diff --git a/src/main/flight/autopilot.c b/src/main/flight/autopilot.c
index 3869d43015..c0929684c8 100644
--- a/src/main/flight/autopilot.c
+++ b/src/main/flight/autopilot.c
@@ -77,7 +77,7 @@ static posHoldState posHold = {
 };
 
 static gpsLocation_t currentTargetLocation = {0, 0, 0};
-float posHoldAngle[ANGLE_INDEX_COUNT];
+float autopilotAngle[ANGLE_INDEX_COUNT];
 static pt1Filter_t velocityPitchLpf;
 static pt1Filter_t accelerationPitchLpf;
 static pt1Filter_t velocityRollLpf;
@@ -328,25 +328,25 @@ bool positionControl(bool useStickAdjustment, float deadband) {
     // if done in pid.c, the same upsampler could be used for GPS and PosHold.
 
     // if a deadband is set, and sticks are outside deadband, allow pilot control, otherwise hold position
-    posHoldAngle[AI_ROLL] = (useStickAdjustment && getRcDeflectionAbs(FD_ROLL) > deadband) ? 0.0f : pidSumRoll;
-    posHoldAngle[AI_PITCH] = (useStickAdjustment && getRcDeflectionAbs(FD_PITCH) > deadband) ? 0.0f : pidSumPitch;
+    autopilotAngle[AI_ROLL] = (useStickAdjustment && getRcDeflectionAbs(FD_ROLL) > deadband) ? 0.0f : pidSumRoll;
+    autopilotAngle[AI_PITCH] = (useStickAdjustment && getRcDeflectionAbs(FD_PITCH) > deadband) ? 0.0f : pidSumPitch;
 
     // note:
     // if FLIGHT_MODE(POS_HOLD_MODE):
-    // posHoldAngle[] is added to angle setpoint in pid.c, in degrees
+    // autopilotAngle[] is added to angle setpoint in pid.c, in degrees
     // stick angle setpoint forced to zero within the same deadband via rc.c
 
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 0, lrintf(normalisedErrorAngle));
     if (gyroConfig()->gyro_filter_debug_axis == FD_ROLL) {
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(-distanceRoll));
-        DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(posHoldAngle[AI_ROLL] * 10));
+        DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(autopilotAngle[AI_ROLL] * 10));
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 4, lrintf(rollP * 10)); // degrees*10
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 5, lrintf(posHold.rollI * 10));
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 6, lrintf(rollD * 10));
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 7, lrintf(rollJ * 10));
     } else {
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(-distancePitch));
-        DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(posHoldAngle[AI_PITCH] * 10));
+        DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(autopilotAngle[AI_PITCH] * 10));
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 4, lrintf(pitchP * 10)); // degrees*10
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 5, lrintf(posHold.pitchI * 10));
         DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 6, lrintf(pitchD * 10));
diff --git a/src/main/flight/autopilot.h b/src/main/flight/autopilot.h
index b9e942f098..9f0bed58f2 100644
--- a/src/main/flight/autopilot.h
+++ b/src/main/flight/autopilot.h
@@ -21,7 +21,7 @@
 #include "flight/pid.h"
 #include "io/gps.h"
 
-extern float posHoldAngle[ANGLE_INDEX_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+extern float autopilotAngle[ANGLE_INDEX_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
 
 void autopilotInit(const autopilotConfig_t *config);
 void resetAltitudeControl(void);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 49d3af8c21..e3c807b103 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -569,7 +569,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
     angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
 #endif
 #ifdef USE_POS_HOLD_MODE
-    angleTarget += posHoldAngle[axis]; // posHoldAngle is in degrees, stepped at 10Hz
+    angleTarget += autopilotAngle[axis]; // autopilotAngle is in degrees, stepped at 10Hz
 #endif
 
     const float currentAngle = (attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f; // stepped at 500hz with some 4ms flat spots
diff --git a/src/main/flight/pos_hold.c b/src/main/flight/pos_hold.c
index c6aa4a024c..34710587e8 100644
--- a/src/main/flight/pos_hold.c
+++ b/src/main/flight/pos_hold.c
@@ -85,8 +85,8 @@ void posHoldNewGpsData(void) {
             posHold.posHoldIsOK = positionControl(posHold.useStickAdjustment, posHold.deadband);
         }
     } else {
-        posHoldAngle[AI_PITCH] = 0.0f;
-        posHoldAngle[AI_ROLL] = 0.0f;
+        autopilotAngle[AI_PITCH] = 0.0f;
+        autopilotAngle[AI_ROLL] = 0.0f;
     }
 }