diff --git a/ArduSub/turn_counter.cpp b/ArduSub/turn_counter.cpp
index f2260aa12e..52df84fecb 100644
--- a/ArduSub/turn_counter.cpp
+++ b/ArduSub/turn_counter.cpp
@@ -8,11 +8,11 @@ void Sub::update_turn_counter()
     // Determine state
     // 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
     uint8_t turn_state;
-    if (ahrs.yaw >= 0.0f && ahrs.yaw < radians(90)) {
+    if (ahrs.get_yaw() >= 0.0f && ahrs.get_yaw() < radians(90)) {
         turn_state = 0;
-    } else if (ahrs.yaw > radians(90)) {
+    } else if (ahrs.get_yaw() > radians(90)) {
         turn_state = 1;
-    } else if (ahrs.yaw < -radians(90)) {
+    } else if (ahrs.get_yaw() < -radians(90)) {
         turn_state = 2;
     } else {
         turn_state = 3;