diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index ff1294289c..3b9bbcab18 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -193,10 +193,10 @@ void AP_L1_Control::_prevent_indecision(float &Nu)
 }
 
 // update L1 control for waypoint navigation
-void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct Location &next_WP, float dist_min)
+void AP_L1_Control::update_waypoint(const Location &prev_WP, const Location &next_WP, float dist_min)
 {
 
-    struct Location _current_loc;
+    Location _current_loc;
     float Nu;
     float xtrackVel;
     float ltrackVel;
@@ -332,9 +332,9 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
 }
 
 // update L1 control for loitering
-void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius, int8_t loiter_direction)
+void AP_L1_Control::update_loiter(const Location &center_WP, float radius, int8_t loiter_direction)
 {
-    struct Location _current_loc;
+    Location _current_loc;
 
     // scale loiter radius with square of EAS2TAS to allow us to stay
     // stable at high altitude
diff --git a/libraries/AP_L1_Control/AP_L1_Control.h b/libraries/AP_L1_Control/AP_L1_Control.h
index 6c6debdd04..b775e5800a 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.h
+++ b/libraries/AP_L1_Control/AP_L1_Control.h
@@ -50,8 +50,8 @@ public:
     float turn_distance(float wp_radius) const override;
     float turn_distance(float wp_radius, float turn_angle) const override;
     float loiter_radius (const float loiter_radius) const override;
-    void update_waypoint(const struct Location &prev_WP, const struct Location &next_WP, float dist_min = 0.0f) override;
-    void update_loiter(const struct Location &center_WP, float radius, int8_t loiter_direction) override;
+    void update_waypoint(const class Location &prev_WP, const class Location &next_WP, float dist_min = 0.0f) override;
+    void update_loiter(const class Location &center_WP, float radius, int8_t loiter_direction) override;
     void update_heading_hold(int32_t navigation_heading_cd) override;
     void update_level_flight(void) override;
     bool reached_loiter_target(void) override;