diff --git a/ArduSub/mode_althold.cpp b/ArduSub/mode_althold.cpp
index 346e639550b..5566cc56e51 100644
--- a/ArduSub/mode_althold.cpp
+++ b/ArduSub/mode_althold.cpp
@@ -9,7 +9,7 @@ bool ModeAlthold::init(bool ignore_checks) {
     // initialize vertical maximum speeds and acceleration
     // sets the maximum speed up and down returned by position controller
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
-    position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
     // initialise position and desired velocity
     position_control->init_U_controller();
diff --git a/ArduSub/mode_auto.cpp b/ArduSub/mode_auto.cpp
index 36acdf11173..ebeecdb0f96 100644
--- a/ArduSub/mode_auto.cpp
+++ b/ArduSub/mode_auto.cpp
@@ -459,7 +459,7 @@ bool ModeAuto::auto_terrain_recover_start()
 
     // initialize vertical maximum speeds and acceleration
     position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
-    position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
+    position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
 
     gcs().send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
     return true;
diff --git a/ArduSub/mode_circle.cpp b/ArduSub/mode_circle.cpp
index c5abf76df3e..5516eee7ec4 100644
--- a/ArduSub/mode_circle.cpp
+++ b/ArduSub/mode_circle.cpp
@@ -17,7 +17,7 @@ bool ModeCircle::init(bool ignore_checks)
     position_control->set_max_speed_accel_NE_cm(sub.wp_nav.get_default_speed_NE_cms(), sub.wp_nav.get_wp_acceleration_cmss());
     position_control->set_correction_speed_accel_NE_cm(sub.wp_nav.get_default_speed_NE_cms(), sub.wp_nav.get_wp_acceleration_cmss());
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
-    position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
     // initialise circle controller including setting the circle center based on vehicle speed
     sub.circle_nav.init();
diff --git a/ArduSub/mode_guided.cpp b/ArduSub/mode_guided.cpp
index 72561906878..ea9249de00a 100644
--- a/ArduSub/mode_guided.cpp
+++ b/ArduSub/mode_guided.cpp
@@ -105,7 +105,7 @@ void ModeGuided::guided_vel_control_start()
 
     // initialize vertical maximum speeds and acceleration
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
-    position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
     // initialise velocity controller
     position_control->init_U_controller();
@@ -124,7 +124,7 @@ void ModeGuided::guided_posvel_control_start()
 
     // set vertical speed and acceleration
     position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
-    position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
+    position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
 
     // initialise velocity controller
     position_control->init_U_controller();
@@ -143,7 +143,7 @@ void ModeGuided::guided_angle_control_start()
 
     // set vertical speed and acceleration
     position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
-    position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
+    position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
 
     // initialise velocity controller
     position_control->init_U_controller();
diff --git a/ArduSub/mode_poshold.cpp b/ArduSub/mode_poshold.cpp
index 3a022db6dfd..b17f9019736 100644
--- a/ArduSub/mode_poshold.cpp
+++ b/ArduSub/mode_poshold.cpp
@@ -18,7 +18,7 @@ bool ModePoshold::init(bool ignore_checks)
     position_control->set_max_speed_accel_NE_cm(g.pilot_speed, g.pilot_accel_z);
     position_control->set_correction_speed_accel_NE_cm(g.pilot_speed, g.pilot_accel_z);
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
-    position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
     // initialise position and desired velocity
     position_control->init_NE_controller_stopping_point();
diff --git a/ArduSub/mode_surface.cpp b/ArduSub/mode_surface.cpp
index 6615553363e..2b0b3f8bf2a 100644
--- a/ArduSub/mode_surface.cpp
+++ b/ArduSub/mode_surface.cpp
@@ -7,7 +7,7 @@ bool ModeSurface::init(bool ignore_checks)
 
     // initialize vertical speeds and acceleration
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
-    position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
 
     // initialise position and desired velocity
     position_control->init_U_controller();