diff --git a/src/lib/wind_estimator/python/derivation.py b/src/lib/wind_estimator/python/derivation.py
old mode 100644
new mode 100755
diff --git a/src/lib/wind_estimator/python/derivation_utils.py b/src/lib/wind_estimator/python/derivation_utils.py
index 68ee60931e..5bd3efb66f 100644
--- a/src/lib/wind_estimator/python/derivation_utils.py
+++ b/src/lib/wind_estimator/python/derivation_utils.py
@@ -38,6 +38,8 @@ from symforce import symbolic as sm
 from symforce import geo
 from symforce import typing as T
 
+import re
+
 # q: quaternion describing rotation from frame 1 to frame 2
 # returns a rotation matrix derived form q which describes the same
 # rotation
@@ -87,6 +89,10 @@ def generate_px4_function(function_name, output_names):
             line = line.replace("std::min", "math::min")
             line = line.replace("Eigen", "matrix")
             line = line.replace("matrix/Dense", "matrix/math.hpp")
+
+            # don't allow underscore + uppercase identifier naming (always reserved for any use)
+            line = re.sub(r'_([A-Z])', lambda x: '_' + x.group(1).lower(), line)
+
             print(line, end='')
 
 def generate_python_function(function_name, output_names):
diff --git a/src/lib/wind_estimator/python/generated/fuse_airspeed.h b/src/lib/wind_estimator/python/generated/fuse_airspeed.h
index 54b63ffaca..a3d677736d 100644
--- a/src/lib/wind_estimator/python/generated/fuse_airspeed.h
+++ b/src/lib/wind_estimator/python/generated/fuse_airspeed.h
@@ -58,19 +58,19 @@ void FuseAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local,
 
   // Output terms (4)
   if (H != nullptr) {
-    matrix::Matrix<Scalar, 1, 3>& _H = (*H);
+    matrix::Matrix<Scalar, 1, 3>& _h = (*H);
 
-    _H(0, 0) = -_tmp4;
-    _H(0, 1) = -_tmp5;
-    _H(0, 2) = _tmp2;
+    _h(0, 0) = -_tmp4;
+    _h(0, 1) = -_tmp5;
+    _h(0, 2) = _tmp2;
   }
 
   if (K != nullptr) {
-    matrix::Matrix<Scalar, 3, 1>& _K = (*K);
+    matrix::Matrix<Scalar, 3, 1>& _k = (*K);
 
-    _K(0, 0) = _tmp10 * (-P(0, 1) * _tmp5 + P(0, 2) * _tmp2 + _tmp6);
-    _K(1, 0) = _tmp10 * (-P(1, 0) * _tmp4 + P(1, 2) * _tmp2 + _tmp7);
-    _K(2, 0) = _tmp10 * (-P(2, 0) * _tmp4 - P(2, 1) * _tmp5 + _tmp8);
+    _k(0, 0) = _tmp10 * (-P(0, 1) * _tmp5 + P(0, 2) * _tmp2 + _tmp6);
+    _k(1, 0) = _tmp10 * (-P(1, 0) * _tmp4 + P(1, 2) * _tmp2 + _tmp7);
+    _k(2, 0) = _tmp10 * (-P(2, 0) * _tmp4 - P(2, 1) * _tmp5 + _tmp8);
   }
 
   if (innov_var != nullptr) {
diff --git a/src/lib/wind_estimator/python/generated/fuse_airspeed.py b/src/lib/wind_estimator/python/generated/fuse_airspeed.py
index 29971c5ca6..3b6180320f 100644
--- a/src/lib/wind_estimator/python/generated/fuse_airspeed.py
+++ b/src/lib/wind_estimator/python/generated/fuse_airspeed.py
@@ -43,7 +43,7 @@ def fuse_airspeed(v_local, state, P, airspeed, R, epsilon):
     # Intermediate terms (11)
     _tmp0 = -state[0] + v_local[0]
     _tmp1 = -state[1] + v_local[1]
-    _tmp2 = math.sqrt(_tmp0**2 + _tmp1**2 + epsilon + v_local[2] ** 2)
+    _tmp2 = math.sqrt(_tmp0 ** 2 + _tmp1 ** 2 + epsilon + v_local[2] ** 2)
     _tmp3 = state[2] / _tmp2
     _tmp4 = _tmp0 * _tmp3
     _tmp5 = _tmp1 * _tmp3
diff --git a/src/lib/wind_estimator/python/generated/fuse_beta.h b/src/lib/wind_estimator/python/generated/fuse_beta.h
index 33fd7a0126..39469ce892 100644
--- a/src/lib/wind_estimator/python/generated/fuse_beta.h
+++ b/src/lib/wind_estimator/python/generated/fuse_beta.h
@@ -70,19 +70,19 @@ void FuseBeta(const matrix::Matrix<Scalar, 3, 1>& v_local, const matrix::Matrix<
 
   // Output terms (4)
   if (H != nullptr) {
-    matrix::Matrix<Scalar, 1, 3>& _H = (*H);
+    matrix::Matrix<Scalar, 1, 3>& _h = (*H);
 
-    _H(0, 0) = _tmp17;
-    _H(0, 1) = _tmp18;
-    _H(0, 2) = 0;
+    _h(0, 0) = _tmp17;
+    _h(0, 1) = _tmp18;
+    _h(0, 2) = 0;
   }
 
   if (K != nullptr) {
-    matrix::Matrix<Scalar, 3, 1>& _K = (*K);
+    matrix::Matrix<Scalar, 3, 1>& _k = (*K);
 
-    _K(0, 0) = _tmp22 * (P(0, 1) * _tmp18 + _tmp19);
-    _K(1, 0) = _tmp22 * (P(1, 0) * _tmp17 + _tmp20);
-    _K(2, 0) = _tmp22 * (P(2, 0) * _tmp17 + P(2, 1) * _tmp18);
+    _k(0, 0) = _tmp22 * (P(0, 1) * _tmp18 + _tmp19);
+    _k(1, 0) = _tmp22 * (P(1, 0) * _tmp17 + _tmp20);
+    _k(2, 0) = _tmp22 * (P(2, 0) * _tmp17 + P(2, 1) * _tmp18);
   }
 
   if (innov_var != nullptr) {
diff --git a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
index 7d53eb5f6c..f79f656009 100644
--- a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
+++ b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
@@ -56,12 +56,12 @@ void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Sc
   }
 
   if (P != nullptr) {
-    matrix::Matrix<Scalar, 2, 2>& _P = (*P);
+    matrix::Matrix<Scalar, 2, 2>& _p = (*P);
 
-    _P(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
-    _P(1, 0) = _tmp6;
-    _P(0, 1) = _tmp6;
-    _P(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
+    _p(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
+    _p(1, 0) = _tmp6;
+    _p(0, 1) = _tmp6;
+    _p(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
   }
 }  // NOLINT(readability/fn_size)