diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp
index aab6fa27f3..6e00781855 100644
--- a/libraries/AC_WPNav/AC_Loiter.cpp
+++ b/libraries/AC_WPNav/AC_Loiter.cpp
@@ -123,8 +123,7 @@ void AC_Loiter::init_target()
     _pos_control.relax_velocity_controller_xy();
 
     // initialise predicted acceleration and angles from the position controller
-    _predicted_accel.x = _pos_control.get_accel_target_cmss().x;
-    _predicted_accel.y = _pos_control.get_accel_target_cmss().y;
+    _predicted_accel = _pos_control.get_accel_target_cmss().xy();
     _predicted_euler_angle.x = radians(_pos_control.get_roll_cd()*0.01f);
     _predicted_euler_angle.y = radians(_pos_control.get_pitch_cd()*0.01f);
     _brake_accel = 0.0f;