diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 550f1c7868..803415d189 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -63,7 +63,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     case GUIDED:
     case CIRCLE:
     case POSHOLD:
-    case STOP:
+    case BRAKE:
         base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
         // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
         // APM does in any mode, as that is defined as "system finds its own goal
@@ -174,7 +174,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     case LAND:
     case OF_LOITER:
     case POSHOLD:
-    case STOP:
+    case BRAKE:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
         break;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 4346b4ac38..0048ff38ce 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -580,8 +580,8 @@
 //////////////////////////////////////////////////////////////////////////////
 // Stop mode defaults
 //
-#ifndef STOP_MODE_DECEL_RATE
- # define STOP_MODE_DECEL_RATE  750 // acceleration rate in cm/s/s in Stop Mode
+#ifndef BRAKE_MODE_DECEL_RATE
+ # define BRAKE_MODE_DECEL_RATE  750 // acceleration rate in cm/s/s in Brake Mode
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/control_stop.pde b/ArduCopter/control_brake.pde
similarity index 76%
rename from ArduCopter/control_stop.pde
rename to ArduCopter/control_brake.pde
index 0a28f662aa..b28250f909 100644
--- a/ArduCopter/control_stop.pde
+++ b/ArduCopter/control_brake.pde
@@ -1,11 +1,11 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 /*
- * control_stop.pde - init and run calls for stop flight mode
+ * control_brake.pde - init and run calls for brake flight mode
  */
 
-// stop_init - initialise stop controller
-static bool stop_init(bool ignore_checks)
+// brake_init - initialise brake controller
+static bool brake_init(bool ignore_checks)
 {
     if (position_ok() || optflow_position_ok() || ignore_checks) {
 
@@ -13,11 +13,11 @@ static bool stop_init(bool ignore_checks)
         wp_nav.clear_pilot_desired_acceleration();
 
         // set target to current position
-        wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
+        wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
 
         // initialize vertical speed and acceleration
         pos_control.set_speed_z(0, 0);
-        pos_control.set_accel_z(STOP_MODE_DECEL_RATE);
+        pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);
 
         // initialise altitude target to stopping point
         pos_control.set_target_to_stopping_point_z();
@@ -28,16 +28,16 @@ static bool stop_init(bool ignore_checks)
     }
 }
 
-// stop_run - runs the stop controller
+// brake_run - runs the brake controller
 // should be called at 100hz or more
-static void stop_run()
+static void brake_run()
 {
     float target_yaw_rate = 0;
     float target_climb_rate = 0;
 
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
-        wp_nav.init_stop_target(STOP_MODE_DECEL_RATE);
+        wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
         pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
         return;
@@ -52,8 +52,8 @@ static void stop_run()
         // ToDo: What do we do here?
     }
 
-    // run stop controller
-    wp_nav.update_stop(ekfGndSpdLimit, ekfNavVelGainScaler);
+    // run brake controller
+    wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
 
     // call attitude controller
     attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 4d33ca3b5a..83a76f7c34 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -106,7 +106,7 @@ enum autopilot_modes {
     FLIP =         14,  // automatically flip the vehicle on the roll axis
     AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
     POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
-    STOP =         17   // full-stop using inertial/GPS system, no pilot input
+    BRAKE =        17   // full-brake using inertial/GPS system, no pilot input
 };
 
 // Tuning enumeration
diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index f7456e2866..996938b875 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -89,8 +89,8 @@ static bool set_mode(uint8_t mode)
             break;
 #endif
 
-        case STOP:
-            success = stop_init(ignore_checks);
+        case BRAKE:
+            success = brake_init(ignore_checks);
             break;
 
         default:
@@ -202,8 +202,8 @@ static void update_flight_mode()
             break;
 #endif
 
-        case STOP:
-            stop_run();
+        case BRAKE:
+            brake_run();
             break;
     }
 }
@@ -254,7 +254,7 @@ static bool mode_requires_GPS(uint8_t mode) {
         case CIRCLE:
         case DRIFT:
         case POSHOLD:
-        case STOP:
+        case BRAKE:
             return true;
         default:
             return false;
@@ -355,6 +355,9 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case POSHOLD:
         port->print_P(PSTR("POSHOLD"));
         break;
+    case BRAKE:
+        port->print_P(PSTR("BRAKE"));
+        break;
     default:
         port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
         break;