diff --git a/ArduCopter/control_acro.pde b/ArduCopter/control_acro.pde
index 9dac7566a6..f3aea986eb 100644
--- a/ArduCopter/control_acro.pde
+++ b/ArduCopter/control_acro.pde
@@ -33,7 +33,7 @@ static void acro_run()
     pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
 
     // run attitude controller
-    attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
+    attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
 
     // output pilot's throttle without angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false);
@@ -85,7 +85,7 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
         }
 
         // convert earth-frame level rates to body-frame level rates
-        attitude_control.rate_ef_targets_to_bf(rate_ef_level, rate_bf_level);
+        attitude_control.frame_conversion_ef_to_bf(rate_ef_level, rate_bf_level);
 
         // combine earth frame rate corrections with rate requests
         if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
diff --git a/ArduCopter/control_althold.pde b/ArduCopter/control_althold.pde
index 265758c563..7c9e757a3d 100644
--- a/ArduCopter/control_althold.pde
+++ b/ArduCopter/control_althold.pde
@@ -56,7 +56,7 @@ static void althold_run()
         attitude_control.set_throttle_out(0, false);
     }else{
         // call attitude controller
-        attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
         // body-frame rate controller is run directly from 100hz loop
 
         // call throttle controller
diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index d54a1b8059..80c89fa23d 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -105,7 +105,7 @@ static void auto_takeoff_run()
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 }
 
 // auto_wp_start - initialises waypoint controller to implement flying to a particular destination
@@ -154,10 +154,10 @@ static void auto_wp_run()
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
+        attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 }
 
@@ -215,7 +215,7 @@ static void auto_land_run()
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 }
 
 // auto_rtl_start - initialises RTL in AUTO flight mode
@@ -255,7 +255,7 @@ void auto_circle_run()
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
+    attitude_control.angle_ef_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
 }
 
 // get_default_auto_yaw_mode - returns auto_yaw_mode based on WP_YAW_BEHAVIOR parameter
diff --git a/ArduCopter/control_autotune.pde b/ArduCopter/control_autotune.pde
index 530aff4560..237dc47adb 100644
--- a/ArduCopter/control_autotune.pde
+++ b/ArduCopter/control_autotune.pde
@@ -261,7 +261,7 @@ static void autotune_run()
 
         // if pilot override call attitude controller
         if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {
-            attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+            attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
         }else{
             // somehow get attitude requests from autotuning
             autotune_attitude_control();
@@ -288,7 +288,7 @@ static void autotune_attitude_control()
         attitude_control.limit_angle_to_rate_request(true);
 
         // hold level attitude
-        attitude_control.angleef_rp_rateef_y(0.0f, 0.0f, 0.0f);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(0.0f, 0.0f, 0.0f);
 
         // hold the copter level for 0.25 seconds before we begin a twitch
         // reset counter if we are no longer level
@@ -321,16 +321,16 @@ static void autotune_attitude_control()
             if (autotune_state.axis == AUTOTUNE_AXIS_ROLL) {
                 // request roll to 20deg
                 if (autotune_state.positive_direction) {
-                    attitude_control.angleef_rp_rateef_y(AUTOTUNE_TARGET_ANGLE_CD, 0.0f, 0.0f);
+                    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(AUTOTUNE_TARGET_ANGLE_CD, 0.0f, 0.0f);
                 }else{
-                    attitude_control.angleef_rp_rateef_y(-AUTOTUNE_TARGET_ANGLE_CD, 0.0f, 0.0f);
+                    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(-AUTOTUNE_TARGET_ANGLE_CD, 0.0f, 0.0f);
                 }
             }else{
                 // request pitch to 20deg
                 if (autotune_state.positive_direction) {
-                    attitude_control.angleef_rp_rateef_y(0.0f, AUTOTUNE_TARGET_ANGLE_CD, 0.0f);
+                    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(0.0f, AUTOTUNE_TARGET_ANGLE_CD, 0.0f);
                 }else{
-                    attitude_control.angleef_rp_rateef_y(0.0f, -AUTOTUNE_TARGET_ANGLE_CD, 0.0f);
+                    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(0.0f, -AUTOTUNE_TARGET_ANGLE_CD, 0.0f);
                 }
             }
         } else {
diff --git a/ArduCopter/control_circle.pde b/ArduCopter/control_circle.pde
index 3fb70ca99d..ad4d843a32 100644
--- a/ArduCopter/control_circle.pde
+++ b/ArduCopter/control_circle.pde
@@ -56,9 +56,9 @@ static void circle_run()
 
     // call attitude controller
     if (circle_pilot_yaw_override) {
-        attitude_control.angleef_rp_rateef_y(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
     }else{
-        attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
+        attitude_control.angle_ef_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
     }
 
     // run altitude controller
diff --git a/ArduCopter/control_drift.pde b/ArduCopter/control_drift.pde
index e311cc7e74..88ff6eb4b6 100644
--- a/ArduCopter/control_drift.pde
+++ b/ArduCopter/control_drift.pde
@@ -69,7 +69,7 @@ static void drift_run()
     }
 
     // call attitude controller
-    attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // output pilot's throttle with angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, true);
diff --git a/ArduCopter/control_flip.pde b/ArduCopter/control_flip.pde
index b4cfe1d94a..8dce2f0e08 100644
--- a/ArduCopter/control_flip.pde
+++ b/ArduCopter/control_flip.pde
@@ -121,7 +121,7 @@ static void flip_run()
 
     case Flip_Start:
         // under 45 degrees request 400deg/sec roll
-        attitude_control.ratebf_rpy(FLIP_ROLL_RATE * flip_dir, 0.0, 0.0);
+        attitude_control.rate_bf_roll_pitch_yaw(FLIP_ROLL_RATE * flip_dir, 0.0, 0.0);
         // increase throttle
         throttle_out += FLIP_THR_INC;
         // beyond 45deg lean angle move to next stage
@@ -132,7 +132,7 @@ static void flip_run()
 
     case Flip_Roll:
         // between 45deg ~ -90deg request 400deg/sec roll
-        attitude_control.ratebf_rpy(FLIP_ROLL_RATE * flip_dir, 0.0, 0.0);
+        attitude_control.rate_bf_roll_pitch_yaw(FLIP_ROLL_RATE * flip_dir, 0.0, 0.0);
         // decrease throttle
         throttle_out -= FLIP_THR_DEC;
         // beyond -90deg move on to recovery
@@ -143,7 +143,7 @@ static void flip_run()
 
     case Flip_Recover:
         // use originally captured earth-frame angle targets to recover
-        attitude_control.angleef_rpy(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z,false);
+        attitude_control.angle_ef_roll_pitch_yaw(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z,false);
 
         // increase throttle to gain any lost alitude
         throttle_out += FLIP_THR_INC;
diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 56eefe8c97..76e5d93022 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -83,9 +83,9 @@ static void guided_run()
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
+        attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 }
diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index d6de4a89ca..f27084aaa8 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -79,7 +79,7 @@ static void land_gps_run()
     wp_nav.update_loiter();
 
     // call attitude controller
-    attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 
     // update altitude target and call position controller
     pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
@@ -125,7 +125,7 @@ static void land_nogps_run()
     }
 
     // call attitude controller
-    attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // call position controller
     pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
diff --git a/ArduCopter/control_loiter.pde b/ArduCopter/control_loiter.pde
index a1a977328e..251163393f 100644
--- a/ArduCopter/control_loiter.pde
+++ b/ArduCopter/control_loiter.pde
@@ -67,7 +67,7 @@ static void loiter_run()
         wp_nav.update_loiter();
 
         // call attitude controller
-        attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 
         // body-frame rate controller is run directly from 100hz loop
 
diff --git a/ArduCopter/control_ofloiter.pde b/ArduCopter/control_ofloiter.pde
index 2b3c3076c1..caafcde519 100644
--- a/ArduCopter/control_ofloiter.pde
+++ b/ArduCopter/control_ofloiter.pde
@@ -68,7 +68,7 @@ static void ofloiter_run()
         target_pitch = get_of_pitch(target_pitch);
 
         // call attitude controller
-        attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
 
         // run altitude controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
diff --git a/ArduCopter/control_rtl.pde b/ArduCopter/control_rtl.pde
index 65b5248701..d41c778433 100644
--- a/ArduCopter/control_rtl.pde
+++ b/ArduCopter/control_rtl.pde
@@ -153,10 +153,10 @@ static void rtl_climb_return_descent_run()
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
+        attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL
@@ -210,10 +210,10 @@ static void rtl_loiterathome_run()
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot
-        attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
+        attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL
@@ -266,7 +266,7 @@ static void rtl_land_run()
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 
     // check if we've completed this stage of RTL
     rtl_state_complete = ap.land_complete;
diff --git a/ArduCopter/control_sport.pde b/ArduCopter/control_sport.pde
index f79bd519f7..61b46deb88 100644
--- a/ArduCopter/control_sport.pde
+++ b/ArduCopter/control_sport.pde
@@ -74,7 +74,7 @@ static void sport_run()
         attitude_control.set_throttle_out(0, false);
     }else{
         // call attitude controller
-        attitude_control.rateef_rpy(target_roll_rate, target_pitch_rate, target_yaw_rate);
+        attitude_control.rate_ef_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
 
         // call throttle controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
diff --git a/ArduCopter/control_stabilize.pde b/ArduCopter/control_stabilize.pde
index cfa5ba1034..b7c2b2de61 100644
--- a/ArduCopter/control_stabilize.pde
+++ b/ArduCopter/control_stabilize.pde
@@ -48,7 +48,7 @@ static void stabilize_run()
         attitude_control.init_targets();
     }else{
         // call attitude controller
-        attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
 
         // body-frame rate controller is run directly from 100hz loop
     }