diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index d96a6d4f09..a2320cbead 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -327,40 +327,40 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE",   0),
 
-	// @Param: SONAR_TRIGGER_CM
-	// @DisplayName: Sonar trigger distance
-	// @Description: The distance from an obstacle in centimeters at which the sonar triggers a turn to avoid the obstacle
+	// @Param: RNGFND_TRIGGR_CM
+	// @DisplayName: Rangefinder trigger distance
+	// @Description: The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle
 	// @Units: centimeters
     // @Range: 0 1000
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_trigger_cm,   "SONAR_TRIGGER_CM",    100),
+	GSCALAR(sonar_trigger_cm,   "RNGFND_TRIGGR_CM",    100),
 
-	// @Param: SONAR_TURN_ANGLE
-	// @DisplayName: Sonar trigger angle
-	// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the sonar. A positive number means to turn right, and a negative angle means to turn left.
+	// @Param: RNGFND_TURN_ANGL
+	// @DisplayName: Rangefinder trigger angle
+	// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left.
 	// @Units: centimeters
     // @Range: -45 45
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_turn_angle,   "SONAR_TURN_ANGLE",    45),
+	GSCALAR(sonar_turn_angle,   "RNGFND_TURN_ANGL",    45),
 
-	// @Param: SONAR_TURN_TIME
-	// @DisplayName: Sonar turn time
-	// @Description: The amount of time in seconds to apply the SONAR_TURN_ANGLE after detecting an obstacle.
+	// @Param: RNGFND_TURN_TIME
+	// @DisplayName: Rangefinder turn time
+	// @Description: The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle.
 	// @Units: seconds
     // @Range: 0 100
     // @Increment: 0.1
 	// @User: Standard
-	GSCALAR(sonar_turn_time,    "SONAR_TURN_TIME",     1.0f),
+	GSCALAR(sonar_turn_time,    "RNGFND_TURN_TIME",     1.0f),
 
-	// @Param: SONAR_DEBOUNCE
-	// @DisplayName: Sonar debounce count
-	// @Description: The number of 50Hz sonar hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.
+	// @Param: RNGFND_DEBOUNCE
+	// @DisplayName: Rangefinder debounce count
+	// @Description: The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.
     // @Range: 1 100
     // @Increment: 1
 	// @User: Standard
-	GSCALAR(sonar_debounce,   "SONAR_DEBOUNCE",    2),
+	GSCALAR(sonar_debounce,   "RNGFND_DEBOUNCE",    2),
 
     // @Param: LEARN_CH
     // @DisplayName: Learning channel
@@ -482,9 +482,9 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
     GOBJECT(L1_controller,         "NAVL1_",   AP_L1_Control),
 
-    // @Group: SONAR
+    // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
-    GOBJECT(sonar,                 "SONAR", RangeFinder),
+    GOBJECT(sonar,                 "RNGFND", RangeFinder),
 
     // @Group: INS_
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp