diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index 81c969ff15..fb2c609b9b 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -224,7 +224,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
     Vector2f _groundspeed_vector = _ahrs.groundspeed_vector();
 
     // update _target_bearing_cd
-    _target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
+    _target_bearing_cd = _current_loc.get_bearing_to(next_WP);
 
     //Calculate groundspeed
     float groundSpeed = _groundspeed_vector.length();
@@ -360,7 +360,7 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
 
 
     // update _target_bearing_cd
-    _target_bearing_cd = get_bearing_cd(_current_loc, center_WP);
+    _target_bearing_cd = _current_loc.get_bearing_to(center_WP);
 
 
     // Calculate time varying control parameters
diff --git a/libraries/AP_L1_Control/AP_L1_Control.h b/libraries/AP_L1_Control/AP_L1_Control.h
index cd5b4f2ce6..8e85cd97f2 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.h
+++ b/libraries/AP_L1_Control/AP_L1_Control.h
@@ -18,6 +18,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Navigation/AP_Navigation.h>
 #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
+#include <AP_Common/Location.h>
 
 class AP_L1_Control : public AP_Navigation {
 public: