diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
similarity index 98%
rename from src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
rename to src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 907f4c2e1d..7a71894ed8 100644
--- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file fw_att_pos_estimator_main.cpp
+ * @file ekf_att_pos_estimator_main.cpp
  * Implementation of the attitude and position estimator.
  *
  * @author Paul Riseborough <p_riseborough@live.com.au>
@@ -336,13 +336,13 @@ FixedwingEstimator::FixedwingEstimator() :
 	_baro_gps_offset(0.0f),
 
 /* performance counters */
-	_loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")),
-	_perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")),
-	_perf_accel(perf_alloc(PC_COUNT, "fw_ekf_accel_upd")),
-	_perf_mag(perf_alloc(PC_COUNT, "fw_ekf_mag_upd")),
-	_perf_gps(perf_alloc(PC_COUNT, "fw_ekf_gps_upd")),
-	_perf_baro(perf_alloc(PC_COUNT, "fw_ekf_baro_upd")),
-	_perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")),
+	_loop_perf(perf_alloc(PC_COUNT, "ekf_att_pos_estimator")),
+	_perf_gyro(perf_alloc(PC_COUNT, "ekf_att_pos_gyro_upd")),
+	_perf_accel(perf_alloc(PC_COUNT, "ekf_att_pos_accel_upd")),
+	_perf_mag(perf_alloc(PC_COUNT, "ekf_att_pos_mag_upd")),
+	_perf_gps(perf_alloc(PC_COUNT, "ekf_att_pos_gps_upd")),
+	_perf_baro(perf_alloc(PC_COUNT, "ekf_att_pos_baro_upd")),
+	_perf_airspeed(perf_alloc(PC_COUNT, "ekf_att_pos_aspd_upd")),
 
 /* states */
 	_initialized(false),
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
similarity index 99%
rename from src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
rename to src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
index d2c6e1f15e..1d9ae46236 100644
--- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file fw_att_pos_estimator_params.c
+ * @file ekf_att_pos_estimator_params.c
  *
  * Parameters defined by the attitude and position estimator task
  *