diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 0827e2a09ca9e..bb468a39939a5 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -77,12 +77,6 @@
 #include "defines.h"
 #include "config.h"
 
-#if FRAME_CONFIG == HELI_FRAME
-    #define AC_AttitudeControl_t AC_AttitudeControl_Heli
-#else
-    #define AC_AttitudeControl_t AC_AttitudeControl_Multi
-#endif
-
 #if FRAME_CONFIG == HELI_FRAME
  #define MOTOR_CLASS AP_MotorsHeli
 #else
@@ -485,7 +479,8 @@ class Copter : public AP_Vehicle {
 
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
-    AC_AttitudeControl_t *attitude_control;
+    AC_AttitudeControl *attitude_control;
+    const struct AP_Param::GroupInfo *attitude_control_var_info;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;
     AC_Loiter *loiter_nav;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index b449b18e146fc..80a79da030a7c 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -498,11 +498,7 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
-#if FRAME_CONFIG == HELI_FRAME
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
-#else
-    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
-#endif
+    GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),
 
     // @Group: PSC
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 3de08e4766a69..fb787077b9059 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -241,7 +241,7 @@ class Mode {
     AC_PosControl *&pos_control;
     AP_InertialNav &inertial_nav;
     AP_AHRS &ahrs;
-    AC_AttitudeControl_t *&attitude_control;
+    AC_AttitudeControl *&attitude_control;
     MOTOR_CLASS *&motors;
     RC_Channel *&channel_roll;
     RC_Channel *&channel_pitch;
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 6679766a3b41d..4c740a2e3b3e1 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -444,26 +444,24 @@ void Copter::allocate_motors(void)
         AP_BoardConfig::allocation_error("AP_AHRS_View");
     }
 
-    const struct AP_Param::GroupInfo *ac_var_info;
-
 #if FRAME_CONFIG != HELI_FRAME
     if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
 #if AP_SCRIPTING_ENABLED
         attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
-        ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
+        attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
 #endif // AP_SCRIPTING_ENABLED
     } else {
         attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
-        ac_var_info = AC_AttitudeControl_Multi::var_info;
+        attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
     }
 #else
     attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
-    ac_var_info = AC_AttitudeControl_Heli::var_info;
+    attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
 #endif
     if (attitude_control == nullptr) {
         AP_BoardConfig::allocation_error("AttitudeControl");
     }
-    AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
+    AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info);
         
     pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
     if (pos_control == nullptr) {
diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
index ada094b691e53..a5df09f11b8e8 100644
--- a/libraries/AC_CustomControl/AC_CustomControl.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -38,7 +38,7 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
 
 const struct AP_Param::GroupInfo *AC_CustomControl::_backend_var_info[CUSTOMCONTROL_MAX_TYPES];
 
-AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     _dt(dt),
     _ahrs(ahrs),
     _att_control(att_control),
diff --git a/libraries/AC_CustomControl/AC_CustomControl.h b/libraries/AC_CustomControl/AC_CustomControl.h
index 9cda1f21db6cb..e4405b3c28a77 100644
--- a/libraries/AC_CustomControl/AC_CustomControl.h
+++ b/libraries/AC_CustomControl/AC_CustomControl.h
@@ -6,7 +6,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_AHRS/AP_AHRS_View.h>
-#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h>
+#include <AC_AttitudeControl/AC_AttitudeControl.h>
 #include <AP_Motors/AP_MotorsMulticopter.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -20,7 +20,7 @@ class AC_CustomControl_Backend;
 
 class AC_CustomControl {
 public:
-    AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& _att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& _att_control, AP_MotorsMulticopter*& motors, float dt);
 
     CLASS_NO_COPY(AC_CustomControl);  /* Do not allow copies */
 
@@ -62,7 +62,7 @@ class AC_CustomControl {
 
     // References to external libraries
     AP_AHRS_View*& _ahrs;
-    AC_AttitudeControl_Multi*& _att_control;
+    AC_AttitudeControl*& _att_control;
     AP_MotorsMulticopter*& _motors;
 
     AP_Enum<CustomControlType> _controller_type;
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Backend.h b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
index c4068a7b1b8f4..5355ef9cbc18d 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Backend.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
@@ -7,7 +7,7 @@
 class AC_CustomControl_Backend
 {
 public:
-    AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+    AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
         _frontend(frontend),
         _ahrs(ahrs),
         _att_control(att_control),
@@ -29,7 +29,7 @@ class AC_CustomControl_Backend
 protected:
     // References to external libraries
     AP_AHRS_View*& _ahrs;
-    AC_AttitudeControl_Multi*& _att_control;
+    AC_AttitudeControl*& _att_control;
     AP_MotorsMulticopter*& _motors;
     AC_CustomControl& _frontend;
 };
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp b/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
index 222510c4f471d..5c0550b0898d9 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
@@ -28,7 +28,7 @@ const AP_Param::GroupInfo AC_CustomControl_Empty::var_info[] = {
 };
 
 // initialize in the constructor
-AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.h b/libraries/AC_CustomControl/AC_CustomControl_Empty.h
index 692815f1cc520..e3a6374d21624 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Empty.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_Empty.h
@@ -10,7 +10,7 @@
 
 class AC_CustomControl_Empty : public AC_CustomControl_Backend {
 public:
-    AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
 
 
     Vector3f update(void) override;
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
index ddf6a40c6b4e0..5535d44990940 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -1,4 +1,5 @@
 #include "AC_CustomControl_PID.h"
+#include "AC_AttitudeControl/AC_AttitudeControl_Multi.h"
 
 #if CUSTOMCONTROL_PID_ENABLED
 
@@ -315,7 +316,7 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     AP_GROUPEND
 };
 
-AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt),
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.h b/libraries/AC_CustomControl/AC_CustomControl_PID.h
index b3cdf68884475..75649a5dd92bf 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.h
@@ -15,7 +15,7 @@
 
 class AC_CustomControl_PID : public AC_CustomControl_Backend {
 public:
-    AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
 
     // run lowest level body-frame rate controller and send outputs to the motors
     Vector3f update() override;