diff --git a/ArduCopter/heli_control_acro.pde b/ArduCopter/heli_control_acro.pde
index bcf2db951c..37cdbad83a 100644
--- a/ArduCopter/heli_control_acro.pde
+++ b/ArduCopter/heli_control_acro.pde
@@ -34,7 +34,7 @@ static void heli_acro_run()
     pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
 
     // run attitude controller
-    attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);
+    attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
 
     // output pilot's throttle without angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false);
diff --git a/ArduCopter/heli_control_stabilize.pde b/ArduCopter/heli_control_stabilize.pde
index 12e83d3082..7b66405c72 100644
--- a/ArduCopter/heli_control_stabilize.pde
+++ b/ArduCopter/heli_control_stabilize.pde
@@ -37,7 +37,7 @@ static void heli_stabilize_run()
     pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
 
     // call attitude controller
-    attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // output pilot's throttle - note that TradHeli does not used angle-boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false);