diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 9290651b69..b524f77094 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -174,8 +174,7 @@ public:
     void update() override;
 
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
-    bool isHeadingLinedUp(const float bearing);
-    bool isHeadingLinedUp(const int32_t bearing_cd);
+    bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
 protected:
 
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index 5d993f4f3f..820b0ed48d 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -29,6 +29,9 @@ void ModeLoiter::update()
 
 bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc)
 {
+    // Return true if current heading is aligned to vector to targetLoc.
+    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
+
     const uint16_t loiterRadius = abs(plane.aparm.loiter_radius);
     if (loiterCenterLoc.get_distance(targetLoc) < loiterRadius + loiterRadius*0.05) {
         /* Whenever next waypoint is within the loiter radius plus 5%,
@@ -40,17 +43,15 @@ bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location
 
     // Bearing in centi-degrees
     const int32_t bearing_cd = plane.current_loc.get_bearing_to(targetLoc);
-    return isHeadingLinedUp(bearing_cd);
+    return isHeadingLinedUp_cd(bearing_cd);
 }
 
-bool ModeLoiter::isHeadingLinedUp(const float bearing)
-{
-    const int32_t bearing_cd = bearing*100;
-    return isHeadingLinedUp(bearing_cd);
-}
 
-bool ModeLoiter::isHeadingLinedUp(const int32_t bearing_cd)
+bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
 {
+    // Return true if current heading is aligned to bearing_cd.
+    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
+
     // get current heading.
     const int32_t heading_cd = plane.gps.ground_course_cd();
 
diff --git a/ArduPlane/soaring.cpp b/ArduPlane/soaring.cpp
index 992d78ed75..740d608cd7 100644
--- a/ArduPlane/soaring.cpp
+++ b/ArduPlane/soaring.cpp
@@ -142,7 +142,7 @@ void Plane::update_soaring() {
             }
 
         case Mode::Number::CRUISE: {
-            const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp(cruise_state.locked_heading_cd);
+            const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd);
             if (cruise_state.locked_heading && !headingLinedupToCruise && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
                 break;
             }