diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index c820d5a210..d12c51d42f 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -96,7 +96,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
  4) minimum FBW airspeed (metres/sec)
  5) maximum FBW airspeed (metres/sec)
 */
-int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool stabilize, float aspeed)
+int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed)
 {
 	uint32_t tnow = hal.scheduler->millis();
 	uint32_t dt = tnow - _last_t;
@@ -117,7 +117,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
 	
 	// Multiply pitch rate error by _ki_rate and integrate
 	// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
-	if (!stabilize && _K_I > 0) {
+	if (!disable_integrator && _K_I > 0) {
         float ki_rate = _K_I * _tau;
 		//only integrate if gain and time step are positive and airspeed above min value.
 		if (dt > 0 && aspeed > 0.5f*float(aparm.airspeed_min)) {
@@ -230,7 +230,7 @@ float AP_PitchController::get_coordination_rate_offset(void) const
 // 4) minimum FBW airspeed (metres/sec)
 // 5) maximum FBW airspeed (metres/sec)
 //
-int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool stabilize)
+int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
 {
 	// Calculate offset to pitch rate demand required to maintain pitch angle whilst banking
 	// Calculate ideal turn rate from bank angle and airspeed assuming a level coordinated turn
@@ -266,7 +266,7 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
 	// Apply the turn correction offset
 	desired_rate = desired_rate + rate_offset;
 
-    return _get_rate_out(desired_rate, scaler, stabilize, aspeed);
+    return _get_rate_out(desired_rate, scaler, disable_integrator, aspeed);
 }
 
 void AP_PitchController::reset_I()
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index 1c8cec589b..e3551efb3b 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -19,7 +19,7 @@ public:
 	void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
 
 	int32_t get_rate_out(float desired_rate, float scaler);
-	int32_t get_servo_out(int32_t angle_err, float scaler, bool stabilize);
+	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
     float   get_coordination_rate_offset(void) const;
 
 	void reset_I();
@@ -41,7 +41,7 @@ private:
 	
 	float _integrator;
 
-	int32_t _get_rate_out(float desired_rate, float scaler, bool stabilize, float aspeed);
+	int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
     float   _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
 	
 	AP_AHRS *_ahrs;
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index b3bad8ceaf..e82d5062cc 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -73,7 +73,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
   internal rate controller, called by attitude and rate controller
   public functions
 */
-int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool stabilize)
+int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator)
 {
 	uint32_t tnow = hal.scheduler->millis();
 	uint32_t dt = tnow - _last_t;
@@ -115,7 +115,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
 
 	// Multiply roll rate error by _ki_rate and integrate
 	// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
-	if (!stabilize && ki_rate > 0) {
+	if (!disable_integrator && ki_rate > 0) {
 		//only integrate if gain and time step are positive and airspeed above min value.
 		if (dt > 0 && aspeed > float(aparm.airspeed_min)) {
 		    float integrator_delta = rate_error * ki_rate * delta_time;
@@ -170,7 +170,7 @@ int32_t AP_RollController::get_rate_out(float desired_rate, float scaler)
  3) boolean which is true when stabilise mode is active
  4) minimum FBW airspeed (metres/sec)
 */
-int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool stabilize)
+int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
 {
     if (_tau < 0.1) {
         _tau = 0.1;
@@ -179,7 +179,7 @@ int32_t AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool s
 	// Calculate the desired roll rate (deg/sec) from the angle error
 	float desired_rate = angle_err * 0.01f / _tau;
 
-    return _get_rate_out(desired_rate, scaler, stabilize);
+    return _get_rate_out(desired_rate, scaler, disable_integrator);
 }
 
 void AP_RollController::reset_I()
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index a30aa2f3da..e28071cc83 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -18,8 +18,8 @@ public:
 
 	void set_ahrs(AP_AHRS *ahrs) { _ahrs = ahrs; }
 
-	int32_t get_rate_out(float desired_rate, float scaler=1.0);
-	int32_t get_servo_out(int32_t angle_err, float scaler=1.0, bool stabilize=false);
+	int32_t get_rate_out(float desired_rate, float scaler);
+	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
 
 	void reset_I();
 
@@ -38,7 +38,7 @@ private:
 
 	float _integrator;
 
-	int32_t _get_rate_out(float desired_rate, float scaler, bool stabilize);
+	int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator);
 
 	AP_AHRS *_ahrs;
 
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 841d983317..74c81c9599 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -62,7 +62,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] PROGMEM = {
 	AP_GROUPEND
 };
 
-int32_t AP_YawController::get_servo_out(float scaler, bool stabilize)
+int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 {
 	uint32_t tnow = hal.scheduler->millis();
 	uint32_t dt = tnow - _last_t;
@@ -120,7 +120,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool stabilize)
 	// Apply integrator, but clamp input to prevent control saturation and freeze integrator below min FBW speed
 	// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
 	// Don't integrate if _K_D is zero as integrator will keep winding up
-	if (!stabilize && _K_D > 0) {
+	if (!disable_integrator && _K_D > 0) {
 		//only integrate if airspeed above min value
 		if (aspeed > float(aspd_min))
 		{
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index ff7b4b22dc..51c556528f 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -21,7 +21,7 @@ public:
 		_ins = _ahrs->get_ins();
 	}
 
-	int32_t get_servo_out(float scaler = 1.0, bool stabilize = false);
+	int32_t get_servo_out(float scaler, bool disable_integrator);
 
 	void reset_I();