diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 14da530745..db6904cc51 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -206,7 +206,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
 
     // speed to throttle PID
     if (g.gcs_pid_mask & 2) {
-        pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
+        pid_info = &g2.attitude_control.get_throttle_speed_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
                                     pid_info->target,
                                     pid_info->actual,
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 7d9632f421..9dc5919009 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -19,7 +19,7 @@ void Rover::Log_Write_Attitude()
 
     // log steering rate controller
     logger.Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
-    logger.Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
+    logger.Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid_info());
 
     // log pitch control for balance bots
     if (is_balancebot()) {