position control library
+#include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
 #include <RC_Channel/RC_Channel.h>         // RC Channel Library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
@@ -405,7 +405,7 @@ private:
     // To-Do: move inertial nav up or other navigation variables down here
     AC_AttitudeControl_Sub attitude_control;
 
-    AC_PosControl pos_control;
+    AC_PosControl_Sub pos_control;
 
 #if AVOIDANCE_ENABLED == ENABLED
     AC_Avoid avoid;
diff --git a/ArduSub/make.inc b/ArduSub/make.inc
index 67d4339df0..23c910d2bc 100644
--- a/ArduSub/make.inc
+++ b/ArduSub/make.inc
@@ -22,7 +22,7 @@ LIBRARIES += AC_PID
 LIBRARIES += AC_PI_2D
 LIBRARIES += AC_P
 LIBRARIES += AC_AttitudeControl
-LIBRARIES += AC_PosControl
+LIBRARIES += AC_PosControl_Sub
 LIBRARIES += RC_Channel
 LIBRARIES += AP_Motors
 LIBRARIES += AP_RangeFinder