diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 2db03c816f..105135f29b 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -34,9 +34,9 @@ void Copter::check_dynamic_flight(void)
 
     // with GPS lock use inertial nav to determine if we are moving
     if (position_ok()) {
-        // get horizontal velocity
-        float velocity = inertial_nav.get_velocity_xy();
-        moving = (velocity >= HELI_DYNAMIC_FLIGHT_SPEED_MIN);
+        // get horizontal speed
+        const float speed = inertial_nav.get_speed_xy();
+        moving = (speed >= HELI_DYNAMIC_FLIGHT_SPEED_MIN);
     }else{
         // with no GPS lock base it on throttle and forward lean angle
         moving = (motors->get_throttle() > 0.8f || ahrs.pitch_sensor < -1500);
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index d70181c230..7d24c33a00 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -605,7 +605,7 @@ void Copter::ModePosHold::poshold_update_wind_comp_estimate()
     }
 
     // check horizontal velocity is low
-    if (inertial_nav.get_velocity_xy() > POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX) {
+    if (inertial_nav.get_speed_xy() > POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX) {
         return;
     }