diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 33daed95511..6b513cbae5f 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -244,7 +244,7 @@ void Blimp::read_AHRS(void)
                                 pos_ned.x,
                                 pos_ned.y,
                                 pos_ned.z,
-                                blimp.ahrs.get_yaw());
+                                blimp.ahrs.get_yaw_rad());
 #endif
 }
 
diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp
index 7385edfb922..b508f145eb7 100644
--- a/Blimp/Loiter.cpp
+++ b/Blimp/Loiter.cpp
@@ -34,7 +34,7 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled
                                 scaler_xz, scaler_yyaw, scaler_xz_n, scaler_yyaw_n);
 #endif
 
-    float yaw_ef = blimp.ahrs.get_yaw();
+    float yaw_ef = blimp.ahrs.get_yaw_rad();
     Vector3f err_xyz = target_pos - blimp.pos_ned;
     float err_yaw = wrap_PI(target_yaw - yaw_ef);
 
@@ -96,7 +96,7 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled
         blimp.pid_vel_z.set_integrator(0);
         blimp.pid_vel_yaw.set_integrator(0);
         target_pos = blimp.pos_ned;
-        target_yaw = blimp.ahrs.get_yaw();
+        target_yaw = blimp.ahrs.get_yaw_rad();
     }
 
     if (zero.x) {
diff --git a/Blimp/mode_loiter.cpp b/Blimp/mode_loiter.cpp
index 725a7024808..b7b1f3670f5 100644
--- a/Blimp/mode_loiter.cpp
+++ b/Blimp/mode_loiter.cpp
@@ -9,7 +9,7 @@
 bool ModeLoiter::init(bool ignore_checks)
 {
     target_pos = blimp.pos_ned;
-    target_yaw = blimp.ahrs.get_yaw();
+    target_yaw = blimp.ahrs.get_yaw_rad();
 
     return true;
 }
@@ -41,7 +41,7 @@ void ModeLoiter::run()
     if (fabsf(target_pos.z-blimp.pos_ned.z) < (g.max_pos_z*POS_LAG)) {
         target_pos.z += pilot.z;
     }
-    if (fabsf(wrap_PI(target_yaw-ahrs.get_yaw())) < (g.max_pos_yaw*POS_LAG)) {
+    if (fabsf(wrap_PI(target_yaw-ahrs.get_yaw_rad())) < (g.max_pos_yaw*POS_LAG)) {
         target_yaw = wrap_PI(target_yaw + pilot_yaw);
     }