diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index a3505da5ac..6754bdca09 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -309,8 +309,8 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
     }
 }
 
-/// init_stop_target - initializes stop position from current position and velocity
-void AC_WPNav::init_stop_target(float accel_cmss)
+/// init_brake_target - initializes stop position from current position and velocity
+void AC_WPNav::init_brake_target(float accel_cmss)
 {
     const Vector3f& curr_vel = _inav.get_velocity();
     Vector3f stopping_point;
@@ -329,8 +329,8 @@ void AC_WPNav::init_stop_target(float accel_cmss)
     init_loiter_target(stopping_point);
 }
 
-// update_stop - run the stop controller - gets called at 400hz
-void AC_WPNav::update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler)
+// update_brake - run the stop controller - gets called at 400hz
+void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
 {
     // calculate dt
     float dt = _pos_control.time_since_last_xy_update();
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index cc50579870..c4a3197208 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -95,13 +95,13 @@ public:
     void update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler);
 
     ///
-    /// stop controller
+    /// brake controller
     ///
-    /// init_stop_target - initialize's loiter position and feed-forward velocity from current pos and velocity
-    void init_stop_target(float accel_cmss);
+    /// init_brake_target - initialize's position and feed-forward velocity from current pos and velocity
+    void init_brake_target(float accel_cmss);
     ///
-    /// update_stop - run the stop controller - should be called at 400hz
-    void update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler);
+    /// update_brake - run the brake controller - should be called at 400hz
+    void update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler);
 
     ///
     /// waypoint controller