diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index e592c83cce50f..8cf5b67f7b95e 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -152,7 +152,7 @@ void AP_ICEngine::update(void)
         Vector3f pos;
         if (!should_run) {
             state = ICE_OFF;
-        } else if (ahrs.get_relative_position_NED(pos)) {
+        } else if (ahrs.get_relative_position_NED_origin(pos)) {
             if (height_pending) {
                 height_pending = false;
                 initial_height = -pos.z;
@@ -201,7 +201,7 @@ void AP_ICEngine::update(void)
         if (state == ICE_START_HEIGHT_DELAY) {
             // when disarmed we can be waiting for takeoff
             Vector3f pos;
-            if (ahrs.get_relative_position_NED(pos)) {
+            if (ahrs.get_relative_position_NED_origin(pos)) {
                 // reset initial height while disarmed
                 initial_height = -pos.z;
             }