diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp
index 4a903ef6af..b7571778e8 100644
--- a/libraries/AC_WPNav/AC_Loiter.cpp
+++ b/libraries/AC_WPNav/AC_Loiter.cpp
@@ -209,7 +209,7 @@ void AC_Loiter::sanity_check_params()
 void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on)
 {
     float ekfGndSpdLimit, ekfNavVelGainScaler;
-    AP::ahrs_navekf().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
+    AP::ahrs().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
 
     // calculate a loiter speed limit which is the minimum of the value set by the LOITER_SPEED
     // parameter and the value set by the EKF to observe optical flow limits