diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 13558fa2a8..52f8f32411 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -396,7 +396,7 @@ void Plane::update_GPS_50Hz(void)
     gps.update();
 
     // get position from AHRS
-    have_position = ahrs.get_position(current_loc);
+    have_position = ahrs.get_location(current_loc);
     ahrs.get_relative_position_D_home(relative_altitude);
     relative_altitude *= -1.0f;
 }
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 638c061148..2916bcf556 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1340,7 +1340,7 @@ int16_t GCS_MAVLINK_Plane::high_latency_target_altitude() const
 {
     AP_AHRS &ahrs = AP::ahrs();
     struct Location global_position_current;
-    UNUSED_RESULT(ahrs.get_position(global_position_current));
+    UNUSED_RESULT(ahrs.get_location(global_position_current));
 
 #if HAL_QUADPLANE_ENABLED
     const QuadPlane &quadplane = plane.quadplane;
diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index d8f97342f4..c5bcee335b 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -122,7 +122,7 @@ void Plane::update_home()
     }
     if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
         Location loc;
-        if(ahrs.get_position(loc) && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
+        if(ahrs.get_location(loc) && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
             // we take the altitude directly from the GPS as we are
             // about to reset the baro calibration. We can't use AHRS
             // altitude or we can end up perpetuating a bias in
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index e3a1e9d297..344a141ef1 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2542,7 +2542,7 @@ void QuadPlane::vtol_position_controller(void)
             }
         }
         if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) {
-            plane.ahrs.get_position(plane.current_loc);
+            plane.ahrs.get_location(plane.current_loc);
             int32_t target_altitude_cm;
             if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) {
                 break;