diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 26e10bdfd7..6105d73ddf 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -154,7 +154,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
 
     const Vector3f &gyro = ahrs.get_gyro();
     if (g.gcs_pid_mask & 1) {
-        const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
+        const AP_PIDInfo &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
                                     pid_info.target*0.01f,
                                     degrees(gyro.x),
@@ -169,7 +169,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
         }
     }
     if (g.gcs_pid_mask & 2) {
-        const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
+        const AP_PIDInfo &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
                                     pid_info.target*0.01f,
                                     degrees(gyro.y),
@@ -184,7 +184,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
         }
     }
     if (g.gcs_pid_mask & 4) {
-        const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
+        const AP_PIDInfo &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
                                     pid_info.target*0.01f,
                                     degrees(gyro.z),
@@ -199,7 +199,7 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
         }
     }
     if (g.gcs_pid_mask & 8) {
-        const AP_Logger::PID_Info &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
+        const AP_PIDInfo &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
         mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
                                     pid_info.target*0.01f,
                                     -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),