diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 28fedcac0c..f64f115cb3 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1075,9 +1075,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             } else if (is_equal(packet.param5,2.0f)) {
                 // accel trim
                 float trim_roll, trim_pitch;
-                if(ins.calibrate_trim(trim_roll, trim_pitch)) {
+                if(plane.ins.calibrate_trim(trim_roll, trim_pitch)) {
                     // reset ahrs's trim to suggested values from calibration routine
-                    ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
+                    plane.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
                     result = MAV_RESULT_ACCEPTED;
                 } else {
                     result = MAV_RESULT_FAILED;