diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 9dc5919009..2961cd2a4c 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -45,7 +45,7 @@ void Rover::Log_Write_Depth()
 
     // get position
     Location loc;
-    IGNORE_RETURN(ahrs.get_position(loc));
+    IGNORE_RETURN(ahrs.get_location(loc));
 
     for (uint8_t i=0; i<rangefinder.num_sensors(); i++) {
         const AP_RangeFinder_Backend *s = rangefinder.get_backend(i);
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index b90d94405e..ae4c86db46 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -263,7 +263,7 @@ void Rover::ahrs_update()
     ahrs.update();
 
     // update position
-    have_position = ahrs.get_position(current_loc);
+    have_position = ahrs.get_location(current_loc);
 
     // set home from EKF if necessary and possible
     if (!ahrs.home_is_set()) {
diff --git a/Rover/commands.cpp b/Rover/commands.cpp
index f056af72d9..1cd2b7bf76 100644
--- a/Rover/commands.cpp
+++ b/Rover/commands.cpp
@@ -4,7 +4,7 @@
 bool Rover::set_home_to_current_location(bool lock)
 {
     Location temp_loc;
-    if (ahrs.have_inertial_nav() && ahrs.get_position(temp_loc)) {
+    if (ahrs.have_inertial_nav() && ahrs.get_location(temp_loc)) {
         if (!set_home(temp_loc, lock)) {
             return false;
         }
@@ -64,7 +64,7 @@ void Rover::update_home()
     }
 
     Location loc{};
-    if (!ahrs.get_position(loc)) {
+    if (!ahrs.get_location(loc)) {
         return;
     }