diff --git a/src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.cpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.cpp
similarity index 89%
rename from src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.cpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.cpp
index de22a70f9c..0b8a5d0c75 100644
--- a/src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.cpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.cpp
@@ -31,17 +31,17 @@
  *
  ****************************************************************************/
 
-#include "AutoMode.hpp"
+#include "AckermannAutoMode.hpp"
 
 using namespace time_literals;
 
-AutoMode::AutoMode(ModuleParams *parent) : ModuleParams(parent)
+AckermannAutoMode::AckermannAutoMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
 	_rover_position_setpoint_pub.advertise();
 }
 
-void AutoMode::updateParams()
+void AckermannAutoMode::updateParams()
 {
 	ModuleParams::updateParams();
 	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
@@ -52,7 +52,7 @@ void AutoMode::updateParams()
 	}
 }
 
-void AutoMode::autoControl()
+void AckermannAutoMode::autoControl()
 {
 	if (_position_setpoint_triplet_sub.updated()) {
 		if (_vehicle_local_position_sub.updated()) {
@@ -85,7 +85,7 @@ void AutoMode::autoControl()
 
 }
 
-void AutoMode::updateWaypointsAndAcceptanceRadius()
+void AckermannAutoMode::updateWaypointsAndAcceptanceRadius()
 {
 	position_setpoint_triplet_s position_setpoint_triplet{};
 	_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
@@ -110,9 +110,9 @@ void AutoMode::updateWaypointsAndAcceptanceRadius()
 				  position_setpoint_triplet.current.cruising_speed, 0.f, _param_ro_speed_limit.get()) : _param_ro_speed_limit.get();
 }
 
-float AutoMode::updateAcceptanceRadius(const float waypoint_transition_angle,
-				       const float default_acceptance_radius, const float acceptance_radius_gain,
-				       const float acceptance_radius_max, const float wheel_base, const float max_steer_angle)
+float AckermannAutoMode::updateAcceptanceRadius(const float waypoint_transition_angle,
+		const float default_acceptance_radius, const float acceptance_radius_gain,
+		const float acceptance_radius_max, const float wheel_base, const float max_steer_angle)
 {
 	// Calculate acceptance radius s.t. the rover cuts the corner tangential to the current and next line segment
 	float acceptance_radius = default_acceptance_radius;
@@ -135,8 +135,8 @@ float AutoMode::updateAcceptanceRadius(const float waypoint_transition_angle,
 	return acceptance_radius;
 }
 
-float AutoMode::arrivalSpeed(const float cruising_speed, const float min_speed, const float acc_rad,
-			     const int curr_wp_type, const float waypoint_transition_angle, const float max_yaw_rate)
+float AckermannAutoMode::arrivalSpeed(const float cruising_speed, const float min_speed, const float acc_rad,
+				      const int curr_wp_type, const float waypoint_transition_angle, const float max_yaw_rate)
 {
 	if (!PX4_ISFINITE(waypoint_transition_angle)
 	    || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND
diff --git a/src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.hpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp
similarity index 98%
rename from src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.hpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp
index d85634031f..91e05477e7 100644
--- a/src/modules/rover_ackermann/DriveModes/AutoMode/AutoMode.hpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp
@@ -51,15 +51,15 @@
 /**
  * @brief Class for ackermann auto mode.
  */
-class AutoMode : public ModuleParams
+class AckermannAutoMode : public ModuleParams
 {
 public:
 	/**
 	 * @brief Constructor for auto mode.
 	 * @param parent The parent ModuleParams object.
 	 */
-	AutoMode(ModuleParams *parent);
-	~AutoMode() = default;
+	AckermannAutoMode(ModuleParams *parent);
+	~AckermannAutoMode() = default;
 
 	/**
 	 * @brief Generate and publish roverPositionSetpoint from positionSetpointTriplet.
diff --git a/src/modules/rover_ackermann/DriveModes/ManualMode/CMakeLists.txt b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/CMakeLists.txt
similarity index 92%
rename from src/modules/rover_ackermann/DriveModes/ManualMode/CMakeLists.txt
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/CMakeLists.txt
index 827489ad9f..2e24ef43ae 100644
--- a/src/modules/rover_ackermann/DriveModes/ManualMode/CMakeLists.txt
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannAutoMode/CMakeLists.txt
@@ -31,8 +31,8 @@
 #
 ############################################################################
 
-px4_add_library(ManualMode
-	ManualMode.cpp
+px4_add_library(AckermannAutoMode
+	AckermannAutoMode.cpp
 )
 
-target_include_directories(ManualMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(AckermannAutoMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.cpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
similarity index 96%
rename from src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.cpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
index cbcef4405a..a750d622eb 100644
--- a/src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.cpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.cpp
@@ -31,11 +31,11 @@
  *
  ****************************************************************************/
 
-#include "ManualMode.hpp"
+#include "AckermannManualMode.hpp"
 
 using namespace time_literals;
 
-ManualMode::ManualMode(ModuleParams *parent) : ModuleParams(parent)
+AckermannManualMode::AckermannManualMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
 	_rover_throttle_setpoint_pub.advertise();
@@ -46,13 +46,13 @@ ManualMode::ManualMode(ModuleParams *parent) : ModuleParams(parent)
 	_rover_position_setpoint_pub.advertise();
 }
 
-void ManualMode::updateParams()
+void AckermannManualMode::updateParams()
 {
 	ModuleParams::updateParams();
 	_max_yaw_rate = _param_ro_yaw_rate_limit.get() * M_DEG_TO_RAD_F;
 }
 
-void ManualMode::manual()
+void AckermannManualMode::manual()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
@@ -67,7 +67,7 @@ void ManualMode::manual()
 	_rover_throttle_setpoint_pub.publish(rover_throttle_setpoint);
 }
 
-void ManualMode::acro()
+void AckermannManualMode::acro()
 {
 	manual_control_setpoint_s manual_control_setpoint{};
 	_manual_control_setpoint_sub.copy(&manual_control_setpoint);
@@ -83,7 +83,7 @@ void ManualMode::acro()
 	_rover_rate_setpoint_pub.publish(rover_rate_setpoint);
 }
 
-void ManualMode::stab()
+void AckermannManualMode::stab()
 {
 	if (_vehicle_attitude_sub.updated()) {
 		vehicle_attitude_s vehicle_attitude{};
@@ -129,7 +129,7 @@ void ManualMode::stab()
 	}
 }
 
-void ManualMode::position()
+void AckermannManualMode::position()
 {
 	if (_vehicle_attitude_sub.updated()) {
 		vehicle_attitude_s vehicle_attitude{};
@@ -217,7 +217,7 @@ void ManualMode::position()
 	}
 }
 
-void ManualMode::reset()
+void AckermannManualMode::reset()
 {
 	_stab_yaw_setpoint = NAN;
 	_pos_ctl_course_direction = Vector2f(NAN, NAN);
diff --git a/src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.hpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
similarity index 96%
rename from src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.hpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
index 4f6c4a0506..f3c27575d2 100644
--- a/src/modules/rover_ackermann/DriveModes/ManualMode/ManualMode.hpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp
@@ -57,15 +57,15 @@
 /**
  * @brief Class for ackermann manual mode.
  */
-class ManualMode : public ModuleParams
+class AckermannManualMode : public ModuleParams
 {
 public:
 	/**
-	 * @brief Constructor for ManualMode.
+	 * @brief Constructor for AckermannManualMode.
 	 * @param parent The parent ModuleParams object.
 	 */
-	ManualMode(ModuleParams *parent);
-	~ManualMode() = default;
+	AckermannManualMode(ModuleParams *parent);
+	~AckermannManualMode() = default;
 
 	/**
 	 * @brief Publish roverThrottleSetpoint and roverSteeringSetpoint from manualControlSetpoint.
diff --git a/src/modules/rover_ackermann/DriveModes/OffboardMode/CMakeLists.txt b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/CMakeLists.txt
similarity index 92%
rename from src/modules/rover_ackermann/DriveModes/OffboardMode/CMakeLists.txt
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/CMakeLists.txt
index a73b2dedd8..6f95ae67dd 100644
--- a/src/modules/rover_ackermann/DriveModes/OffboardMode/CMakeLists.txt
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannManualMode/CMakeLists.txt
@@ -31,8 +31,8 @@
 #
 ############################################################################
 
-px4_add_library(OffboardMode
-	OffboardMode.cpp
+px4_add_library(AckermannManualMode
+	AckermannManualMode.cpp
 )
 
-target_include_directories(OffboardMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(AckermannManualMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.cpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.cpp
similarity index 93%
rename from src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.cpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.cpp
index dfd12cddb0..84289a8d2e 100644
--- a/src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.cpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.cpp
@@ -31,23 +31,23 @@
  *
  ****************************************************************************/
 
-#include "OffboardMode.hpp"
+#include "AckermannOffboardMode.hpp"
 
 using namespace time_literals;
 
-OffboardMode::OffboardMode(ModuleParams *parent) : ModuleParams(parent)
+AckermannOffboardMode::AckermannOffboardMode(ModuleParams *parent) : ModuleParams(parent)
 {
 	updateParams();
 	_rover_velocity_setpoint_pub.advertise();
 	_rover_position_setpoint_pub.advertise();
 }
 
-void OffboardMode::updateParams()
+void AckermannOffboardMode::updateParams()
 {
 	ModuleParams::updateParams();
 }
 
-void OffboardMode::offboardControl()
+void AckermannOffboardMode::offboardControl()
 {
 	offboard_control_mode_s offboard_control_mode{};
 	_offboard_control_mode_sub.copy(&offboard_control_mode);
diff --git a/src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.hpp b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp
similarity index 94%
rename from src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.hpp
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp
index 331df5e907..c3c95edd31 100644
--- a/src/modules/rover_ackermann/DriveModes/OffboardMode/OffboardMode.hpp
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp
@@ -53,15 +53,15 @@ using namespace matrix;
 /**
  * @brief Class for ackermann manual mode.
  */
-class OffboardMode : public ModuleParams
+class AckermannOffboardMode : public ModuleParams
 {
 public:
 	/**
-	 * @brief Constructor for OffboardMode.
+	 * @brief Constructor for AckermannOffboardMode.
 	 * @param parent The parent ModuleParams object.
 	 */
-	OffboardMode(ModuleParams *parent);
-	~OffboardMode() = default;
+	AckermannOffboardMode(ModuleParams *parent);
+	~AckermannOffboardMode() = default;
 
 	/**
 	 * @brief Generate and publish roverSetpoints from trajectorySetpoint.
diff --git a/src/modules/rover_ackermann/DriveModes/CMakeLists.txt b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/CMakeLists.txt
similarity index 91%
rename from src/modules/rover_ackermann/DriveModes/CMakeLists.txt
rename to src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/CMakeLists.txt
index 1918b9644e..66dbc2f0b9 100644
--- a/src/modules/rover_ackermann/DriveModes/CMakeLists.txt
+++ b/src/modules/rover_ackermann/AckermannDriveModes/AckermannOffboardMode/CMakeLists.txt
@@ -31,6 +31,8 @@
 #
 ############################################################################
 
-add_subdirectory(AutoMode)
-add_subdirectory(ManualMode)
-add_subdirectory(OffboardMode)
+px4_add_library(AckermannOffboardMode
+	AckermannOffboardMode.cpp
+)
+
+target_include_directories(AckermannOffboardMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/modules/rover_ackermann/DriveModes/AutoMode/CMakeLists.txt b/src/modules/rover_ackermann/AckermannDriveModes/CMakeLists.txt
similarity index 93%
rename from src/modules/rover_ackermann/DriveModes/AutoMode/CMakeLists.txt
rename to src/modules/rover_ackermann/AckermannDriveModes/CMakeLists.txt
index 6f68333be1..a5c13c1b20 100644
--- a/src/modules/rover_ackermann/DriveModes/AutoMode/CMakeLists.txt
+++ b/src/modules/rover_ackermann/AckermannDriveModes/CMakeLists.txt
@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(AutoMode
-	AutoMode.cpp
-)
-
-target_include_directories(AutoMode PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(AckermannAutoMode)
+add_subdirectory(AckermannManualMode)
+add_subdirectory(AckermannOffboardMode)
diff --git a/src/modules/rover_ackermann/CMakeLists.txt b/src/modules/rover_ackermann/CMakeLists.txt
index d2d25280a1..2605428012 100644
--- a/src/modules/rover_ackermann/CMakeLists.txt
+++ b/src/modules/rover_ackermann/CMakeLists.txt
@@ -36,7 +36,7 @@ add_subdirectory(AckermannRateControl)
 add_subdirectory(AckermannAttControl)
 add_subdirectory(AckermannVelControl)
 add_subdirectory(AckermannPosControl)
-add_subdirectory(DriveModes)
+add_subdirectory(AckermannDriveModes)
 
 px4_add_module(
 	MODULE modules__rover_ackermann
@@ -50,9 +50,9 @@ px4_add_module(
 		AckermannAttControl
 		AckermannVelControl
 		AckermannPosControl
-		AutoMode
-		ManualMode
-		OffboardMode
+		AckermannAutoMode
+		AckermannManualMode
+		AckermannOffboardMode
 		px4_work_queue
 		rover_control
 		pure_pursuit
diff --git a/src/modules/rover_ackermann/RoverAckermann.hpp b/src/modules/rover_ackermann/RoverAckermann.hpp
index a0232b4b45..2a5ea1e888 100644
--- a/src/modules/rover_ackermann/RoverAckermann.hpp
+++ b/src/modules/rover_ackermann/RoverAckermann.hpp
@@ -55,9 +55,9 @@
 #include "AckermannAttControl/AckermannAttControl.hpp"
 #include "AckermannVelControl/AckermannVelControl.hpp"
 #include "AckermannPosControl/AckermannPosControl.hpp"
-#include "DriveModes/AutoMode/AutoMode.hpp"
-#include "DriveModes/ManualMode/ManualMode.hpp"
-#include "DriveModes/OffboardMode/OffboardMode.hpp"
+#include "AckermannDriveModes/AckermannAutoMode/AckermannAutoMode.hpp"
+#include "AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp"
+#include "AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp"
 
 class RoverAckermann : public ModuleBase<RoverAckermann>, public ModuleParams,
 	public px4::ScheduledWorkItem
@@ -124,9 +124,9 @@ private:
 	AckermannAttControl  _ackermann_att_control{this};
 	AckermannVelControl  _ackermann_vel_control{this};
 	AckermannPosControl  _ackermann_pos_control{this};
-	AutoMode	     _auto_mode{this};
-	ManualMode 	     _manual_mode{this};
-	OffboardMode 	     _offboard_mode{this};
+	AckermannAutoMode	     _auto_mode{this};
+	AckermannManualMode 	     _manual_mode{this};
+	AckermannOffboardMode 	     _offboard_mode{this};
 
 	// Variables
 	bool _sanity_checks_passed{true}; // True if checks for all active controllers pass