diff --git a/src/drivers/uavcan_v1/Actuators/EscClient.hpp b/src/drivers/uavcan_v1/Actuators/EscClient.hpp
index 348680de71..57bb180789 100644
--- a/src/drivers/uavcan_v1/Actuators/EscClient.hpp
+++ b/src/drivers/uavcan_v1/Actuators/EscClient.hpp
@@ -62,13 +62,13 @@
 #include <reg/drone/service/common/Readiness_0_1.h>
 
 /// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status
-class UavcanEscController : public UavcanPublication
+class UavcanEscController : public UavcanPublisher
 {
 public:
 	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
 
 	UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
-		UavcanPublication(ins, pmgr, uavcan_pname) { };
+		UavcanPublisher(ins, pmgr, uavcan_pname) { };
 
 	~UavcanEscController() {};
 
diff --git a/src/drivers/uavcan_v1/Publishers/Gnss.hpp b/src/drivers/uavcan_v1/Publishers/Gnss.hpp
index b728161704..29e86be45c 100644
--- a/src/drivers/uavcan_v1/Publishers/Gnss.hpp
+++ b/src/drivers/uavcan_v1/Publishers/Gnss.hpp
@@ -47,11 +47,11 @@
 
 #include "Publisher.hpp"
 
-class UavcanGnssPublication : public UavcanPublication
+class UavcanGnssPublisher : public UavcanPublisher
 {
 public:
-	UavcanGnssPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
-		UavcanPublication(ins, pmgr, uavcan_pname)
+	UavcanGnssPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+		UavcanPublisher(ins, pmgr, uavcan_pname)
 	{
 
 	};
diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
index 2369aa24c0..275f76ad13 100644
--- a/src/drivers/uavcan_v1/Publishers/Publisher.hpp
+++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
@@ -50,12 +50,12 @@
 #include "../CanardInterface.hpp"
 #include "../ParamManager.hpp"
 
-class UavcanPublication
+class UavcanPublisher
 {
 public:
 	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
 
-	UavcanPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
 		_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
 
 	// Update the uORB Subscription and broadcast a UAVCAN message
diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp
index a62366a50d..b5d202c02f 100644
--- a/src/drivers/uavcan_v1/Uavcan.hpp
+++ b/src/drivers/uavcan_v1/Uavcan.hpp
@@ -238,13 +238,13 @@ private:
 
 	UavcanParamManager _param_manager;
 
-	UavcanGnssPublication _gps_pub {_canard_instance, _param_manager, "uavcan.pub.gps.0.id"};
+	UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager, "uavcan.pub.gps.0.id"};
 
 	UavcanEscController _esc_controller {_canard_instance, _param_manager, "uavcan.pub.esc.0.id"};
 
 	// Publication objects: Any object used to bridge a uORB message to a UAVCAN message
 	/// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
-	UavcanPublication *_publishers[2] {&_gps_pub, &_esc_controller};
+	UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
 
 	UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, "uavcan.sub.gps.0.id"};
 	UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, "uavcan.sub.gps.1.id"};