diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
index 231e9763a8..fae304bf49 100644
--- a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
+++ b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
@@ -50,13 +50,13 @@
 
 PositionEstimator::PositionEstimator() :
 	_n(),
-	_sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &PositionEstimator::model_states_callback, this)),
+	_sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &PositionEstimator::ModelStatesCallback, this)),
 	_vehicle_position_pub(_n.advertise<px4::vehicle_local_position>("vehicle_local_position", 1)),
 	_startup_time(px4::get_time_micros())
 {
 }
 
-void PositionEstimator::model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg)
+void PositionEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg)
 {
 	//XXX: use a proper sensor topic
 
diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.h b/src/platforms/ros/nodes/position_estimator/position_estimator.h
index 40c4baa235..4d396f39a9 100644
--- a/src/platforms/ros/nodes/position_estimator/position_estimator.h
+++ b/src/platforms/ros/nodes/position_estimator/position_estimator.h
@@ -50,7 +50,7 @@ public:
 	~PositionEstimator() {}
 
 protected:
-	void model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg);
+	void ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg);
 
 	ros::NodeHandle _n;
 	ros::Subscriber _sub_modelstates;