diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index f248317def..ca7152ca77 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -863,7 +863,7 @@ void loop()
 // update AHRS system
 static void ahrs_update()
 {
-    ahrs.set_armed(arming.is_armed() && 
+    hal.util->set_soft_armed(arming.is_armed() &&
                    hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
 
 #if HIL_MODE != HIL_MODE_DISABLED
@@ -1157,7 +1157,7 @@ static void update_GPS_10Hz(void)
         }
 #endif        
 
-        if (!ahrs.get_armed()) {
+        if (!hal.util->get_soft_armed()) {
             update_home();
         }
 
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index a150513898..ed68b3d4d9 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -825,7 +825,7 @@ static void set_servos(void)
                                                       min_throttle,
                                                       max_throttle);
 
-        if (!ahrs.get_armed()) {
+        if (!hal.util->get_soft_armed()) {
             channel_throttle->servo_out = 0;
             channel_throttle->calc_pwm();                
         } else if (suppress_throttle()) {
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index c2b0f21c1d..cff778b065 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -86,7 +86,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
 #endif
 
     // we are armed if we are not initialising
-    if (control_mode != INITIALISING && ahrs.get_armed()) {
+    if (control_mode != INITIALISING && hal.util->get_soft_armed()) {
         base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
     }
 
diff --git a/ArduPlane/control_modes.pde b/ArduPlane/control_modes.pde
index cfccebf96c..981a4134ef 100644
--- a/ArduPlane/control_modes.pde
+++ b/ArduPlane/control_modes.pde
@@ -68,7 +68,7 @@ static void read_control_switch()
             // we only update the mixer if we are not armed. This is
             // important as otherwise we will need to temporarily
             // disarm to change the mixer
-            if (ahrs.get_armed() || setup_failsafe_mixing()) {
+            if (hal.util->get_soft_armed() || setup_failsafe_mixing()) {
                 px4io_override_enabled = true;
                 // disable output channels to force PX4IO override
                 for (uint8_t i=0; i<16; i++) {
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 0df4e09e1a..3aa2477e37 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -669,7 +669,7 @@ static bool should_log(uint32_t mask)
     if (!(mask & g.log_bitmask) || in_mavlink_delay) {
         return false;
     }
-    bool ret = ahrs.get_armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
+    bool ret = hal.util->get_soft_armed() || (g.log_bitmask & MASK_LOG_WHEN_DISARMED) != 0;
     if (ret && !DataFlash.logging_started() && !in_log_download) {
         // we have to set in_mavlink_delay to prevent logging while
         // writing headers