diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 035d035e16..8bbb79d5ee 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -59,7 +59,7 @@ Loiter::Loiter(Navigator *navigator, const char *name) :
 	/* load initial params */
 	updateParams();
 	/* initial reset */
-	reset();
+	on_inactive();
 }
 
 Loiter::~Loiter()
@@ -67,14 +67,14 @@ Loiter::~Loiter()
 }
 
 bool
-Loiter::update(struct position_setpoint_triplet_s *pos_sp_triplet)
+Loiter::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
 {
 	/* set loiter item, don't reuse an existing position setpoint */
 	return set_loiter_item(false, pos_sp_triplet);;
 }
 
 void
-Loiter::reset()
+Loiter::on_inactive()
 {
 }
 
diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h
index a83b53f438..685ae61410 100644
--- a/src/modules/navigator/loiter.h
+++ b/src/modules/navigator/loiter.h
@@ -63,12 +63,12 @@ public:
 	/**
 	 * This function is called while the mode is inactive
 	 */
-	bool update(struct position_setpoint_triplet_s *pos_sp_triplet);
+	virtual void on_inactive();
 
 	/**
 	 * This function is called while the mode is active
 	 */
-	void reset();
+	virtual bool on_active(struct position_setpoint_triplet_s *pos_sp_triplet);
 };
 
 #endif