diff --git a/src/lib/mixer/MultirotorMixer/geometries/tools/px_generate_mixers.py b/src/lib/mixer/MultirotorMixer/geometries/tools/px_generate_mixers.py
index a0d3c1b222b..f080442df3a 100755
--- a/src/lib/mixer/MultirotorMixer/geometries/tools/px_generate_mixers.py
+++ b/src/lib/mixer/MultirotorMixer/geometries/tools/px_generate_mixers.py
@@ -225,6 +225,12 @@ def generate_mixer_multirotor_header(geometries_list, use_normalized_mix=False,
     from io import StringIO
     buf = StringIO()
 
+    # Adapt fields based on options
+    if use_6dof:
+        mixer_class_name = "MultirotorMixer6dof"
+    else:
+        mixer_class_name = "MultirotorMixer"
+
     # Print Header
     buf.write(u"/*\n")
     buf.write(u"* This file is automatically generated by px_generate_mixers.py - do not edit.\n")
@@ -252,7 +258,7 @@ def generate_mixer_multirotor_header(geometries_list, use_normalized_mix=False,
         else:
             mix = geometry['mix']['B']
 
-        buf.write(u"static constexpr MultirotorMixer::Rotor _config_{}[] {{\n".format(geometry['info']['name']))
+        buf.write(u"static constexpr {}::Rotor _config_{}[] {{\n".format(mixer_class_name, geometry['info']['name']))
 
         for row in mix:
             if use_6dof:
@@ -268,8 +274,8 @@ def generate_mixer_multirotor_header(geometries_list, use_normalized_mix=False,
 
         buf.write(u"};\n\n")
 
-    # Print geometry indeces
-    buf.write(u"static constexpr const MultirotorMixer::Rotor *_config_index[] {\n")
+    # Print geometry indices
+    buf.write(u"static constexpr const {}::Rotor *_config_index[] {{\n".format(mixer_class_name))
     for geometry in geometries_list:
         buf.write(u"\t&_config_{}[0],\n".format(geometry['info']['name']))
     buf.write(u"};\n\n")