diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 8805ab1c30..904e6100e6 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -231,7 +231,7 @@ Vector2f AP_AHRS::groundspeed_vector(void)
 void AP_AHRS::update_trig(void)
 {
     Vector2f yaw_vector;
-    const Matrix3f &temp = get_dcm_matrix();
+    const Matrix3f &temp = get_rotation_body_to_ned();
 
     // sin_yaw, cos_yaw
     yaw_vector.x = temp.a.x;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index d21e5b9de3..e23ce96830 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -178,7 +178,7 @@ public:
 
     // get yaw rate in earth frame in radians/sec
     float get_yaw_rate_earth(void) const {
-        return get_gyro() * get_dcm_matrix().c;
+        return get_gyro() * get_rotation_body_to_ned().c;
     }
 
     // Methods
@@ -225,7 +225,7 @@ public:
 
     // return a DCM rotation matrix representing our current
     // attitude
-    virtual const Matrix3f &get_dcm_matrix(void) const = 0;
+    virtual const Matrix3f &get_rotation_body_to_ned(void) const = 0;
 
     // get our current position estimate. Return true if a position is available,
     // otherwise false. This call fills in lat, lng and alt
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 6b45542e73..0a7cf57a7b 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -65,7 +65,7 @@ public:
     }
 
     // return rotation matrix representing rotaton from body to earth axes
-    const Matrix3f &get_dcm_matrix(void) const {
+    const Matrix3f &get_rotation_body_to_ned(void) const {
         return _body_dcm_matrix;
     }
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 63ce940a2f..4d01ea7072 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -48,10 +48,10 @@ const Vector3f &AP_AHRS_NavEKF::get_gyro(void) const
     return _gyro_estimate;
 }
 
-const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
+const Matrix3f &AP_AHRS_NavEKF::get_rotation_body_to_ned(void) const
 {
     if (!active_EKF_type()) {
-        return AP_AHRS_DCM::get_dcm_matrix();
+        return AP_AHRS_DCM::get_rotation_body_to_ned();
     }
     return _dcm_matrix;
 }
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 2c80b90ea9..3c1badc266 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -51,7 +51,7 @@ public:
 
     // return the smoothed gyro vector corrected for drift
     const Vector3f &get_gyro(void) const;
-    const Matrix3f &get_dcm_matrix(void) const;
+    const Matrix3f &get_rotation_body_to_ned(void) const;
 
     // return the current drift correction integrator value
     const Vector3f &get_gyro_drift(void) const;
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index d7821fb106..394b9c5ce7 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -57,7 +57,7 @@ void loop(void)
 
     if (now - last_compass > 100*1000UL &&
         compass.read()) {
-        heading = compass.calculate_heading(ahrs.get_dcm_matrix());
+        heading = compass.calculate_heading(ahrs.get_rotation_body_to_ned());
         // read compass at 10Hz
         last_compass = now;
 #if WITH_GPS