diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp
index 5e45144a4b..0c405e5759 100644
--- a/libraries/AC_WPNav/AC_Loiter.cpp
+++ b/libraries/AC_WPNav/AC_Loiter.cpp
@@ -91,8 +91,8 @@ void AC_Loiter::init_target(const Vector3f& position)
     sanity_check_params();
 
     // initialise pos controller speed, acceleration
-    _pos_control.set_speed_xy(LOITER_VEL_CORRECTION_MAX);
-    _pos_control.set_accel_xy(_accel_cmss);
+    _pos_control.set_max_speed_xy(LOITER_VEL_CORRECTION_MAX);
+    _pos_control.set_max_accel_xy(_accel_cmss);
 
     // initialise desired acceleration and angles to zero to remain on station
     _predicted_accel.zero();
@@ -119,8 +119,8 @@ void AC_Loiter::init_target()
     sanity_check_params();
 
     // initialise pos controller speed and acceleration
-    _pos_control.set_speed_xy(LOITER_VEL_CORRECTION_MAX);
-    _pos_control.set_accel_xy(_accel_cmss);
+    _pos_control.set_max_speed_xy(LOITER_VEL_CORRECTION_MAX);
+    _pos_control.set_max_accel_xy(_accel_cmss);
     _pos_control.set_leash_length_xy(LOITER_POS_CORRECTION_MAX);
 
     _predicted_accel = _desired_accel;
@@ -210,8 +210,8 @@ void AC_Loiter::update(float ekfGndSpdLimit, float ekfNavVelGainScaler)
     }
 
     // initialise pos controller speed and acceleration
-    _pos_control.set_speed_xy(_speed_cms);
-    _pos_control.set_accel_xy(_accel_cmss);
+    _pos_control.set_max_speed_xy(_speed_cms);
+    _pos_control.set_max_accel_xy(_accel_cmss);
 
     calc_desired_velocity(dt,ekfGndSpdLimit);
     _pos_control.update_xy_controller(ekfNavVelGainScaler);
@@ -240,8 +240,8 @@ void AC_Loiter::calc_desired_velocity(float nav_dt, float ekfGndSpdLimit)
         return;
     }
 
-    _pos_control.set_speed_xy(gnd_speed_limit_cms);
-    _pos_control.set_accel_xy(_accel_cmss);
+    _pos_control.set_max_speed_xy(gnd_speed_limit_cms);
+    _pos_control.set_max_accel_xy(_accel_cmss);
     _pos_control.set_leash_length_xy(LOITER_POS_CORRECTION_MAX);
 
     // get loiters desired velocity from the position controller where it is being stored.
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 0d9f9d2951..3375491310 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -108,8 +108,8 @@ void AC_WPNav::init_brake_target(float accel_cmss)
     _pos_control.init_xy_controller();
 
     // initialise pos controller speed and acceleration
-    _pos_control.set_speed_xy(curr_vel.length());
-    _pos_control.set_accel_xy(accel_cmss);
+    _pos_control.set_max_speed_xy(curr_vel.length());
+    _pos_control.set_max_accel_xy(accel_cmss);
     _pos_control.calc_leash_length_xy();
 
     // set target position
@@ -148,10 +148,10 @@ void AC_WPNav::wp_and_spline_init()
     _pos_control.set_desired_velocity_xy(0.0f, 0.0f);
 
     // initialise position controller speed and acceleration
-    _pos_control.set_speed_xy(_wp_speed_cms);
-    _pos_control.set_accel_xy(_wp_accel_cmss);
-    _pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
-    _pos_control.set_accel_z(_wp_accel_z_cmss);
+    _pos_control.set_max_speed_xy(_wp_speed_cms);
+    _pos_control.set_max_accel_xy(_wp_accel_cmss);
+    _pos_control.set_max_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
+    _pos_control.set_max_accel_z(_wp_accel_z_cmss);
     _pos_control.calc_leash_length_xy();
     _pos_control.calc_leash_length_z();
 
@@ -165,7 +165,7 @@ void AC_WPNav::set_speed_xy(float speed_cms)
     // range check new target speed and update position controller
     if (speed_cms >= WPNAV_WP_SPEED_MIN) {
         _wp_speed_cms = speed_cms;
-        _pos_control.set_speed_xy(_wp_speed_cms);
+        _pos_control.set_max_speed_xy(_wp_speed_cms);
         // flag that wp leash must be recalculated
         _flags.recalc_wp_leash = true;
     }
@@ -507,8 +507,8 @@ bool AC_WPNav::update_wpnav()
 
     // allow the accel and speed values to be set without changing
     // out of auto mode. This makes it easier to tune auto flight
-    _pos_control.set_accel_xy(_wp_accel_cmss);
-    _pos_control.set_accel_z(_wp_accel_z_cmss);
+    _pos_control.set_max_accel_xy(_wp_accel_cmss);
+    _pos_control.set_max_accel_z(_wp_accel_z_cmss);
 
     // advance the target if necessary
     if (!advance_wp_target_along_track(dt)) {