diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml
index 6bf37fc6e4..d4ab7844b7 100644
--- a/conf/flight_plans/nav_modules.xml
+++ b/conf/flight_plans/nav_modules.xml
@@ -66,8 +66,8 @@
       <circle radius="nav_radius" wp="MOB"/>
     </block>
     <block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
-      <call fun="nav_line_init()"/>
-      <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
+      <call fun="nav_line_start()"/>
+      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
     </block>
     <block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
       <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
@@ -78,8 +78,8 @@
       <call fun="poly_survey_adv_run()"/>
     </block>
     <block name="Border line 1-2" strip_button="Border Line (wp 1-2)">
-      <call fun="border_line_init()"/>
-      <call fun="border_line(WP_1, WP_2, nav_radius)"/>
+      <call fun="border_line_start()"/>
+      <call fun="border_line_run(WP_1, WP_2, nav_radius)"/>
     </block>
     <block name="Smooth nav" strip_button="Smooth nav (wp 1-2)">
       <set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
diff --git a/sw/airborne/modules/nav/nav_border_line.c b/sw/airborne/modules/nav/nav_border_line.c
index c3e9b9c9ac..fe5e5a4766 100644
--- a/sw/airborne/modules/nav/nav_border_line.c
+++ b/sw/airborne/modules/nav/nav_border_line.c
@@ -37,12 +37,12 @@
 enum border_line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum border_line_status border_line_status;
 
-bool_t border_line_init( void ) {
+bool_t border_line_start( void ) {
   border_line_status = LR12;
   return FALSE;
 }
 
-bool_t border_line(uint8_t l1, uint8_t l2, float radius) {
+bool_t border_line_run(uint8_t l1, uint8_t l2, float radius) {
   radius = fabs(radius);
   float alt = waypoints[l1].a;
   waypoints[l2].a = alt;
diff --git a/sw/airborne/modules/nav/nav_border_line.h b/sw/airborne/modules/nav/nav_border_line.h
index 431a82c0b8..4a90f2fa75 100644
--- a/sw/airborne/modules/nav/nav_border_line.h
+++ b/sw/airborne/modules/nav/nav_border_line.h
@@ -29,7 +29,7 @@
 
 #include "std.h"
 
-extern bool_t border_line_init( void );
-extern bool_t border_line(uint8_t wp1, uint8_t wp2, float radius);
+extern bool_t border_line_start( void );
+extern bool_t border_line_run(uint8_t wp1, uint8_t wp2, float radius);
 
 #endif /* BORDER_LINE_H */
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
index e548165629..e61ec49809 100644
--- a/sw/airborne/modules/nav/nav_catapult.c
+++ b/sw/airborne/modules/nav/nav_catapult.c
@@ -135,7 +135,7 @@ void nav_catapult_highrate_module(void)
 //###############################################################################################
 // Code that runs in 4Hz Nav
 
-bool_t nav_catapult_init(void)
+bool_t nav_catapult_start(void)
 {
 
   nav_catapult_armed = TRUE;
@@ -146,7 +146,7 @@ bool_t nav_catapult_init(void)
 
 
 
-bool_t nav_catapult(uint8_t _to, uint8_t _climb)
+bool_t nav_catapult_run(uint8_t _to, uint8_t _climb)
 {
   float alt = WaypointAlt(_climb);
 
diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h
index 86d49bc650..8705b2a1e5 100644
--- a/sw/airborne/modules/nav/nav_catapult.h
+++ b/sw/airborne/modules/nav/nav_catapult.h
@@ -42,10 +42,10 @@ extern float nav_catapult_initial_throttle;
 void nav_catapult_highrate_module(void);
 
 // Flightplan Code
-extern bool_t nav_catapult_init(void);
+extern bool_t nav_catapult_start(void);
 
 extern bool_t nav_catapult_arm(void);
-extern bool_t nav_catapult(uint8_t _to, uint8_t _climb);
+extern bool_t nav_catapult_run(uint8_t _to, uint8_t _climb);
 extern bool_t nav_catapult_disarm(void);
 
 extern bool_t nav_select_touch_down(uint8_t _td);
diff --git a/sw/airborne/modules/nav/nav_gls.c b/sw/airborne/modules/nav/nav_gls.c
index 5b0fe093b7..890e0f694e 100644
--- a/sw/airborne/modules/nav/nav_gls.c
+++ b/sw/airborne/modules/nav/nav_gls.c
@@ -132,7 +132,7 @@ static inline bool_t gls_compute_TOD(uint8_t _af, uint8_t _sd, uint8_t _tod, uin
 }	/* end of gls_copute_TOD */
 
 
-bool_t gls_init(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
+bool_t gls_start(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
 
   init = TRUE;
 
@@ -157,7 +157,7 @@ bool_t gls_init(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
 }  /* end of gls_init() */
 
 
-bool_t gls(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
+bool_t gls_run(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
 
 
   // set target speed for approach on final
diff --git a/sw/airborne/modules/nav/nav_gls.h b/sw/airborne/modules/nav/nav_gls.h
index f42443de57..126cab0034 100644
--- a/sw/airborne/modules/nav/nav_gls.h
+++ b/sw/airborne/modules/nav/nav_gls.h
@@ -30,7 +30,7 @@
 #include "std.h"
 #include "paparazzi.h"
 
-extern bool_t gls_init(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
-extern bool_t gls(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
+extern bool_t gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
+extern bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td);
 
 #endif // NAV_GLS_H
diff --git a/sw/airborne/modules/nav/nav_line.c b/sw/airborne/modules/nav/nav_line.c
index a5cd601c32..1d5aee2b8a 100644
--- a/sw/airborne/modules/nav/nav_line.c
+++ b/sw/airborne/modules/nav/nav_line.c
@@ -33,12 +33,12 @@
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum line_status line_status;
 
-bool_t nav_line_init( void ) {
+bool_t nav_line_start( void ) {
   line_status = LR12;
   return FALSE;
 }
 
-bool_t nav_line(uint8_t l1, uint8_t l2, float radius) {
+bool_t nav_line_run(uint8_t l1, uint8_t l2, float radius) {
   radius = fabs(radius);
   float alt = waypoints[l1].a;
   waypoints[l2].a = alt;
diff --git a/sw/airborne/modules/nav/nav_line.h b/sw/airborne/modules/nav/nav_line.h
index 92ae949bf2..69b120b717 100644
--- a/sw/airborne/modules/nav/nav_line.h
+++ b/sw/airborne/modules/nav/nav_line.h
@@ -30,7 +30,7 @@
 
 #include "std.h"
 
-extern bool_t nav_line_init( void );
-extern bool_t nav_line(uint8_t wp1, uint8_t wp2, float radius);
+extern bool_t nav_line_start( void );
+extern bool_t nav_line_run(uint8_t wp1, uint8_t wp2, float radius);
 
 #endif /* NAV_LINE_H */