diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index c578c9b14b..928fadfe6f 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1653,8 +1653,8 @@ private:
         DISTURB_POS_LONG = 15,  // longitudinal body axis measured position is being excited
         DISTURB_VEL_LAT = 16,   // lateral body axis measured velocity is being excited
         DISTURB_VEL_LONG = 17,  // longitudinal body axis measured velocity is being excited
-        INPUT_LOITER_LAT = 18,  // lateral body axis commanded velocity is being excited
-        INPUT_LOITER_LONG = 19, // longitudinal body axis commanded velocity is being excited
+        INPUT_VEL_LAT = 18,     // lateral body axis commanded velocity is being excited
+        INPUT_VEL_LONG = 19,    // longitudinal body axis commanded velocity is being excited
     };
 
     AP_Int8 axis;               // Controls which axis are being excited. Set to non-zero to display other parameters
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 32d15d619d..d9869389ad 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -332,12 +332,12 @@ void ModeSystemId::run()
                     disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
                     pos_control->set_disturb_vel_cms(disturb_state);
                     break;
-                case AxisType::INPUT_LOITER_LAT:
+                case AxisType::INPUT_VEL_LAT:
                     input_vel.x = 0.0f;
                     input_vel.y = waveform_sample * 100.0f;
                     input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
                     break;
-                case AxisType::INPUT_LOITER_LONG:
+                case AxisType::INPUT_VEL_LONG:
                     input_vel.x = waveform_sample * 100.0f;
                     input_vel.y = 0.0f;
                     input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
@@ -433,8 +433,8 @@ bool ModeSystemId::is_poscontrol_axis_type() const
         case AxisType::DISTURB_POS_LONG:
         case AxisType::DISTURB_VEL_LAT:
         case AxisType::DISTURB_VEL_LONG:
-        case AxisType::INPUT_LOITER_LAT:
-        case AxisType::INPUT_LOITER_LONG:
+        case AxisType::INPUT_VEL_LAT:
+        case AxisType::INPUT_VEL_LONG:
             ret = true;
             break;
         default: