diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
index 3b2cbacf14..4864692475 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
@@ -41,11 +41,11 @@
 
 #include "LidarLiteI2C.h"
 
-LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
+LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
 			   const int address) :
 	I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
-	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation)
+	_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, orientation)
 {
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
index 2a3c592648..b43cea4dea 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
@@ -94,7 +94,7 @@ static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
 class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C>
 {
 public:
-	LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
+	LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
 		     const int address = LL40LS_BASEADDR);
 	virtual ~LidarLiteI2C();
 
diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
index fd16cc3c92..2cc80fa0fe 100644
--- a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+++ b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
@@ -72,7 +72,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html
 I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
 				      int runtime_instance)
 {
-	LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.rotation, cli.bus_frequency);
+	LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
 
 	if (instance == nullptr) {
 		PX4_ERR("alloc failed");
@@ -105,7 +105,7 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
 	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
 		switch (ch) {
 		case 'R':
-			cli.rotation = (enum Rotation)atoi(cli.optarg());
+			cli.orientation = (enum Rotation)atoi(cli.optarg());
 			break;
 		}
 	}