diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index e49cd955b7..4a78cdfad4 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -49,7 +49,7 @@ bool_t   kill_throttle;
 bool_t   autopilot_rc;
 bool_t   autopilot_power_switch;
 
-bool_t   autopilot_detect_ground;
+bool_t   autopilot_ground_detected;
 bool_t   autopilot_detect_ground_once;
 
 #define AUTOPILOT_IN_FLIGHT_TIME    20
@@ -105,7 +105,7 @@ void autopilot_init(void) {
   autopilot_in_flight = FALSE;
   autopilot_in_flight_counter = 0;
   autopilot_mode_auto2 = MODE_AUTO2;
-  autopilot_detect_ground = FALSE;
+  autopilot_ground_detected = FALSE;
   autopilot_detect_ground_once = FALSE;
   autopilot_flight_time = 0;
   autopilot_rc = TRUE;
@@ -131,9 +131,9 @@ void autopilot_periodic(void) {
   RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
 #if FAILSAFE_GROUND_DETECT
 INFO("Using FAILSAFE_GROUND_DETECT")
-  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
+  if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_ground_detected) {
     autopilot_set_mode(AP_MODE_KILL);
-    autopilot_detect_ground = FALSE;
+    autopilot_ground_detected = FALSE;
   }
 #endif
 
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
index d970b9aba7..9203c6e43f 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.h
@@ -69,7 +69,7 @@ extern void autopilot_set_mode(uint8_t new_autopilot_mode);
 extern void autopilot_set_motors_on(bool_t motors_on);
 extern void autopilot_check_in_flight(bool_t motors_on);
 
-extern bool_t autopilot_detect_ground;
+extern bool_t autopilot_ground_detected;
 extern bool_t autopilot_detect_ground_once;
 
 extern uint16_t autopilot_flight_time;
@@ -152,7 +152,7 @@ static inline void DetectGroundEvent(void) {
     struct NedCoor_f* accel = stateGetAccelNed_f();
     if (accel->z < -THRESHOLD_GROUND_DETECT ||
         accel->z > THRESHOLD_GROUND_DETECT) {
-      autopilot_detect_ground = TRUE;
+      autopilot_ground_detected = TRUE;
       autopilot_detect_ground_once = FALSE;
     }
   }
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index 40d86cc7a7..2fdc841aa0 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -336,8 +336,8 @@ void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int
 }
 
 bool_t nav_detect_ground(void) {
-  if (!autopilot_detect_ground) return FALSE;
-  autopilot_detect_ground = FALSE;
+  if (!autopilot_ground_detected) return FALSE;
+  autopilot_ground_detected = FALSE;
   return TRUE;
 }