diff --git a/libraries/AC_WPNav/AC_Loiter.cpp b/libraries/AC_WPNav/AC_Loiter.cpp
index 1f92bc4609..f65d284036 100644
--- a/libraries/AC_WPNav/AC_Loiter.cpp
+++ b/libraries/AC_WPNav/AC_Loiter.cpp
@@ -186,7 +186,7 @@ void AC_Loiter::get_stopping_point_xy(Vector2f& stopping_point) const
 float AC_Loiter::get_angle_max_cd() const
 {
     if (is_zero(_angle_max)) {
-        return MIN(_attitude_control.lean_angle_max(), _pos_control.get_lean_angle_max_cd()) * (2.0f/3.0f);
+        return MIN(_attitude_control.lean_angle_max_cd(), _pos_control.get_lean_angle_max_cd()) * (2.0f/3.0f);
     }
     return MIN(_angle_max*100.0f, _pos_control.get_lean_angle_max_cd());
 }
@@ -202,7 +202,7 @@ void AC_Loiter::update(bool avoidance_on)
 void AC_Loiter::sanity_check_params()
 {
     _speed_cms = MAX(_speed_cms, LOITER_SPEED_MIN);
-    _accel_cmss = MIN(_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max() * 0.01f)));
+    _accel_cmss = MIN(_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max_cd() * 0.01f)));
 }
 
 /// calc_desired_velocity - updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance
diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index cb9a2ccd72..9379ab66ab 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -150,7 +150,7 @@ void AC_WPNav::wp_and_spline_init(float speed_cms)
     
     // sanity check parameters
     // check _wp_accel_cmss is reasonable
-    const float wp_accel_cmss = MIN(_wp_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max() * 0.01f)));
+    const float wp_accel_cmss = MIN(_wp_accel_cmss, GRAVITY_MSS * 100.0f * tanf(ToRad(_attitude_control.lean_angle_max_cd() * 0.01f)));
     _wp_accel_cmss.set_and_save_ifchanged((_wp_accel_cmss <= 0) ? WPNAV_ACCELERATION : wp_accel_cmss);
     
     // check _wp_radius_cm is reasonable