diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 5a91068b59..c74168b494 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -803,7 +803,7 @@ int16_t GCS_MAVLINK_Sub::high_latency_target_altitude() const
 {
     AP_AHRS &ahrs = AP::ahrs();
     struct Location global_position_current;
-    UNUSED_RESULT(ahrs.get_position(global_position_current));
+    UNUSED_RESULT(ahrs.get_location(global_position_current));
 
     //return units are m
     if (sub.control_mode == AUTO || sub.control_mode == GUIDED) {
diff --git a/ArduSub/commands.cpp b/ArduSub/commands.cpp
index 7162b89f31..4085a20a6e 100644
--- a/ArduSub/commands.cpp
+++ b/ArduSub/commands.cpp
@@ -25,7 +25,7 @@ void Sub::set_home_to_current_location_inflight()
     // get current location from EKF
     Location temp_loc;
     Location ekf_origin;
-    if (ahrs.get_position(temp_loc) && ahrs.get_origin(ekf_origin)) {
+    if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
         temp_loc.alt = ekf_origin.alt;
         if (!set_home(temp_loc, false)) {
             // ignore this failure
@@ -38,7 +38,7 @@ bool Sub::set_home_to_current_location(bool lock)
 {
     // get current location from EKF
     Location temp_loc;
-    if (ahrs.get_position(temp_loc)) {
+    if (ahrs.get_location(temp_loc)) {
 
         // Make home always at the water's surface.
         // This allows disarming and arming again at depth.
diff --git a/ArduSub/inertia.cpp b/ArduSub/inertia.cpp
index 8fc70f85ca..9c9ec8138c 100644
--- a/ArduSub/inertia.cpp
+++ b/ArduSub/inertia.cpp
@@ -8,7 +8,7 @@ void Sub::read_inertia()
 
     // pull position from ahrs
     Location loc;
-    ahrs.get_position(loc);
+    ahrs.get_location(loc);
     current_loc.lat = loc.lat;
     current_loc.lng = loc.lng;