diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index c0304da8db6..d769067bbd3 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -42,7 +42,7 @@ void Copter::update_throttle_hover()
     }
 
     // do not update while climbing or descending
-    if (!is_zero(pos_control->get_vel_desired_NEU_cms().z)) {
+    if (!is_zero(pos_control->get_vel_desired_NEU_ms().z)) {
         return;
     }
 
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index ddab8476327..71a2f5fc8a7 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -68,7 +68,7 @@ void Copter::Log_Write_Control_Tuning()
 #endif
         terr_alt            : terr_alt,
         target_climb_rate   : int16_t(target_climb_rate_ms * 100.0),
-        climb_rate          : int16_t(pos_control->get_vel_estimate_NEU_cms().z) // float -> int16_t
+        climb_rate          : int16_t(pos_control->get_vel_estimate_NEU_ms().z * 100.0) // float -> int16_t
     };
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 1bb0992e4a6..389b0b7ec77 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -86,7 +86,7 @@ void Copter::update_land_detector()
 #if MODE_AUTOROTATE_ENABLED
                                     || (flightmode->mode_number() == Mode::Number::AUTOROTATE && motors->get_below_land_min_coll())
 #endif
-                                    || ((!get_force_flying() || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_NEU_cms().z < 0.0f);
+                                    || ((!get_force_flying() || landing) && motors->limit.throttle_lower && pos_control->get_vel_desired_NEU_ms().z < 0.0f);
         bool throttle_mix_at_min = true;
 #else
         // check that the average throttle output is near minimum (less than 12.5% hover throttle)
@@ -309,7 +309,7 @@ void Copter::update_throttle_mix()
         const bool accel_moving = (land_accel_ef_filter.get().length() > LAND_CHECK_ACCEL_MOVING);
 
         // check for requested descent
-        bool descent_not_demanded = pos_control->get_vel_desired_NEU_cms().z >= 0.0f;
+        bool descent_not_demanded = pos_control->get_vel_desired_NEU_ms().z >= 0.0f;
 
         // check if landing
         const bool landing = flightmode->is_landing();
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 4ce0540a25e..7eb1ff14847 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1454,7 +1454,7 @@ void PayloadPlace::run()
     case State::Ascent_Start:
         copter.flightmode->land_run_horizontal_control();
         // update altitude target and call position controller
-        pos_control->land_at_climb_rate_cms(0.0, false);
+        pos_control->land_at_climb_rate_ms(0.0, false);
         break;
     case State::Ascent:
     case State::Done:
@@ -1533,9 +1533,9 @@ Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Lo
     if (ret.alt == 0) {
         // set to default_loc's altitude but in command's alt frame
         // note that this may use the terrain database
-        int32_t default_alt_cm;
-        if (default_loc.get_alt_cm(ret.get_alt_frame(), default_alt_cm)) {
-            ret.set_alt_cm(default_alt_cm, ret.get_alt_frame());
+        float default_alt_m;
+        if (default_loc.get_alt_m(ret.get_alt_frame(), default_alt_m)) {
+            ret.set_alt_m(default_alt_m, ret.get_alt_frame());
         } else {
             // default to default_loc's altitude and frame
             ret.copy_alt_from(default_loc);
diff --git a/ArduCopter/mode_circle.cpp b/ArduCopter/mode_circle.cpp
index 3d8b8e6bc35..73ddf2cecd0 100644
--- a/ArduCopter/mode_circle.cpp
+++ b/ArduCopter/mode_circle.cpp
@@ -30,7 +30,7 @@ bool ModeCircle::init(bool ignore_checks)
             return false;
         }
         // point at the ground:
-        circle_center.set_alt_cm(0, Location::AltFrame::ABOVE_TERRAIN);
+        circle_center.set_alt_m(0, Location::AltFrame::ABOVE_TERRAIN);
         AP_Mount *s = AP_Mount::get_singleton();
         s->set_roi_target(circle_center);
     }
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index 7117a8a3a9d..c2ec5f0ef67 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -47,7 +47,7 @@ bool ModeLoiter::do_precision_loiter()
         return false;        // don't move on the ground
     }
     // if the pilot *really* wants to move the vehicle, let them....
-    if (loiter_nav->get_pilot_desired_acceleration_NE_cmss().length() > 50.0f) {
+    if (loiter_nav->get_pilot_desired_acceleration_NE_mss().length() > 0.5) {
         return false;
     }
     if (!copter.precland.target_acquired()) {