diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index b97b65ba5a..2ed0c0efd1 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -700,15 +700,15 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
 
  // set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
  // provide 0 to cut motors
-void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_boost, float filter_cutoff)
+void AC_AttitudeControl::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
 {
-    _throttle_in_filt.apply(throttle_out, _dt);
+    _throttle_in_filt.apply(throttle_in, _dt);
     _motors.set_stabilizing(true);
     _motors.set_throttle_filter_cutoff(filter_cutoff);
     if (apply_angle_boost) {
-        _motors.set_throttle(get_boosted_throttle(throttle_out));
+        _motors.set_throttle(get_boosted_throttle(throttle_in));
     }else{
-        _motors.set_throttle(throttle_out);
+        _motors.set_throttle(throttle_in);
         // clear angle_boost for logging purposes
         _angle_boost = 0;
     }
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index fa72cc004f..489ef8e6f4 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -206,7 +206,7 @@ public:
     //
 
      // set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
-     void set_throttle_out(float throttle_pwm, bool apply_angle_boost, float filt_cutoff);
+     void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff);
 
      // outputs a throttle to all motors evenly with no stabilization
      void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filt_cutoff);