diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index b33c8e8405..0c56c77ef4 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -54,11 +54,12 @@ void AC_AttitudeControl::angleef_rp_rateef_y(float roll_angle_ef, float pitch_an
 }
 
 // angleef_rpy - attempts to maintain a roll, pitch and yaw angle (all earth frame)
-void AC_AttitudeControl::angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef)
+void AC_AttitudeControl::angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef)
 {
     // set earth-frame angle targets
     _angle_ef_target.x = roll_angle_ef;
     _angle_ef_target.y = pitch_angle_ef;
+    _angle_ef_target.z = yaw_angle_ef;
 
     // convert earth-frame angle targets to earth-frame rate targets
     angle_to_rate_ef_roll();
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index 95d7fc2bd4..b788c3f757 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -80,7 +80,7 @@ public:
     void angleef_rp_rateef_y(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef);
 
     // angleef_rpy - attempts to maintain a roll, pitch and yaw angle (all earth frame)
-    void angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef);
+    void angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef);
 
     //
     // angle controller (earth-frame) methods