diff --git a/src/drivers/uavcan_v1/Subscribers/Battery.hpp b/src/drivers/uavcan_v1/Subscribers/Battery.hpp
index 804599af2e..f6c8923d7f 100644
--- a/src/drivers/uavcan_v1/Subscribers/Battery.hpp
+++ b/src/drivers/uavcan_v1/Subscribers/Battery.hpp
@@ -47,11 +47,11 @@
 
 #include "Subscriber.hpp"
 
-class UavcanBmsSubscription : public UavcanSubscription
+class UavcanBmsSubscriber : public UavcanSubscriber
 {
 public:
-	UavcanBmsSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, "bms", instance) { };
+	UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
+		UavcanSubscriber(ins, pmgr, "bms", instance) { };
 
 	void subscribe() override
 	{
diff --git a/src/drivers/uavcan_v1/Subscribers/Esc.hpp b/src/drivers/uavcan_v1/Subscribers/Esc.hpp
index 4e10ac4a26..2d8edf13bb 100644
--- a/src/drivers/uavcan_v1/Subscribers/Esc.hpp
+++ b/src/drivers/uavcan_v1/Subscribers/Esc.hpp
@@ -51,11 +51,11 @@
 
 #include "Subscriber.hpp"
 
-class UavcanEscSubscription : public UavcanSubscription
+class UavcanEscSubscriber : public UavcanSubscriber
 {
 public:
-	UavcanEscSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, "esc", instance) { };
+	UavcanEscSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
+		UavcanSubscriber(ins, pmgr, "esc", instance) { };
 
 	void subscribe() override
 	{
diff --git a/src/drivers/uavcan_v1/Subscribers/Gnss.hpp b/src/drivers/uavcan_v1/Subscribers/Gnss.hpp
index 6659ef747e..183feabb45 100644
--- a/src/drivers/uavcan_v1/Subscribers/Gnss.hpp
+++ b/src/drivers/uavcan_v1/Subscribers/Gnss.hpp
@@ -46,11 +46,11 @@
 
 #include "Subscriber.hpp"
 
-class UavcanGnssSubscription : public UavcanSubscription
+class UavcanGnssSubscriber : public UavcanSubscriber
 {
 public:
-	UavcanGnssSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, "gps", instance) { };
+	UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
+		UavcanSubscriber(ins, pmgr, "gps", instance) { };
 
 	void subscribe() override
 	{
diff --git a/src/drivers/uavcan_v1/Subscribers/Subscriber.hpp b/src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
index 3754d6917a..062348d785 100644
--- a/src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
+++ b/src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
@@ -50,12 +50,12 @@
 #include "../CanardInterface.hpp"
 #include "../ParamManager.hpp"
 
-class UavcanSubscription
+class UavcanSubscriber
 {
 public:
 	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
 
-	UavcanSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
+	UavcanSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
 		_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
 
 	virtual void subscribe() = 0;
diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp
index 3ba0f15410..8a23589781 100644
--- a/src/drivers/uavcan_v1/Uavcan.hpp
+++ b/src/drivers/uavcan_v1/Uavcan.hpp
@@ -246,14 +246,14 @@ private:
 	/// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
 	UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
 
-	UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, 0};
-	UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, 1};
-	UavcanBmsSubscription  _bms0_sub {_canard_instance, _param_manager, 0};
-	UavcanBmsSubscription  _bms1_sub {_canard_instance, _param_manager, 1};
-	UavcanEscSubscription  _esc_sub  {_canard_instance, _param_manager, 0};
-
-	// Subscription objects: Any object used to bridge a UAVCAN message to a uORB message
-	UavcanSubscription *_subscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub, &_esc_sub}; /// TODO: turn into List<UavcanSubscription*>
+	UavcanGnssSubscriber _gps0_sub {_canard_instance, _param_manager, 0};
+	UavcanGnssSubscriber _gps1_sub {_canard_instance, _param_manager, 1};
+	UavcanBmsSubscriber  _bms0_sub {_canard_instance, _param_manager, 0};
+	UavcanBmsSubscriber  _bms1_sub {_canard_instance, _param_manager, 1};
+	UavcanEscSubscriber  _esc_sub  {_canard_instance, _param_manager, 0};
+
+	// Subscriber objects: Any object used to bridge a UAVCAN message to a uORB message
+	UavcanSubscriber *_subscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub, &_esc_sub}; /// TODO: turn into List<UavcanSubscription*>
 
 	UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
 };