diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e7e4edc0af..f0f47e31ab 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2011,7 +2011,7 @@ static void update_navigation()
 	if(yaw_mode == YAW_LOOK_AT_HOME){
 		if(home_is_set){
 			//nav_yaw = point_at_home_yaw();
-			nav_yaw = get_bearing(&current_loc, &home);
+			nav_yaw = get_bearing_cd(&current_loc, &home);
 		} else {
 			nav_yaw = 0;
 		}
@@ -2457,13 +2457,13 @@ static void update_nav_wp()
 static void update_auto_yaw()
 {
 	if(wp_control == CIRCLE_MODE){
-		auto_yaw = get_bearing(&current_loc, &circle_WP);
+		auto_yaw = get_bearing_cd(&current_loc, &circle_WP);
 
 	}else if(wp_control == LOITER_MODE){
 		// just hold nav_yaw
 
 	}else if(yaw_tracking == MAV_ROI_LOCATION){
-		auto_yaw = get_bearing(&current_loc, &target_WP);
+		auto_yaw = get_bearing_cd(&current_loc, &target_WP);
 
 	}else if(yaw_tracking == MAV_ROI_WPNEXT){
 		// Point towards next WP
diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index bac23ad636..11ed5e868a 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -166,7 +166,7 @@ static void set_next_WP(struct Location *wp)
 	// this is handy for the groundstation
 	// -----------------------------------
 	wp_distance 		= get_distance_cm(&current_loc, &next_WP);
-	target_bearing 		= get_bearing(&prev_WP, &next_WP);
+	target_bearing 		= get_bearing_cd(&prev_WP, &next_WP);
 
 	// calc the location error:
 	calc_location_error(&next_WP);
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 4434b9b6cf..df18e6a43a 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -874,7 +874,7 @@ static void do_nav_roi()
 	if( camera_mount.get_mount_type() == AP_Mount::k_tilt_roll ) {
 		yaw_tracking = MAV_ROI_LOCATION;
 		target_WP = command_nav_queue;
-		auto_yaw = get_bearing(&current_loc, &target_WP);
+		auto_yaw = get_bearing_cd(&current_loc, &target_WP);
 	}
 	// send the command to the camera mount
 	camera_mount.set_roi_cmd(&command_nav_queue);
@@ -889,6 +889,6 @@ static void do_nav_roi()
 	// if we have no camera mount simply rotate the quad
 	yaw_tracking = MAV_ROI_LOCATION;
 	target_WP = command_nav_queue;
-	auto_yaw = get_bearing(&current_loc, &target_WP);
+	auto_yaw = get_bearing_cd(&current_loc, &target_WP);
 #endif
 }
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 4f0dbde0b5..a7b270b8bb 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -12,8 +12,8 @@ static void navigate()
 
 	// target_bearing is where we should be heading
 	// --------------------------------------------
-	target_bearing 			= get_bearing(&current_loc, &next_WP);
-	home_to_copter_bearing 	= get_bearing(&home, &current_loc);
+	target_bearing 			= get_bearing_cd(&current_loc, &next_WP);
+	home_to_copter_bearing 	= get_bearing_cd(&home, &current_loc);
 }
 
 static bool check_missed_wp()