diff --git a/docs/en/camera/camera_architecture.md b/docs/en/camera/camera_architecture.md
index 2919e2bb05..97b6c5ef9d 100644
--- a/docs/en/camera/camera_architecture.md
+++ b/docs/en/camera/camera_architecture.md
@@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
           - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
diff --git a/docs/en/camera/mavlink_v2_camera.md b/docs/en/camera/mavlink_v2_camera.md
index 525fd96d5f..95096e4252 100644
--- a/docs/en/camera/mavlink_v2_camera.md
+++ b/docs/en/camera/mavlink_v2_camera.md
@@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vcmd);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
+void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
   For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
diff --git a/docs/ko/camera/camera_architecture.md b/docs/ko/camera/camera_architecture.md
index b14dc21913..a534948032 100644
--- a/docs/ko/camera/camera_architecture.md
+++ b/docs/ko/camera/camera_architecture.md
@@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
           - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
diff --git a/docs/ko/camera/mavlink_v2_camera.md b/docs/ko/camera/mavlink_v2_camera.md
index f288f885cc..ad27997a2f 100644
--- a/docs/ko/camera/mavlink_v2_camera.md
+++ b/docs/ko/camera/mavlink_v2_camera.md
@@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vcmd);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
+void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
   For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
diff --git a/docs/uk/camera/camera_architecture.md b/docs/uk/camera/camera_architecture.md
index 7dc5adac68..49a4f602ca 100644
--- a/docs/uk/camera/camera_architecture.md
+++ b/docs/uk/camera/camera_architecture.md
@@ -88,8 +88,8 @@ PX4 повторно видає пункти камери, знайдені в 
   - Предмети місії виконуються, коли вони активовані.
   - `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
     - [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_cmd` для публікації її (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
+      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(&vcmd);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
           - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
           - Усі інші просто публікуються під стандартний компонент ID.
           - Тема UORB `VehicleCommand` публікується.
diff --git a/docs/uk/camera/mavlink_v2_camera.md b/docs/uk/camera/mavlink_v2_camera.md
index a127df0ac4..eefce0d573 100644
--- a/docs/uk/camera/mavlink_v2_camera.md
+++ b/docs/uk/camera/mavlink_v2_camera.md
@@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vcmd);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
+void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
   For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
diff --git a/docs/zh/camera/camera_architecture.md b/docs/zh/camera/camera_architecture.md
index e628767723..e8ceee69e8 100644
--- a/docs/zh/camera/camera_architecture.md
+++ b/docs/zh/camera/camera_architecture.md
@@ -88,8 +88,8 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
           - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
diff --git a/docs/zh/camera/mavlink_v2_camera.md b/docs/zh/camera/mavlink_v2_camera.md
index 89a9f73f19..a2132bc664 100644
--- a/docs/zh/camera/mavlink_v2_camera.md
+++ b/docs/zh/camera/mavlink_v2_camera.md
@@ -83,10 +83,10 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vcmd);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
+void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
   For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp
index 2c351ffa6e..8de99dd22c 100644
--- a/src/modules/navigator/land.cpp
+++ b/src/modules/navigator/land.cpp
@@ -120,6 +120,6 @@ Land::on_active()
 		// and thus always climb MIS_LND_ABRT_ALT
 		vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
 
-		_navigator->publish_vehicle_cmd(&vcmd);
+		_navigator->publish_vehicle_command(&vcmd);
 	}
 }
diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
index c24a791f8d..9cce7dffcc 100644
--- a/src/modules/navigator/mission_base.cpp
+++ b/src/modules/navigator/mission_base.cpp
@@ -924,7 +924,7 @@ MissionBase::do_abort_landing()
 	vcmd.param6 = _mission_item.lon;
 	vcmd.param7 = alt_sp;
 
-	_navigator->publish_vehicle_cmd(&vcmd);
+	_navigator->publish_vehicle_command(&vcmd);
 }
 
 void MissionBase::publish_navigator_mission_item()
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 1b05628a6c..457efb41e0 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -549,7 +549,7 @@ MissionBlock::issue_command(const mission_item_s &item)
 		}
 	}
 
-	_navigator->publish_vehicle_cmd(&vcmd);
+	_navigator->publish_vehicle_command(&vcmd);
 
 	if (item_has_timeout(item)) {
 		_timestamp_command_timeout = hrt_absolute_time();
@@ -785,7 +785,7 @@ MissionBlock::set_land_item(struct mission_item_s *item)
 		vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
 		vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 		vcmd.param2 = 0.0f;
-		_navigator->publish_vehicle_cmd(&vcmd);
+		_navigator->publish_vehicle_command(&vcmd);
 	}
 
 	/* set the land item */
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 5e30d22ccc..ac1de38a91 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -137,7 +137,7 @@ public:
 	 *
 	 * @param vcmd Vehicle command to execute
 	 */
-	void publish_vehicle_cmd(vehicle_command_s *vcmd);
+	void publish_vehicle_command(vehicle_command_s *vcmd);
 
 #if CONFIG_NAVIGATOR_ADSB
 	/**
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 34b4d2c00e..0a12405739 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -665,7 +665,7 @@ void Navigator::run()
 					vehicle_command_s vcmd = {};
 					vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
 					vcmd.param1 = _mission.get_land_start_index();
-					publish_vehicle_cmd(&vcmd);
+					publish_vehicle_command(&vcmd);
 
 				} else {
 					PX4_WARN("planned mission landing not available");
@@ -867,7 +867,7 @@ void Navigator::run()
 			vehicle_command_s vcmd = {};
 			vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
 			vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-			publish_vehicle_cmd(&vcmd);
+			publish_vehicle_command(&vcmd);
 			mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
 			events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
 				     "Transition to hover mode and descend");
@@ -1227,13 +1227,13 @@ void Navigator::take_traffic_conflict_action()
 	case 2: {
 			_rtl.set_return_alt_min(true);
 			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
-			publish_vehicle_cmd(&vcmd);
+			publish_vehicle_command(&vcmd);
 			break;
 		}
 
 	case 3: {
 			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
-			publish_vehicle_cmd(&vcmd);
+			publish_vehicle_command(&vcmd);
 			break;
 
 		}
@@ -1241,7 +1241,7 @@ void Navigator::take_traffic_conflict_action()
 	case 4: {
 
 			vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
-			publish_vehicle_cmd(&vcmd);
+			publish_vehicle_command(&vcmd);
 			break;
 
 		}
@@ -1392,7 +1392,7 @@ void Navigator::publish_navigator_status()
 	}
 }
 
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
+void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)
 {
 	vcmd->timestamp = hrt_absolute_time();
 	vcmd->source_system = _vstatus.system_id;
@@ -1537,7 +1537,7 @@ void Navigator::acquire_gimbal_control()
 	vcmd.param2 = _vstatus.component_id;
 	vcmd.param3 = -1.0f; // Leave unchanged.
 	vcmd.param4 = -1.0f; // Leave unchanged.
-	publish_vehicle_cmd(&vcmd);
+	publish_vehicle_command(&vcmd);
 }
 
 void Navigator::release_gimbal_control()
@@ -1548,7 +1548,7 @@ void Navigator::release_gimbal_control()
 	vcmd.param2 = -3.0f; // Remove control if it had it.
 	vcmd.param3 = -1.0f; // Leave unchanged.
 	vcmd.param4 = -1.0f; // Leave unchanged.
-	publish_vehicle_cmd(&vcmd);
+	publish_vehicle_command(&vcmd);
 }
 
 
@@ -1559,9 +1559,9 @@ Navigator::stop_capturing_images()
 		vehicle_command_s vcmd = {};
 		vcmd.command = NAV_CMD_IMAGE_STOP_CAPTURE;
 		vcmd.param1 = 0.0f;
-		publish_vehicle_cmd(&vcmd);
+		publish_vehicle_command(&vcmd);
 
-		// _is_capturing_images is reset inside publish_vehicle_cmd.
+		// _is_capturing_images is reset inside publish_vehicle_command.
 	}
 }
 
@@ -1612,7 +1612,7 @@ void Navigator::disable_camera_trigger()
 	// Pause trigger
 	cmd.param1 = -1.0f;
 	cmd.param3 = 1.0f;
-	publish_vehicle_cmd(&cmd);
+	publish_vehicle_command(&cmd);
 }
 
 void Navigator::set_gimbal_neutral()
@@ -1624,7 +1624,7 @@ void Navigator::set_gimbal_neutral()
 	vcmd.param3 = NAN;
 	vcmd.param4 = NAN;
 	vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
-	publish_vehicle_cmd(&vcmd);
+	publish_vehicle_command(&vcmd);
 }
 
 void Navigator::sendWarningDescentStoppedDueToTerrain()