diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 3c2c967f77..15fcd58a75 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -472,14 +472,14 @@ float AP_AHRS::getSSA(void)
 }
 
 // rotate a 2D vector from earth frame to body frame
-Vector2f AP_AHRS::rotate_earth_to_body2D(const Vector2f &ef) const
+Vector2f AP_AHRS::earth_to_body2D(const Vector2f &ef) const
 {
     return Vector2f(ef.x * _cos_yaw + ef.y * _sin_yaw,
                     -ef.x * _sin_yaw + ef.y * _cos_yaw);
 }
 
 // rotate a 2D vector from earth frame to body frame
-Vector2f AP_AHRS::rotate_body_to_earth2D(const Vector2f &bf) const
+Vector2f AP_AHRS::body_to_earth2D(const Vector2f &bf) const
 {
     return Vector2f(bf.x * _cos_yaw - bf.y * _sin_yaw,
                     bf.x * _sin_yaw + bf.y * _cos_yaw);
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f1b671a353..5ecfd71da6 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -543,12 +543,22 @@ public:
 
     // rotate a 2D vector from earth frame to body frame
     // in result, x is forward, y is right
-    Vector2f rotate_earth_to_body2D(const Vector2f &ef_vector) const;
+    Vector2f earth_to_body2D(const Vector2f &ef_vector) const;
 
     // rotate a 2D vector from earth frame to body frame
     // in input, x is forward, y is right
-    Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
+    Vector2f body_to_earth2D(const Vector2f &bf) const;
 
+    // convert a vector from body to earth frame
+    Vector3f body_to_earth(const Vector3f &v) const {
+        return v * get_rotation_body_to_ned();
+    }
+
+    // convert a vector from earth to body frame
+    Vector3f earth_to_body(const Vector3f &v) const {
+        return get_rotation_body_to_ned().mul_transpose(v);
+    }
+    
     virtual void update_AOA_SSA(void);
 
     // get_hgt_ctrl_limit - get maximum height to be observed by the
@@ -573,16 +583,6 @@ public:
         return _rsem;
     }
 
-    // convert a vector from body to earth frame
-    Vector3f body_to_earth(const Vector3f &v) const {
-        return v * get_rotation_body_to_ned();
-    }
-
-    // convert a vector from earth to body frame
-    Vector3f earth_to_body(const Vector3f &v) const {
-        return get_rotation_body_to_ned().mul_transpose(v);
-    }
-    
     // for holding parameters
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AP_AHRS/AP_AHRS_View.cpp b/libraries/AP_AHRS/AP_AHRS_View.cpp
index 25fd1414bf..c401cb474f 100644
--- a/libraries/AP_AHRS/AP_AHRS_View.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_View.cpp
@@ -90,14 +90,14 @@ Vector3f AP_AHRS_View::get_gyro_latest(void) const {
 }
 
 // rotate a 2D vector from earth frame to body frame
-Vector2f AP_AHRS_View::rotate_earth_to_body2D(const Vector2f &ef) const
+Vector2f AP_AHRS_View::earth_to_body2D(const Vector2f &ef) const
 {
     return Vector2f(ef.x * trig.cos_yaw + ef.y * trig.sin_yaw,
                     -ef.x * trig.sin_yaw + ef.y * trig.cos_yaw);
 }
 
 // rotate a 2D vector from earth frame to body frame
-Vector2f AP_AHRS_View::rotate_body_to_earth2D(const Vector2f &bf) const
+Vector2f AP_AHRS_View::body_to_earth2D(const Vector2f &bf) const
 {
     return Vector2f(bf.x * trig.cos_yaw - bf.y * trig.sin_yaw,
                     bf.x * trig.sin_yaw + bf.y * trig.cos_yaw);
diff --git a/libraries/AP_AHRS/AP_AHRS_View.h b/libraries/AP_AHRS/AP_AHRS_View.h
index 597117b71e..01832e621b 100644
--- a/libraries/AP_AHRS/AP_AHRS_View.h
+++ b/libraries/AP_AHRS/AP_AHRS_View.h
@@ -154,11 +154,11 @@ public:
 
     // rotate a 2D vector from earth frame to body frame
     // in result, x is forward, y is right
-    Vector2f rotate_earth_to_body2D(const Vector2f &ef_vector) const;
+    Vector2f earth_to_body2D(const Vector2f &ef_vector) const;
 
     // rotate a 2D vector from earth frame to body frame
     // in input, x is forward, y is right
-    Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
+    Vector2f body_to_earth2D(const Vector2f &bf) const;
 
     // return the average size of the roll/pitch error estimate
     // since last call