diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 518780e367..8f2c9c0a6b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1969,7 +1969,7 @@ void update_throttle_mode(void)
     case THROTTLE_AUTO:
         // auto pilot altitude controller with target altitude held in next_WP.alt
         if(motors.auto_armed() == true) {
-            get_throttle_althold_with_slew(wp_nav.get_target_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max);
+            get_throttle_althold_with_slew(wp_nav.get_destination_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max);
         }
         break;
 
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 1bca767626..a74bd8f1f5 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -550,7 +550,7 @@ static void Log_Write_Control_Tuning()
         throttle_in         : g.rc_3.control_in,
         sonar_alt           : sonar_alt,
         baro_alt            : baro_alt,
-        next_wp_alt         : wp_nav.get_target_alt(),
+        next_wp_alt         : wp_nav.get_destination_alt(),
         nav_throttle        : nav_throttle,
         angle_boost         : angle_boost,
         climb_rate          : climb_rate,
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 9304cf7df3..8712233181 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -190,19 +190,19 @@ static bool check_missed_wp()
 static void force_new_altitude(float new_alt)
 {
     // update new target altitude
-    wp_nav.set_target_alt(new_alt);
+    wp_nav.set_destination_alt(new_alt);
     set_alt_change(REACHED_ALT);
 }
 
 static void set_new_altitude(float new_alt)
 {
     // if no change exit immediately
-    if(new_alt == wp_nav.get_target_alt()) {
+    if(new_alt == wp_nav.get_destination_alt()) {
         return;
     }
 
     // update new target altitude
-    wp_nav.set_target_alt(new_alt);
+    wp_nav.set_destination_alt(new_alt);
 
     if(new_alt > (current_loc.alt + 80)) {
         // we are below, going up
@@ -223,12 +223,12 @@ static void verify_altitude()
 {
     if(alt_change_flag == ASCENDING) {
         // we are below, going up
-        if(current_loc.alt >  wp_nav.get_target_alt() - 50) {
+        if(current_loc.alt >  wp_nav.get_destination_alt() - 50) {
         	set_alt_change(REACHED_ALT);
         }
     }else if (alt_change_flag == DESCENDING) {
         // we are above, going down
-        if(current_loc.alt <=  wp_nav.get_target_alt() + 50){
+        if(current_loc.alt <=  wp_nav.get_destination_alt() + 50){
         	set_alt_change(REACHED_ALT);
         }
     }