diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index c28465b02c..ca91d48a8a 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -718,11 +718,11 @@ void AP_AHRS::reset()
 }
 
 // dead-reckoning support
-bool AP_AHRS::get_position(struct Location &loc) const
+bool AP_AHRS::get_location(struct Location &loc) const
 {
     switch (active_EKF_type()) {
     case EKFType::NONE:
-        return dcm.get_position(loc);
+        return dcm.get_location(loc);
 
 #if HAL_NAVEKF2_AVAILABLE
     case EKFType::TWO:
@@ -763,7 +763,7 @@ bool AP_AHRS::get_position(struct Location &loc) const
 
     // fall back to position from DCM
     if (!always_use_EKF()) {
-        return dcm.get_position(loc);
+        return dcm.get_location(loc);
     }
     return false;
 }
@@ -1170,7 +1170,7 @@ bool AP_AHRS::get_secondary_position(struct Location &loc) const
 
     case EKFType::NONE:
         // return DCM position
-        dcm.get_position(loc);
+        dcm.get_location(loc);
         return true;
 
 #if HAL_NAVEKF2_AVAILABLE
@@ -1539,7 +1539,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
             return false;
         }
         Location loc, orgn;
-        if (!get_position(loc) ||
+        if (!get_location(loc) ||
             !get_origin(orgn)) {
             return false;
         }
@@ -1613,7 +1613,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM: {
         Location loc, orgn;
-        if (!get_position(loc) ||
+        if (!get_location(loc) ||
             !get_origin(orgn)) {
             return false;
         }
@@ -1624,7 +1624,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
 #if HAL_EXTERNAL_AHRS_ENABLED
     case EKFType::EXTERNAL: {
         Location loc, orgn;
-        if (!get_position(loc) ||
+        if (!get_location(loc) ||
             !get_origin(orgn)) {
             return false;
         }
@@ -1698,7 +1698,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
     case EKFType::EXTERNAL: {
         Location orgn, loc;
         if (!get_origin(orgn) ||
-            !get_position(loc)) {
+            !get_location(loc)) {
             return false;
         }
         posD = -(loc.alt - orgn.alt)*0.01;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index a4aa7d9fa7..c725a73b70 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -105,7 +105,7 @@ public:
     void            reset();
 
     // dead-reckoning support
-    bool get_position(struct Location &loc) const;
+    bool get_location(struct Location &loc) const;
 
     // get latest altitude estimate above ground level in meters and validity flag
     bool get_hagl(float &hagl) const WARN_IF_UNUSED;
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index 56d3db67b7..a3c079d5e8 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -116,7 +116,7 @@ public:
 
     // get our current position estimate. Return true if a position is available,
     // otherwise false. This call fills in lat, lng and alt
-    virtual bool get_position(struct Location &loc) const WARN_IF_UNUSED = 0;
+    virtual bool get_location(struct Location &loc) const WARN_IF_UNUSED = 0;
 
     // get latest altitude estimate above ground level in meters and validity flag
     virtual bool get_hagl(float &height) const WARN_IF_UNUSED { return false; }
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 52734efa1b..d8b9f218c0 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1044,7 +1044,7 @@ void AP_AHRS_DCM::estimate_wind(void)
 
 // return our current position estimate using
 // dead-reckoning or GPS
-bool AP_AHRS_DCM::get_position(struct Location &loc) const
+bool AP_AHRS_DCM::get_location(struct Location &loc) const
 {
     loc.lat = _last_lat;
     loc.lng = _last_lng;
@@ -1239,7 +1239,7 @@ bool AP_AHRS_DCM::get_relative_position_NED_origin(Vector3f &posNED) const
         return false;
     }
     Location loc;
-    if (!AP_AHRS_DCM::get_position(loc)) {
+    if (!AP_AHRS_DCM::get_location(loc)) {
         return false;
     }
     posNED = origin.get_distance_NED(loc);
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 4656955278..d7776298cb 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -62,7 +62,7 @@ public:
     }
 
     // dead-reckoning support
-    virtual bool get_position(struct Location &loc) const override;
+    virtual bool get_location(struct Location &loc) const override;
 
     // status reporting
     float           get_error_rp() const {
diff --git a/libraries/AP_AHRS/AP_AHRS_Logging.cpp b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
index b42c7c57f8..0be7c3956d 100644
--- a/libraries/AP_AHRS/AP_AHRS_Logging.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
@@ -80,7 +80,7 @@ void AP_AHRS::Write_Origin(LogOriginType origin_type, const Location &loc) const
 void AP_AHRS::Write_POS() const
 {
     Location loc;
-    if (!get_position(loc)) {
+    if (!get_location(loc)) {
         return;
     }
     float home, origin;
diff --git a/libraries/AP_AHRS/AP_AHRS_View.h b/libraries/AP_AHRS/AP_AHRS_View.h
index a5c9440ef1..36fcb85a8e 100644
--- a/libraries/AP_AHRS/AP_AHRS_View.h
+++ b/libraries/AP_AHRS/AP_AHRS_View.h
@@ -85,8 +85,8 @@ public:
       wrappers around ahrs functions which pass-thru directly. See
       AP_AHRS.h for description of each function
      */
-    bool get_position(struct Location &loc) const WARN_IF_UNUSED {
-        return ahrs.get_position(loc);
+    bool get_location(struct Location &loc) const WARN_IF_UNUSED {
+        return ahrs.get_location(loc);
     }
 
     Vector3f wind_estimate(void) {