diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
index 8ea4ef6f35..e1fb75af08 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
@@ -15,7 +15,7 @@
 #pragma once
 
 /*
- *       OpticalFlow.h - OpticalFlow Base Class for Ardupilot
+ *       AP_OpticalFlow.h - OpticalFlow Base Class for Ardupilot
  *       Code by Randy Mackay. DIYDrones.com
  */
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
index 0bd3184582..57c0cc5a35 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
@@ -36,7 +36,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <utility>
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <stdio.h>
 
 #define CXOF_HEADER         (uint8_t)0xFE
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
index c34ed5f926..aec5a85393 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_CXOF : public OpticalFlow_backend
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
index ddee89af47..5ba90ae784 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_MAV : public OpticalFlow_backend
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
index 0bf7276179..13aff4b7c5 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 #if HAL_MSP_OPTICALFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
index 2acf978268..c441f7cf36 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
@@ -16,7 +16,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
index 75d3c4a013..7b28c64ad0 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
@@ -19,7 +19,7 @@
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 
 class AP_OpticalFlow_Onboard : public OpticalFlow_backend
 {
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
index e86ca16d28..8808534e4c 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
@@ -22,7 +22,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/I2CDevice.h>
 #include <utility>
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <stdio.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
index 9ab7657dff..eeeecb7bbf 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
index f0d1d5c64d..9de917fd4e 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
@@ -24,7 +24,7 @@
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <utility>
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include "AP_OpticalFlow_Pixart.h"
 #include "AP_OpticalFlow_Pixart_SROM.h"
 #include <stdio.h>
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
index 9c5e11d09b..82b2f14a68 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_Pixart : public OpticalFlow_backend
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h
index 6522398570..ebb5deec9a 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
index d3dc8f6463..ce85a2a4d3 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
@@ -38,7 +38,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <utility>
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <stdio.h>
 
 #define UPFLOW_HEADER0         (uint8_t)0xFE
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
index e5eb29c582..d00aa3b31f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index e89a146f83..274361f7bc 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -1,5 +1,5 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 #include "AP_OpticalFlow_Onboard.h"
 #include "AP_OpticalFlow_SITL.h"
 #include "AP_OpticalFlow_Pixart.h"
diff --git a/libraries/AP_OpticalFlow/OpticalFlow_backend.cpp b/libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
index ffb770b158..4a48afecab 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
@@ -13,7 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_OpticalFlow/OpticalFlow_backend.h b/libraries/AP_OpticalFlow/OpticalFlow_backend.h
index 782aa2d470..d06d7b0442 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow_backend.h
+++ b/libraries/AP_OpticalFlow/OpticalFlow_backend.h
@@ -18,7 +18,7 @@
   OpticalFlow backend class for ArduPilot
  */
 
-#include "OpticalFlow.h"
+#include "AP_OpticalFlow.h"
 
 class OpticalFlow_backend
 {