diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index de3b844e5e..7fd0efbaa8 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -124,7 +124,7 @@ Vector3f AC_PrecLand::get_target_shift(const Vector3f &orig_target)
 }
 
 // calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
-//  body-frame angles stored in _bf_angle_to_target
+//  raw sensor angles stored in _angle_to_target (might be in earth frame, or maybe body frame)
 //  earth-frame angles stored in _ef_angle_to_target
 //  position estimate is stored in _target_pos
 void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
@@ -136,7 +136,7 @@ void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
     }
 
     // get body-frame angles to target from backend
-    if (!_backend->get_angle_to_target(_bf_angle_to_target.x, _bf_angle_to_target.y)) {
+    if (!_backend->get_angle_to_target(_angle_to_target.x, _angle_to_target.y)) {
         _have_estimate = false;
         return;
     }
diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h
index 86eb5b5979..17cd41b8c0 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.h
+++ b/libraries/AC_PrecLand/AC_PrecLand.h
@@ -62,7 +62,7 @@ public:
 
     // accessors for logging
     bool enabled() const { return _enabled; }
-    const Vector2f& last_bf_angle_to_target() const { return _bf_angle_to_target; }
+    const Vector2f& last_bf_angle_to_target() const { return _angle_to_target; }
     const Vector2f& last_ef_angle_to_target() const { return _ef_angle_to_target; }
     const Vector3f& last_target_pos_offset() const { return _target_pos_offset; }
 
@@ -94,7 +94,7 @@ private:
     float                       _dt;                // time difference (in seconds) between calls from the main program
 
     // output from sensor (stored for logging)
-    Vector2f                    _bf_angle_to_target;// last body-frame angle to target
+    Vector2f                    _angle_to_target;   // last raw sensor angle to target
     Vector2f                    _ef_angle_to_target;// last earth-frame angle to target
 
     // output from controller
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
index aeb8eaac7f..a079870ae2 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
@@ -33,8 +33,8 @@ bool AC_PrecLand_Companion::update()
 bool AC_PrecLand_Companion::get_angle_to_target(float &x_angle_rad, float &y_angle_rad)
 {
     if (_new_estimate){
-        x_angle_rad = _bf_angle_to_target.x;
-        y_angle_rad = _bf_angle_to_target.y;
+        x_angle_rad = _angle_to_target.x;
+        y_angle_rad = _angle_to_target.y;
 
         // reset and wait for new data
         _new_estimate = false;
@@ -51,8 +51,8 @@ void AC_PrecLand_Companion::handle_msg(mavlink_message_t* msg)
     mavlink_msg_landing_target_decode(msg, &packet);
 
     _timestamp_us = packet.time_usec;
-    _bf_angle_to_target.x = packet.angle_x;
-    _bf_angle_to_target.y = packet.angle_y;
+    _angle_to_target.x = packet.angle_x;
+    _angle_to_target.y = packet.angle_y;
     _distance_to_target = packet.distance;
     _state.healthy = true;
     _new_estimate = true;
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Companion.h b/libraries/AC_PrecLand/AC_PrecLand_Companion.h
index 6e48991c00..8b6cc77d3e 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Companion.h
+++ b/libraries/AC_PrecLand/AC_PrecLand_Companion.h
@@ -37,7 +37,7 @@ public:
 private:
 
     // output from camera
-    Vector2f            _bf_angle_to_target;    // last body-frame angle to target
+    Vector2f            _angle_to_target;       // last body-frame angle to target
     float               _distance_to_target;    // distance from the camera to target in meters
     uint64_t            _timestamp_us;          // timestamp when the image was captured(synced via UAVCAN)
     bool                _new_estimate;          // true if new data from the camera has been received