diff --git a/src/main/config/config.c b/src/main/config/config.c
index 8c49b2d79b..f38c4499b3 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -630,7 +630,7 @@ void activateConfig(void)
     imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
     imuRuntimeConfig.small_angle = masterConfig.small_angle;
 
-    configureIMU(
+    imuConfigure(
         &imuRuntimeConfig,
         &currentProfile->pidProfile,
         &currentProfile->accDeadband,
diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index bfd7be91db..86e6ab7009 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -294,7 +294,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
     debug[3] = accAlt;                  // height
 #endif
 
-    accSum_reset();
+    imuResetAccelerationSum();
 
 #ifdef BARO
     if (!isBaroCalibrationComplete()) {
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index ce3e182780..3f106a8958 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -77,7 +77,7 @@ imuRuntimeConfig_t *imuRuntimeConfig;
 pidProfile_t *pidProfile;
 accDeadband_t *accDeadband;
 
-void configureIMU(
+void imuConfigure(
     imuRuntimeConfig_t *initialImuRuntimeConfig,
     pidProfile_t *initialPidProfile,
     accDeadband_t *initialAccDeadband,
@@ -92,7 +92,7 @@ void configureIMU(
     throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
 }
 
-void initIMU()
+void imuInit()
 {
     smallAngle = lrintf(acc_1G * cosf(degreesToRadians(imuRuntimeConfig->small_angle)));
     accVelScale = 9.80665f / acc_1G / 10000.0f;
@@ -129,7 +129,7 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff)
 
 t_fp_vector EstG;
 
-void accSum_reset(void)
+void imuResetAccelerationSum(void)
 {
     accSum[0] = 0;
     accSum[1] = 0;
@@ -139,7 +139,7 @@ void accSum_reset(void)
 }
 
 // rotate acc into Earth frame and calculate acceleration in it
-void acc_calc(uint32_t deltaT)
+void imuCalculateAcceleration(uint32_t deltaT)
 {
     static int32_t accZoffset = 0;
     static float accz_smooth = 0;
@@ -212,7 +212,7 @@ void acc_calc(uint32_t deltaT)
 *
 * //TODO: Add explanation for how it uses the Z dimension.
 */
-int16_t calculateHeading(t_fp_vector *vec)
+int16_t imuCalculateHeading(t_fp_vector *vec)
 {
     int16_t head;
 
@@ -234,7 +234,7 @@ int16_t calculateHeading(t_fp_vector *vec)
     return head;
 }
 
-static void getEstimatedAttitude(void)
+static void imuCalculateEstimatedAttitude(void)
 {
     int32_t axis;
     int32_t accMag = 0;
@@ -295,24 +295,24 @@ static void getEstimatedAttitude(void)
         for (axis = 0; axis < 3; axis++) {
             EstM.A[axis] = (EstM.A[axis] * imuRuntimeConfig->gyro_cmpfm_factor + magADC[axis]) * invGyroComplimentaryFilter_M_Factor;
         }
-        heading = calculateHeading(&EstM);
+        heading = imuCalculateHeading(&EstM);
     } else {
         rotateV(&EstN.V, &deltaGyroAngle);
         normalizeV(&EstN.V, &EstN.V);
-        heading = calculateHeading(&EstN);
+        heading = imuCalculateHeading(&EstN);
     }
 
-    acc_calc(deltaT); // rotate acc vector into earth frame
+    imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
 }
 
-void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
 {
     static int16_t gyroYawSmooth = 0;
 
-    gyroGetADC();
+    gyroUpdate();
     if (sensors(SENSOR_ACC)) {
         updateAccelerationReadings(accelerometerTrims);
-        getEstimatedAttitude();
+        imuCalculateEstimatedAttitude();
     } else {
         accADC[X] = 0;
         accADC[Y] = 0;
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 45949c4e1e..a8d76e35d2 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -30,7 +30,7 @@ typedef struct imuRuntimeConfig_s {
     int8_t small_angle;
 } imuRuntimeConfig_t;
 
-void configureIMU(
+void imuConfigure(
 	imuRuntimeConfig_t *initialImuRuntimeConfig,
 	pidProfile_t *initialPidProfile,
 	accDeadband_t *initialAccDeadband,
@@ -39,11 +39,11 @@ void configureIMU(
 );
 
 void calculateEstimatedAltitude(uint32_t currentTime);
-void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
 float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
 
-int16_t calculateHeading(t_fp_vector *vec);
+int16_t imuCalculateHeading(t_fp_vector *vec);
 
-void accSum_reset(void);
+void imuResetAccelerationSum(void);
diff --git a/src/main/main.c b/src/main/main.c
index cc8d669609..38b0ded3c6 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -104,7 +104,7 @@ void beepcodeInit(failsafe_t *initialFailsafe);
 void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
 void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
 bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
-void initIMU(void);
+void imuInit(void);
 void displayInit(rxConfig_t *intialRxConfig);
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, failsafe_t* failsafeToUse);
 void loop(void);
@@ -267,7 +267,7 @@ void init(void)
     LED0_OFF;
     LED1_OFF;
 
-    initIMU();
+    imuInit();
     mixerInit(masterConfig.mixerMode, masterConfig.customMixer);
 
 #ifdef MAG
diff --git a/src/main/mw.c b/src/main/mw.c
index 028177515a..62e7ca3e8f 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -663,7 +663,7 @@ void loop(void)
     if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
         loopTime = currentTime + masterConfig.looptime;
 
-        computeIMU(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
+        imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
 
         // Measure loop rate just after reading the sensors
         currentTime = micros();
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index d490a91f5f..99b3a29ed5 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -108,7 +108,7 @@ static void applyGyroZero(void)
     }
 }
 
-void gyroGetADC(void)
+void gyroUpdate(void)
 {
     // FIXME When gyro.read() fails due to i2c or other error gyroZero is continually re-applied to gyroADC resulting in a old reading that gets worse over time.
 
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 7acd2eb2a0..a064a80dd9 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -26,6 +26,6 @@ typedef struct gyroConfig_s {
 
 void useGyroConfig(gyroConfig_t *gyroConfigToUse);
 void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
-void gyroGetADC(void);
+void gyroUpdate(void);
 bool isGyroCalibrationComplete(void);