diff --git a/msg/versioned/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg
index 856e1a80e3..a42b4edc8f 100644
--- a/msg/versioned/VehicleStatus.msg
+++ b/msg/versioned/VehicleStatus.msg
@@ -40,7 +40,7 @@ uint8 NAVIGATION_STATE_AUTO_MISSION = 3         # Auto mission mode
 uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
-uint8 NAVIGATION_STATE_AUTO_RTL_DR = 7		# Auto dead-reckoning return to launch mode
+uint8 NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING = 7		# Auto dead-reckoning return to launch mode
 uint8 NAVIGATION_STATE_FREE4 = 8
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
diff --git a/src/lib/modes/ui.hpp b/src/lib/modes/ui.hpp
index 014fad4c87..84744a180f 100644
--- a/src/lib/modes/ui.hpp
+++ b/src/lib/modes/ui.hpp
@@ -52,7 +52,7 @@ static inline uint32_t getValidNavStates()
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_POSITION_SLOW) |
-	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR) |
+	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_ACRO) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_OFFBOARD) |
diff --git a/src/modules/commander/ModeUtil/control_mode.cpp b/src/modules/commander/ModeUtil/control_mode.cpp
index 8a2003bc3b..f5037f3cb6 100644
--- a/src/modules/commander/ModeUtil/control_mode.cpp
+++ b/src/modules/commander/ModeUtil/control_mode.cpp
@@ -106,7 +106,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
 		vehicle_control_mode.flag_control_allocation_enabled = true;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING:
 	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 		vehicle_control_mode.flag_control_auto_enabled = true;
 		vehicle_control_mode.flag_control_climb_rate_enabled = true;
diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
index a29d54fd02..dce155e62a 100644
--- a/src/modules/commander/ModeUtil/mode_requirements.cpp
+++ b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -133,11 +133,11 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_home_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_prevent_arming);
 
-	// NAVIGATION_STATE_AUTO_RTL_DR
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_angular_velocity);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_attitude);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_local_alt);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR, flags.mode_req_prevent_arming);
+	// NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_angular_velocity);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_attitude);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING, flags.mode_req_prevent_arming);
 
 	// NAVIGATION_STATE_ACRO
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index a57c8f033a..3ed2d91639 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -572,10 +572,10 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 		returned_state.cause = Cause::Generic;
 
 	// fallthrough
-	case Action::DeadReckonRTL:
-		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR)
+	case Action::DeadReckoningRTL:
+		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING)
 		    && _param_com_pos_fs_act.get() == 1) {
-			selected_action = Action::DeadReckonRTL;
+			selected_action = Action::DeadReckoningRTL;
 			break;
 		}
 
@@ -681,7 +681,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
 
 	case Action::RTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
-	case Action::DeadReckonRTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR;
+	case Action::DeadReckoningRTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING;
 
 	case Action::Land: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 
diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h
index 3277efce47..fbcdaea3c3 100644
--- a/src/modules/commander/failsafe/framework.h
+++ b/src/modules/commander/failsafe/framework.h
@@ -61,7 +61,7 @@ public:
 
 		Hold,
 		RTL,
-		DeadReckonRTL,
+		DeadReckoningRTL,
 		Land,
 		Descend,
 		Disarm,
@@ -106,7 +106,7 @@ public:
 
 		case Action::RTL: return "RTL";
 
-		case Action::DeadReckonRTL: return "Dead Reckoning RTL";
+		case Action::DeadReckoningRTL: return "Dead Reckoning RTL";
 
 		case Action::Land: return "Land";
 
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index 2d7c0a8342..895dcd859c 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -228,7 +228,7 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_EXTERNAL8;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING:
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL_DR;
 		break;
diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 13f1a666cc..4f19a2ea41 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -154,7 +154,8 @@ void FlightModeManager::start_flight_task()
 	bool task_failure = false;
 
 	const bool nav_state_descend = (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND);
-	const bool nav_state_rtl_dr = (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DR);
+	const bool nav_state_rtl_dr = (_vehicle_status_sub.get().nav_state ==
+				       vehicle_status_s::NAVIGATION_STATE_AUTO_RTL_DEAD_RECKONING);
 
 	// Follow me
 	if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {