diff --git a/libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h b/libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h
index 19d901ddc3..b63060a297 100644
--- a/libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h
+++ b/libraries/AP_HAL_Empty/AP_HAL_Empty_Namespace.h
@@ -1,29 +1,19 @@
-
-#ifndef __AP_HAL_EMPTY_NAMESPACE_H__
-#define __AP_HAL_EMPTY_NAMESPACE_H__
-
-/* While not strictly required, names inside the Empty namespace are prefixed
- * with Empty for clarity. (Some of our users aren't familiar with all of the
- * C++ namespace rules.)
- */
+#pragma once
 
 namespace Empty {
-    class EmptyUARTDriver;
-    class EmptyI2CDriver;
-    class EmptySPIDeviceManager;
-    class EmptySPIDeviceDriver;
-    class EmptyAnalogSource;
-    class EmptyAnalogIn;
-    class EmptyStorage;
-    class EmptyGPIO;
-    class EmptyDigitalSource;
-    class EmptyRCInput;
-    class EmptyRCOutput;
-    class EmptySemaphore;
-    class EmptyScheduler;
-    class EmptyUtil;
-    class EmptyPrivateMember;
+    class UARTDriver;
+    class I2CDriver;
+    class SPIDeviceManager;
+    class SPIDeviceDriver;
+    class AnalogSource;
+    class AnalogIn;
+    class Storage;
+    class GPIO;
+    class DigitalSource;
+    class RCInput;
+    class RCOutput;
+    class Semaphore;
+    class Scheduler;
+    class Util;
+    class PrivateMember;
 }
-
-#endif // __AP_HAL_EMPTY_NAMESPACE_H__
-
diff --git a/libraries/AP_HAL_Empty/AnalogIn.cpp b/libraries/AP_HAL_Empty/AnalogIn.cpp
index ffa8daabcc..9c8ee0b9d7 100644
--- a/libraries/AP_HAL_Empty/AnalogIn.cpp
+++ b/libraries/AP_HAL_Empty/AnalogIn.cpp
@@ -2,46 +2,46 @@
 
 using namespace Empty;
 
-EmptyAnalogSource::EmptyAnalogSource(float v) :
+AnalogSource::AnalogSource(float v) :
     _v(v)
 {}
 
-float EmptyAnalogSource::read_average() {
+float AnalogSource::read_average() {
     return _v;
 }
 
-float EmptyAnalogSource::voltage_average() {
+float AnalogSource::voltage_average() {
     return 5.0f * _v / 1024.0f;
 }
 
-float EmptyAnalogSource::voltage_latest() {
+float AnalogSource::voltage_latest() {
     return 5.0f * _v / 1024.0f;
 }
 
-float EmptyAnalogSource::read_latest() {
+float AnalogSource::read_latest() {
     return _v;
 }
 
-void EmptyAnalogSource::set_pin(uint8_t p)
+void AnalogSource::set_pin(uint8_t p)
 {}
 
-void EmptyAnalogSource::set_stop_pin(uint8_t p)
+void AnalogSource::set_stop_pin(uint8_t p)
 {}
 
-void EmptyAnalogSource::set_settle_time(uint16_t settle_time_ms)
+void AnalogSource::set_settle_time(uint16_t settle_time_ms)
 {}
 
-EmptyAnalogIn::EmptyAnalogIn()
+AnalogIn::AnalogIn()
 {}
 
-void EmptyAnalogIn::init()
+void AnalogIn::init()
 {}
 
-AP_HAL::AnalogSource* EmptyAnalogIn::channel(int16_t n) {
-    return new EmptyAnalogSource(1.11);
+AP_HAL::AnalogSource* AnalogIn::channel(int16_t n) {
+    return new AnalogSource(1.11);
 }
 
-float EmptyAnalogIn::board_voltage(void)
+float AnalogIn::board_voltage(void)
 {
     return 0;
 }
diff --git a/libraries/AP_HAL_Empty/AnalogIn.h b/libraries/AP_HAL_Empty/AnalogIn.h
index e53ea8a5b1..160145a306 100644
--- a/libraries/AP_HAL_Empty/AnalogIn.h
+++ b/libraries/AP_HAL_Empty/AnalogIn.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyAnalogSource : public AP_HAL::AnalogSource {
+class Empty::AnalogSource : public AP_HAL::AnalogSource {
 public:
-    EmptyAnalogSource(float v);
+    AnalogSource(float v);
     float read_average();
     float read_latest();
     void set_pin(uint8_t p);
@@ -19,9 +19,9 @@ private:
     float _v;
 };
 
-class Empty::EmptyAnalogIn : public AP_HAL::AnalogIn {
+class Empty::AnalogIn : public AP_HAL::AnalogIn {
 public:
-    EmptyAnalogIn();
+    AnalogIn();
     void init();
     AP_HAL::AnalogSource* channel(int16_t n);
     float board_voltage(void);
diff --git a/libraries/AP_HAL_Empty/GPIO.cpp b/libraries/AP_HAL_Empty/GPIO.cpp
index e2ab93b11f..862e3772ef 100644
--- a/libraries/AP_HAL_Empty/GPIO.cpp
+++ b/libraries/AP_HAL_Empty/GPIO.cpp
@@ -3,62 +3,62 @@
 
 using namespace Empty;
 
-EmptyGPIO::EmptyGPIO()
+GPIO::GPIO()
 {}
 
-void EmptyGPIO::init()
+void GPIO::init()
 {}
 
-void EmptyGPIO::pinMode(uint8_t pin, uint8_t output)
+void GPIO::pinMode(uint8_t pin, uint8_t output)
 {}
 
-int8_t EmptyGPIO::analogPinToDigitalPin(uint8_t pin)
+int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
 {
 	return -1;
 }
 
 
-uint8_t EmptyGPIO::read(uint8_t pin) {
+uint8_t GPIO::read(uint8_t pin) {
     return 0;
 }
 
-void EmptyGPIO::write(uint8_t pin, uint8_t value)
+void GPIO::write(uint8_t pin, uint8_t value)
 {}
 
-void EmptyGPIO::toggle(uint8_t pin)
+void GPIO::toggle(uint8_t pin)
 {}
 
 /* Alternative interface: */
-AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) {
-    return new EmptyDigitalSource(0);
+AP_HAL::DigitalSource* GPIO::channel(uint16_t n) {
+    return new DigitalSource(0);
 }
 
 /* Interrupt interface: */
-bool EmptyGPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
+bool GPIO::attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
         uint8_t mode) {
     return true;
 }
 
-bool EmptyGPIO::usb_connected(void)
+bool GPIO::usb_connected(void)
 {
     return false;
 }
 
-EmptyDigitalSource::EmptyDigitalSource(uint8_t v) :
+DigitalSource::DigitalSource(uint8_t v) :
     _v(v)
 {}
 
-void EmptyDigitalSource::mode(uint8_t output)
+void DigitalSource::mode(uint8_t output)
 {}
 
-uint8_t EmptyDigitalSource::read() {
+uint8_t DigitalSource::read() {
     return _v;
 }
 
-void EmptyDigitalSource::write(uint8_t value) {
+void DigitalSource::write(uint8_t value) {
     _v = value;
 }
 
-void EmptyDigitalSource::toggle() {
+void DigitalSource::toggle() {
     _v = !_v;
 }
diff --git a/libraries/AP_HAL_Empty/GPIO.h b/libraries/AP_HAL_Empty/GPIO.h
index 1bf209f169..a74841c98b 100644
--- a/libraries/AP_HAL_Empty/GPIO.h
+++ b/libraries/AP_HAL_Empty/GPIO.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyGPIO : public AP_HAL::GPIO {
+class Empty::GPIO : public AP_HAL::GPIO {
 public:
-    EmptyGPIO();
+    GPIO();
     void    init();
     void    pinMode(uint8_t pin, uint8_t output);
     int8_t  analogPinToDigitalPin(uint8_t pin);
@@ -25,9 +25,9 @@ public:
     bool    usb_connected(void);
 };
 
-class Empty::EmptyDigitalSource : public AP_HAL::DigitalSource {
+class Empty::DigitalSource : public AP_HAL::DigitalSource {
 public:
-    EmptyDigitalSource(uint8_t v);
+    DigitalSource(uint8_t v);
     void    mode(uint8_t output);
     uint8_t read();
     void    write(uint8_t value); 
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
index 6f63796a32..3d76b03d96 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
@@ -9,19 +9,19 @@
 
 using namespace Empty;
 
-static EmptyUARTDriver uartADriver;
-static EmptyUARTDriver uartBDriver;
-static EmptyUARTDriver uartCDriver;
-static EmptySemaphore  i2cSemaphore;
-static EmptyI2CDriver  i2cDriver(&i2cSemaphore);
-static EmptySPIDeviceManager spiDeviceManager;
-static EmptyAnalogIn analogIn;
-static EmptyStorage storageDriver;
-static EmptyGPIO gpioDriver;
-static EmptyRCInput rcinDriver;
-static EmptyRCOutput rcoutDriver;
-static EmptyScheduler schedulerInstance;
-static EmptyUtil utilInstance;
+static UARTDriver uartADriver;
+static UARTDriver uartBDriver;
+static UARTDriver uartCDriver;
+static Semaphore  i2cSemaphore;
+static I2CDriver  i2cDriver(&i2cSemaphore);
+static SPIDeviceManager spiDeviceManager;
+static AnalogIn analogIn;
+static Storage storageDriver;
+static GPIO gpioDriver;
+static RCInput rcinDriver;
+static RCOutput rcoutDriver;
+static Scheduler schedulerInstance;
+static Util utilInstance;
 
 HAL_Empty::HAL_Empty() :
     AP_HAL::HAL(
@@ -42,7 +42,7 @@ HAL_Empty::HAL_Empty() :
         &rcoutDriver,
         &schedulerInstance,
         &utilInstance),
-    _member(new EmptyPrivateMember(123))
+    _member(new PrivateMember(123))
 {}
 
 void HAL_Empty::run(int argc, char* const argv[], Callbacks* callbacks) const
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.h b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
index ba8d917197..fdc2dc0fad 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.h
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
@@ -10,5 +10,5 @@ public:
     HAL_Empty();
     void run(int argc, char* const* argv, Callbacks* callbacks) const override;
 private:
-    Empty::EmptyPrivateMember *_member;
+    Empty::PrivateMember *_member;
 };
diff --git a/libraries/AP_HAL_Empty/I2CDriver.cpp b/libraries/AP_HAL_Empty/I2CDriver.cpp
index c4f6b8fa83..0411759d8b 100644
--- a/libraries/AP_HAL_Empty/I2CDriver.cpp
+++ b/libraries/AP_HAL_Empty/I2CDriver.cpp
@@ -4,35 +4,35 @@
 
 using namespace Empty;
 
-void EmptyI2CDriver::begin() {}
-void EmptyI2CDriver::end() {}
-void EmptyI2CDriver::setTimeout(uint16_t ms) {}
-void EmptyI2CDriver::setHighSpeed(bool active) {}
+void I2CDriver::begin() {}
+void I2CDriver::end() {}
+void I2CDriver::setTimeout(uint16_t ms) {}
+void I2CDriver::setHighSpeed(bool active) {}
 
-uint8_t EmptyI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
+uint8_t I2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
 {return 1;} 
-uint8_t EmptyI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
+uint8_t I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
 {return 1;}
-uint8_t EmptyI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
+uint8_t I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
                                uint8_t len, uint8_t* data)
 {return 1;}
 
-uint8_t EmptyI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
+uint8_t I2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
 {
     memset(data, 0, len);
     return 0;
 }
-uint8_t EmptyI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
+uint8_t I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
 {
     *data = 0;
     return 1;
 }
 
-uint8_t EmptyI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
+uint8_t I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
                                       uint8_t len, uint8_t* data)
 {
     memset(data, 0, len);    
     return 1;
 }
 
-uint8_t EmptyI2CDriver::lockup_count() {return 0;}
+uint8_t I2CDriver::lockup_count() {return 0;}
diff --git a/libraries/AP_HAL_Empty/I2CDriver.h b/libraries/AP_HAL_Empty/I2CDriver.h
index 404643760e..efdae9f240 100644
--- a/libraries/AP_HAL_Empty/I2CDriver.h
+++ b/libraries/AP_HAL_Empty/I2CDriver.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyI2CDriver : public AP_HAL::I2CDriver {
+class Empty::I2CDriver : public AP_HAL::I2CDriver {
 public:
-    EmptyI2CDriver(AP_HAL::Semaphore* semaphore) : _semaphore(semaphore) {}
+    I2CDriver(AP_HAL::Semaphore* semaphore) : _semaphore(semaphore) {}
     void begin();
     void end();
     void setTimeout(uint16_t ms);
diff --git a/libraries/AP_HAL_Empty/PrivateMember.cpp b/libraries/AP_HAL_Empty/PrivateMember.cpp
index 08761b01bd..ba7f8d7516 100644
--- a/libraries/AP_HAL_Empty/PrivateMember.cpp
+++ b/libraries/AP_HAL_Empty/PrivateMember.cpp
@@ -3,9 +3,9 @@
 
 using namespace Empty;
 
-EmptyPrivateMember::EmptyPrivateMember(uint16_t foo) :
+PrivateMember::PrivateMember(uint16_t foo) :
     _foo(foo)
 {}
 
-void EmptyPrivateMember::init() {}
+void PrivateMember::init() {}
 
diff --git a/libraries/AP_HAL_Empty/PrivateMember.h b/libraries/AP_HAL_Empty/PrivateMember.h
index 509c873352..f073f92355 100644
--- a/libraries/AP_HAL_Empty/PrivateMember.h
+++ b/libraries/AP_HAL_Empty/PrivateMember.h
@@ -7,9 +7,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyPrivateMember {
+class Empty::PrivateMember {
 public:
-    EmptyPrivateMember(uint16_t foo);
+    PrivateMember(uint16_t foo);
     void init();
 private:
     uint16_t _foo;
diff --git a/libraries/AP_HAL_Empty/RCInput.cpp b/libraries/AP_HAL_Empty/RCInput.cpp
index f1935dc6df..086dedc0aa 100644
--- a/libraries/AP_HAL_Empty/RCInput.cpp
+++ b/libraries/AP_HAL_Empty/RCInput.cpp
@@ -2,26 +2,26 @@
 #include "RCInput.h"
 
 using namespace Empty;
-EmptyRCInput::EmptyRCInput()
+RCInput::RCInput()
 {}
 
-void EmptyRCInput::init()
+void RCInput::init()
 {}
 
-bool EmptyRCInput::new_input() {
+bool RCInput::new_input() {
     return false;
 }
 
-uint8_t EmptyRCInput::num_channels() {
+uint8_t RCInput::num_channels() {
     return 0;
 }
 
-uint16_t EmptyRCInput::read(uint8_t ch) {
+uint16_t RCInput::read(uint8_t ch) {
     if (ch == 2) return 900; /* throttle should be low, for safety */
     else return 1500;
 }
 
-uint8_t EmptyRCInput::read(uint16_t* periods, uint8_t len) {
+uint8_t RCInput::read(uint16_t* periods, uint8_t len) {
     for (uint8_t i = 0; i < len; i++){
         if (i == 2) periods[i] = 900;
         else periods[i] = 1500;
@@ -29,14 +29,14 @@ uint8_t EmptyRCInput::read(uint16_t* periods, uint8_t len) {
     return len;
 }
 
-bool EmptyRCInput::set_overrides(int16_t *overrides, uint8_t len) {
+bool RCInput::set_overrides(int16_t *overrides, uint8_t len) {
     return true;
 }
 
-bool EmptyRCInput::set_override(uint8_t channel, int16_t override) {
+bool RCInput::set_override(uint8_t channel, int16_t override) {
     return true;
 }
 
-void EmptyRCInput::clear_overrides()
+void RCInput::clear_overrides()
 {}
 
diff --git a/libraries/AP_HAL_Empty/RCInput.h b/libraries/AP_HAL_Empty/RCInput.h
index 14b3a1cb79..a24bba7677 100644
--- a/libraries/AP_HAL_Empty/RCInput.h
+++ b/libraries/AP_HAL_Empty/RCInput.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyRCInput : public AP_HAL::RCInput {
+class Empty::RCInput : public AP_HAL::RCInput {
 public:
-    EmptyRCInput();
+    RCInput();
     void init();
     bool  new_input();
     uint8_t num_channels();
diff --git a/libraries/AP_HAL_Empty/RCOutput.cpp b/libraries/AP_HAL_Empty/RCOutput.cpp
index 55e74a5bd6..df144663c9 100644
--- a/libraries/AP_HAL_Empty/RCOutput.cpp
+++ b/libraries/AP_HAL_Empty/RCOutput.cpp
@@ -3,27 +3,27 @@
 
 using namespace Empty;
 
-void EmptyRCOutput::init() {}
+void RCOutput::init() {}
 
-void EmptyRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {}
+void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {}
 
-uint16_t EmptyRCOutput::get_freq(uint8_t ch) {
+uint16_t RCOutput::get_freq(uint8_t ch) {
     return 50;
 }
 
-void EmptyRCOutput::enable_ch(uint8_t ch)
+void RCOutput::enable_ch(uint8_t ch)
 {}
 
-void EmptyRCOutput::disable_ch(uint8_t ch)
+void RCOutput::disable_ch(uint8_t ch)
 {}
 
-void EmptyRCOutput::write(uint8_t ch, uint16_t period_us)
+void RCOutput::write(uint8_t ch, uint16_t period_us)
 {}
 
-uint16_t EmptyRCOutput::read(uint8_t ch) {
+uint16_t RCOutput::read(uint8_t ch) {
     return 900;
 }
 
-void EmptyRCOutput::read(uint16_t* period_us, uint8_t len)
+void RCOutput::read(uint16_t* period_us, uint8_t len)
 {}
 
diff --git a/libraries/AP_HAL_Empty/RCOutput.h b/libraries/AP_HAL_Empty/RCOutput.h
index 7290aa59fe..c831394672 100644
--- a/libraries/AP_HAL_Empty/RCOutput.h
+++ b/libraries/AP_HAL_Empty/RCOutput.h
@@ -4,7 +4,7 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyRCOutput : public AP_HAL::RCOutput {
+class Empty::RCOutput : public AP_HAL::RCOutput {
     void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
diff --git a/libraries/AP_HAL_Empty/SPIDriver.cpp b/libraries/AP_HAL_Empty/SPIDriver.cpp
index a6ca786e8c..a3e27bc55f 100644
--- a/libraries/AP_HAL_Empty/SPIDriver.cpp
+++ b/libraries/AP_HAL_Empty/SPIDriver.cpp
@@ -3,45 +3,45 @@
 
 using namespace Empty;
 
-EmptySPIDeviceDriver::EmptySPIDeviceDriver()
+SPIDeviceDriver::SPIDeviceDriver()
 {}
 
-void EmptySPIDeviceDriver::init()
+void SPIDeviceDriver::init()
 {}
 
-AP_HAL::Semaphore* EmptySPIDeviceDriver::get_semaphore()
+AP_HAL::Semaphore* SPIDeviceDriver::get_semaphore()
 {
     return &_semaphore;
 }
 
-bool EmptySPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
+bool SPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
 {
     return true;
 }
 
 
-void EmptySPIDeviceDriver::cs_assert()
+void SPIDeviceDriver::cs_assert()
 {}
 
-void EmptySPIDeviceDriver::cs_release()
+void SPIDeviceDriver::cs_release()
 {}
 
-uint8_t EmptySPIDeviceDriver::transfer (uint8_t data)
+uint8_t SPIDeviceDriver::transfer (uint8_t data)
 {
     return 0;
 }
 
-void EmptySPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
+void SPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
 {
 }
 
-EmptySPIDeviceManager::EmptySPIDeviceManager()
+SPIDeviceManager::SPIDeviceManager()
 {}
 
-void EmptySPIDeviceManager::init()
+void SPIDeviceManager::init()
 {}
 
-AP_HAL::SPIDeviceDriver* EmptySPIDeviceManager::device(enum AP_HAL::SPIDevice, uint8_t index)
+AP_HAL::SPIDeviceDriver* SPIDeviceManager::device(enum AP_HAL::SPIDevice, uint8_t index)
 {
     return &_device;
 }
diff --git a/libraries/AP_HAL_Empty/SPIDriver.h b/libraries/AP_HAL_Empty/SPIDriver.h
index 4a3bd5d08e..3f651b1d61 100644
--- a/libraries/AP_HAL_Empty/SPIDriver.h
+++ b/libraries/AP_HAL_Empty/SPIDriver.h
@@ -5,9 +5,9 @@
 #include "AP_HAL_Empty.h"
 #include "Semaphores.h"
 
-class Empty::EmptySPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
+class Empty::SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
 public:
-    EmptySPIDeviceDriver();
+    SPIDeviceDriver();
     void init();
     AP_HAL::Semaphore* get_semaphore();
     bool transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
@@ -17,16 +17,16 @@ public:
     uint8_t transfer (uint8_t data);
     void transfer (const uint8_t *data, uint16_t len);
 private:
-    EmptySemaphore _semaphore;
+    Semaphore _semaphore;
 };
 
-class Empty::EmptySPIDeviceManager : public AP_HAL::SPIDeviceManager {
+class Empty::SPIDeviceManager : public AP_HAL::SPIDeviceManager {
 public:
-    EmptySPIDeviceManager();
+    SPIDeviceManager();
     void init();
     AP_HAL::SPIDeviceDriver* device(enum AP_HAL::SPIDevice, uint8_t index);
 private:
-    EmptySPIDeviceDriver _device;
+    SPIDeviceDriver _device;
 };
 
 #endif // __AP_HAL_EMPTY_SPIDRIVER_H__
diff --git a/libraries/AP_HAL_Empty/Scheduler.cpp b/libraries/AP_HAL_Empty/Scheduler.cpp
index 39cd9a1ff8..fa63ec2f5d 100644
--- a/libraries/AP_HAL_Empty/Scheduler.cpp
+++ b/libraries/AP_HAL_Empty/Scheduler.cpp
@@ -7,54 +7,54 @@ using namespace Empty;
 
 extern const AP_HAL::HAL& hal;
 
-EmptyScheduler::EmptyScheduler()
+Scheduler::Scheduler()
 {}
 
-void EmptyScheduler::init()
+void Scheduler::init()
 {}
 
-void EmptyScheduler::delay(uint16_t ms)
+void Scheduler::delay(uint16_t ms)
 {}
 
-void EmptyScheduler::delay_microseconds(uint16_t us)
+void Scheduler::delay_microseconds(uint16_t us)
 {}
 
-void EmptyScheduler::register_delay_callback(AP_HAL::Proc k,
+void Scheduler::register_delay_callback(AP_HAL::Proc k,
             uint16_t min_time_ms)
 {}
 
-void EmptyScheduler::register_timer_process(AP_HAL::MemberProc k)
+void Scheduler::register_timer_process(AP_HAL::MemberProc k)
 {}
 
-void EmptyScheduler::register_io_process(AP_HAL::MemberProc k)
+void Scheduler::register_io_process(AP_HAL::MemberProc k)
 {}
 
-void EmptyScheduler::register_timer_failsafe(AP_HAL::Proc, uint32_t period_us)
+void Scheduler::register_timer_failsafe(AP_HAL::Proc, uint32_t period_us)
 {}
 
-void EmptyScheduler::suspend_timer_procs()
+void Scheduler::suspend_timer_procs()
 {}
 
-void EmptyScheduler::resume_timer_procs()
+void Scheduler::resume_timer_procs()
 {}
 
-bool EmptyScheduler::in_timerprocess() {
+bool Scheduler::in_timerprocess() {
     return false;
 }
 
-void EmptyScheduler::begin_atomic()
+void Scheduler::begin_atomic()
 {}
 
-void EmptyScheduler::end_atomic()
+void Scheduler::end_atomic()
 {}
 
-bool EmptyScheduler::system_initializing() {
+bool Scheduler::system_initializing() {
     return false;
 }
 
-void EmptyScheduler::system_initialized()
+void Scheduler::system_initialized()
 {}
 
-void EmptyScheduler::reboot(bool hold_in_bootloader) {
+void Scheduler::reboot(bool hold_in_bootloader) {
     for(;;);
 }
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index bef1e43c84..61b025a873 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyScheduler : public AP_HAL::Scheduler {
+class Empty::Scheduler : public AP_HAL::Scheduler {
 public:
-    EmptyScheduler();
+    Scheduler();
     void     init();
     void     delay(uint16_t ms);
     void     delay_microseconds(uint16_t us);
diff --git a/libraries/AP_HAL_Empty/Semaphores.cpp b/libraries/AP_HAL_Empty/Semaphores.cpp
index c4f45e2559..f8680c42bd 100644
--- a/libraries/AP_HAL_Empty/Semaphores.cpp
+++ b/libraries/AP_HAL_Empty/Semaphores.cpp
@@ -3,7 +3,7 @@
 
 using namespace Empty;
 
-bool EmptySemaphore::give() {
+bool Semaphore::give() {
     if (_taken) {
         _taken = false;
         return true;
@@ -12,11 +12,11 @@ bool EmptySemaphore::give() {
     }
 }
 
-bool EmptySemaphore::take(uint32_t timeout_ms) {
+bool Semaphore::take(uint32_t timeout_ms) {
     return take_nonblocking();
 }
 
-bool EmptySemaphore::take_nonblocking() {
+bool Semaphore::take_nonblocking() {
     /* No syncronisation primitives to garuntee this is correct */
     if (!_taken) {
         _taken = true;
diff --git a/libraries/AP_HAL_Empty/Semaphores.h b/libraries/AP_HAL_Empty/Semaphores.h
index 46848b1d3a..38279db9be 100644
--- a/libraries/AP_HAL_Empty/Semaphores.h
+++ b/libraries/AP_HAL_Empty/Semaphores.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptySemaphore : public AP_HAL::Semaphore {
+class Empty::Semaphore : public AP_HAL::Semaphore {
 public:
-    EmptySemaphore() : _taken(false) {}
+    Semaphore() : _taken(false) {}
     bool give();
     bool take(uint32_t timeout_ms);
     bool take_nonblocking();
diff --git a/libraries/AP_HAL_Empty/Storage.cpp b/libraries/AP_HAL_Empty/Storage.cpp
index fc87a658df..0bb12aa9f6 100644
--- a/libraries/AP_HAL_Empty/Storage.cpp
+++ b/libraries/AP_HAL_Empty/Storage.cpp
@@ -4,16 +4,16 @@
 
 using namespace Empty;
 
-EmptyStorage::EmptyStorage()
+Storage::Storage()
 {}
 
-void EmptyStorage::init()
+void Storage::init()
 {}
 
-void EmptyStorage::read_block(void* dst, uint16_t src, size_t n) {
+void Storage::read_block(void* dst, uint16_t src, size_t n) {
     memset(dst, 0, n);
 }
 
-void EmptyStorage::write_block(uint16_t loc, const void* src, size_t n)
+void Storage::write_block(uint16_t loc, const void* src, size_t n)
 {}
 
diff --git a/libraries/AP_HAL_Empty/Storage.h b/libraries/AP_HAL_Empty/Storage.h
index 1dacb452f7..3eb66063d3 100644
--- a/libraries/AP_HAL_Empty/Storage.h
+++ b/libraries/AP_HAL_Empty/Storage.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyStorage : public AP_HAL::Storage {
+class Empty::Storage : public AP_HAL::Storage {
 public:
-    EmptyStorage();
+    Storage();
     void init();
     void read_block(void *dst, uint16_t src, size_t n);
     void write_block(uint16_t dst, const void* src, size_t n);
diff --git a/libraries/AP_HAL_Empty/UARTDriver.cpp b/libraries/AP_HAL_Empty/UARTDriver.cpp
index 8969837375..7689a2386e 100644
--- a/libraries/AP_HAL_Empty/UARTDriver.cpp
+++ b/libraries/AP_HAL_Empty/UARTDriver.cpp
@@ -3,25 +3,25 @@
 
 using namespace Empty;
 
-EmptyUARTDriver::EmptyUARTDriver() {}
+UARTDriver::UARTDriver() {}
 
-void EmptyUARTDriver::begin(uint32_t b) {}
-void EmptyUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) {}
-void EmptyUARTDriver::end() {}
-void EmptyUARTDriver::flush() {}
-bool EmptyUARTDriver::is_initialized() { return false; }
-void EmptyUARTDriver::set_blocking_writes(bool blocking) {}
-bool EmptyUARTDriver::tx_pending() { return false; }
+void UARTDriver::begin(uint32_t b) {}
+void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) {}
+void UARTDriver::end() {}
+void UARTDriver::flush() {}
+bool UARTDriver::is_initialized() { return false; }
+void UARTDriver::set_blocking_writes(bool blocking) {}
+bool UARTDriver::tx_pending() { return false; }
 
 /* Empty implementations of Stream virtual methods */
-int16_t EmptyUARTDriver::available() { return 0; }
-int16_t EmptyUARTDriver::txspace() { return 1; }
-int16_t EmptyUARTDriver::read() { return -1; }
+int16_t UARTDriver::available() { return 0; }
+int16_t UARTDriver::txspace() { return 1; }
+int16_t UARTDriver::read() { return -1; }
 
 /* Empty implementations of Print virtual methods */
-size_t EmptyUARTDriver::write(uint8_t c) { return 0; }
+size_t UARTDriver::write(uint8_t c) { return 0; }
 
-size_t EmptyUARTDriver::write(const uint8_t *buffer, size_t size)
+size_t UARTDriver::write(const uint8_t *buffer, size_t size)
 {
     size_t n = 0;
     while (size--) {
diff --git a/libraries/AP_HAL_Empty/UARTDriver.h b/libraries/AP_HAL_Empty/UARTDriver.h
index a66b690bbb..11cadf5d45 100644
--- a/libraries/AP_HAL_Empty/UARTDriver.h
+++ b/libraries/AP_HAL_Empty/UARTDriver.h
@@ -4,9 +4,9 @@
 
 #include "AP_HAL_Empty.h"
 
-class Empty::EmptyUARTDriver : public AP_HAL::UARTDriver {
+class Empty::UARTDriver : public AP_HAL::UARTDriver {
 public:
-    EmptyUARTDriver();
+    UARTDriver();
     /* Empty implementations of UARTDriver virtual methods */
     void begin(uint32_t b);
     void begin(uint32_t b, uint16_t rxS, uint16_t txS);
diff --git a/libraries/AP_HAL_Empty/Util.h b/libraries/AP_HAL_Empty/Util.h
index 44bae3e34f..369af241bb 100644
--- a/libraries/AP_HAL_Empty/Util.h
+++ b/libraries/AP_HAL_Empty/Util.h
@@ -5,7 +5,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_HAL_Empty_Namespace.h"
 
-class Empty::EmptyUtil : public AP_HAL::Util {
+class Empty::Util : public AP_HAL::Util {
 public:
     bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
 };