diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 0fc0b86b7d..ac1186ec7f 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -347,7 +347,7 @@ private:
 
     // 3D Location vectors
     // Current location of the Sub (altitude is relative to home)
-    Location_Class current_loc;
+    Location current_loc;
 
     // Navigation Yaw control
     // auto flight mode's yaw mode
@@ -522,10 +522,10 @@ private:
     bool auto_init(void);
     void auto_run();
     void auto_wp_start(const Vector3f& destination);
-    void auto_wp_start(const Location_Class& dest_loc);
+    void auto_wp_start(const Location& dest_loc);
     void auto_wp_run();
     void auto_spline_run();
-    void auto_circle_movetoedge_start(const Location_Class &circle_center, float radius_m);
+    void auto_circle_movetoedge_start(const Location &circle_center, float radius_m);
     void auto_circle_start();
     void auto_circle_run();
     void auto_nav_guided_start();
@@ -545,7 +545,7 @@ private:
     void guided_posvel_control_start();
     void guided_angle_control_start();
     bool guided_set_destination(const Vector3f& destination);
-    bool guided_set_destination(const Location_Class& dest_loc);
+    bool guided_set_destination(const Location& dest_loc);
     void guided_set_velocity(const Vector3f& velocity);
     bool guided_set_destination_posvel(const Vector3f& destination, const Vector3f& velocity);
     void guided_set_angle(const Quaternion &q, float climb_rate_cms);
@@ -658,7 +658,7 @@ private:
 #endif
     bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
 
-    void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
+    void auto_spline_start(const Location& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location& next_destination);
     void log_init(void);
     void init_capabilities(void);
     void accel_cal_update(void);
diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index 343aa58481..5e9f7b3889 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -12,7 +12,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
         DataFlash.Log_Write_Mission_Cmd(mission, cmd);
     }
 
-    Location_Class target_loc(cmd.content.location);
+    const Location &target_loc = cmd.content.location;
 
     // target alt must be negative (underwater)
     if (target_loc.alt > 0.0f) {
@@ -21,7 +21,7 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
     }
 
     // only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth
-    if (target_loc.get_alt_frame() != Location_Class::ALT_FRAME_ABOVE_HOME) {
+    if (target_loc.get_alt_frame() != Location::ALT_FRAME_ABOVE_HOME) {
         gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame());
         return false;
     }
@@ -227,7 +227,7 @@ void Sub::exit_mission()
 // do_nav_wp - initiate move to next waypoint
 void Sub::do_nav_wp(const AP_Mission::Mission_Command& cmd)
 {
-    Location_Class target_loc(cmd.content.location);
+    Location target_loc(cmd.content.location);
     // use current lat, lon if zero
     if (target_loc.lat == 0 && target_loc.lng == 0) {
         target_loc.lat = current_loc.lat;
@@ -262,7 +262,7 @@ void Sub::do_nav_wp(const AP_Mission::Mission_Command& cmd)
 // do_surface - initiate surface procedure
 void Sub::do_surface(const AP_Mission::Mission_Command& cmd)
 {
-    Location_Class target_location;
+    Location target_location;
 
     // if location provided we fly to that location at current altitude
     if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
@@ -271,24 +271,24 @@ void Sub::do_surface(const AP_Mission::Mission_Command& cmd)
 
         // calculate and set desired location below surface target
         // convert to location class
-        target_location = Location_Class(cmd.content.location);
+        target_location = Location(cmd.content.location);
 
         // decide if we will use terrain following
         int32_t curr_terr_alt_cm, target_terr_alt_cm;
-        if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
-                target_location.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
+        if (current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
+                target_location.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
             // if using terrain, set target altitude to current altitude above terrain
-            target_location.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN);
+            target_location.set_alt_cm(curr_terr_alt_cm, Location::ALT_FRAME_ABOVE_TERRAIN);
         } else {
             // set target altitude to current altitude above home
-            target_location.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
+            target_location.set_alt_cm(current_loc.alt, Location::ALT_FRAME_ABOVE_HOME);
         }
     } else {
         // set surface state to ascend
         auto_surface_state = AUTO_SURFACE_STATE_ASCEND;
 
         // Set waypoint destination to current location at zero depth
-        target_location = Location_Class(current_loc.lat, current_loc.lng, 0, Location_Class::ALT_FRAME_ABOVE_HOME);
+        target_location = Location(current_loc.lat, current_loc.lng, 0, Location::ALT_FRAME_ABOVE_HOME);
     }
 
     // Go to wp location
@@ -305,14 +305,14 @@ void Sub::do_RTL()
 void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
 {
     // convert back to location
-    Location_Class target_loc(cmd.content.location);
+    Location target_loc(cmd.content.location);
 
     // use current location if not provided
     if (target_loc.lat == 0 && target_loc.lng == 0) {
         // To-Do: make this simpler
         Vector3f temp_pos;
         wp_nav.get_wp_stopping_point_xy(temp_pos);
-        Location_Class temp_loc(temp_pos);
+        Location temp_loc(temp_pos);
         target_loc.lat = temp_loc.lat;
         target_loc.lng = temp_loc.lng;
     }
@@ -342,7 +342,7 @@ void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
 // do_circle - initiate moving in a circle
 void Sub::do_circle(const AP_Mission::Mission_Command& cmd)
 {
-    Location_Class circle_center(cmd.content.location);
+    Location circle_center(cmd.content.location);
 
     // default lat/lon to current position if not provided
     // To-Do: use stopping point or position_controller's target instead of current location to avoid jerk?
@@ -386,7 +386,7 @@ void Sub::do_loiter_time(const AP_Mission::Mission_Command& cmd)
 // do_spline_wp - initiate move to next waypoint
 void Sub::do_spline_wp(const AP_Mission::Mission_Command& cmd)
 {
-    Location_Class target_loc(cmd.content.location);
+    Location target_loc(cmd.content.location);
     // use current lat, lon if zero
     if (target_loc.lat == 0 && target_loc.lng == 0) {
         target_loc.lat = current_loc.lat;
@@ -426,7 +426,7 @@ void Sub::do_spline_wp(const AP_Mission::Mission_Command& cmd)
     }
 
     // if there is no delay at the end of this segment get next nav command
-    Location_Class next_loc;
+    Location next_loc;
     if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
         next_loc = temp_cmd.content.location;
         // default lat, lon to first waypoint's lat, lon
@@ -536,7 +536,7 @@ bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd)
             if (wp_nav.reached_wp_destination()) {
                 // Set target to current xy and zero depth
                 // TODO get xy target from current wp destination, because current location may be acceptance-radius away from original destination
-                Location_Class target_location(cmd.content.location.lat, cmd.content.location.lng, 0, Location_Class::ALT_FRAME_ABOVE_HOME);
+                Location target_location(cmd.content.location.lat, cmd.content.location.lng, 0, Location::ALT_FRAME_ABOVE_HOME);
 
                 auto_wp_start(target_location);
 
@@ -740,20 +740,16 @@ bool Sub::do_guided(const AP_Mission::Mission_Command& cmd)
 
     case MAV_CMD_NAV_WAYPOINT: {
         // set wp_nav's destination
-        Location_Class dest(cmd.content.location);
-        return guided_set_destination(dest);
-        break;
+        return guided_set_destination(cmd.content.location);
     }
 
     case MAV_CMD_CONDITION_YAW:
         do_yaw(cmd);
         return true;
-        break;
 
     default:
         // reject unrecognised command
         return false;
-        break;
     }
 
     return true;
diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
index 1925fd94c3..11ab23f248 100644
--- a/ArduSub/control_auto.cpp
+++ b/ArduSub/control_auto.cpp
@@ -89,7 +89,7 @@ void Sub::auto_wp_start(const Vector3f& destination)
 }
 
 // auto_wp_start - initialises waypoint controller to implement flying to a particular destination
-void Sub::auto_wp_start(const Location_Class& dest_loc)
+void Sub::auto_wp_start(const Location& dest_loc)
 {
     auto_mode = Auto_WP;
 
@@ -174,9 +174,9 @@ void Sub::auto_wp_run()
 
 // auto_spline_start - initialises waypoint controller to implement flying to a particular destination using the spline controller
 //  seg_end_type can be SEGMENT_END_STOP, SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE.  If Straight or Spline the next_destination should be provided
-void Sub::auto_spline_start(const Location_Class& destination, bool stopped_at_start,
+void Sub::auto_spline_start(const Location& destination, bool stopped_at_start,
                             AC_WPNav::spline_segment_end_type seg_end_type,
-                            const Location_Class& next_destination)
+                            const Location& next_destination)
 {
     auto_mode = Auto_Spline;
 
@@ -252,7 +252,7 @@ void Sub::auto_spline_run()
 // auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
 //  we assume the caller has set the circle's circle with circle_nav.set_center()
 //  we assume the caller has performed all required GPS_ok checks
-void Sub::auto_circle_movetoedge_start(const Location_Class &circle_center, float radius_m)
+void Sub::auto_circle_movetoedge_start(const Location &circle_center, float radius_m)
 {
     // convert location to vector from ekf origin
     Vector3f circle_center_neu;
@@ -278,8 +278,8 @@ void Sub::auto_circle_movetoedge_start(const Location_Class &circle_center, floa
         // set the state to move to the edge of the circle
         auto_mode = Auto_CircleMoveToEdge;
 
-        // convert circle_edge_neu to Location_Class
-        Location_Class circle_edge(circle_edge_neu);
+        // convert circle_edge_neu to Location
+        Location circle_edge(circle_edge_neu);
 
         // convert altitude to same as command
         circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
index eceae3eb33..49d97fd7ae 100644
--- a/ArduSub/control_guided.cpp
+++ b/ArduSub/control_guided.cpp
@@ -147,7 +147,7 @@ bool Sub::guided_set_destination(const Vector3f& destination)
 
 #if AC_FENCE == ENABLED
     // reject destination if outside the fence
-    Location_Class dest_loc(destination);
+    const Location dest_loc(destination);
     if (!fence.check_destination_within_fence(dest_loc)) {
         Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
@@ -166,7 +166,7 @@ bool Sub::guided_set_destination(const Vector3f& destination)
 // sets guided mode's target from a Location object
 // returns false if destination could not be set (probably caused by missing terrain data)
 // or if the fence is enabled and guided waypoint is outside the fence
-bool Sub::guided_set_destination(const Location_Class& dest_loc)
+bool Sub::guided_set_destination(const Location& dest_loc)
 {
     // ensure we are in position control mode
     if (guided_mode != Guided_WP) {
@@ -219,7 +219,7 @@ bool Sub::guided_set_destination_posvel(const Vector3f& destination, const Vecto
 
 #if AC_FENCE == ENABLED
     // reject destination if outside the fence
-    Location_Class dest_loc(destination);
+    const Location dest_loc(destination);
     if (!fence.check_destination_within_fence(dest_loc)) {
         Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index cd360c4014..1c306ee367 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -117,7 +117,7 @@ void Sub::init_ardupilot()
 
     // init Location class
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
-    Location_Class::set_terrain(&terrain);
+    Location::set_terrain(&terrain);
     wp_nav.set_terrain(&terrain);
 #endif