diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 78a357328e..10d213e9c7 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -455,16 +455,16 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     AP_GROUPEND
 };
 
-AP_InertialSensor *AP_InertialSensor::_s_instance = nullptr;
+AP_InertialSensor *AP_InertialSensor::_singleton = nullptr;
 
 AP_InertialSensor::AP_InertialSensor() :
     _board_orientation(ROTATION_NONE),
     _log_raw_bit(-1)
 {
-    if (_s_instance) {
+    if (_singleton) {
         AP_HAL::panic("Too many inertial sensors");
     }
-    _s_instance = this;
+    _singleton = this;
     AP_Param::setup_object_defaults(this, var_info);
     for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
         _gyro_cal_ok[i] = true;
@@ -481,12 +481,12 @@ AP_InertialSensor::AP_InertialSensor() :
 /*
  * Get the AP_InertialSensor singleton
  */
-AP_InertialSensor *AP_InertialSensor::get_instance()
+AP_InertialSensor *AP_InertialSensor::get_singleton()
 {
-    if (!_s_instance) {
-        _s_instance = new AP_InertialSensor();
+    if (!_singleton) {
+        _singleton = new AP_InertialSensor();
     }
-    return _s_instance;
+    return _singleton;
 }
 
 /*
@@ -1994,7 +1994,7 @@ namespace AP {
 
 AP_InertialSensor &ins()
 {
-    return *AP_InertialSensor::get_instance();
+    return *AP_InertialSensor::get_singleton();
 }
 
 };
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index ee4e82f459..9bbc941538 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -55,7 +55,7 @@ public:
     AP_InertialSensor(const AP_InertialSensor &other) = delete;
     AP_InertialSensor &operator=(const AP_InertialSensor&) = delete;
 
-    static AP_InertialSensor *get_instance();
+    static AP_InertialSensor *get_singleton();
 
     enum Gyro_Calibration_Timing {
         GYRO_CAL_NEVER = 0,
@@ -553,7 +553,7 @@ private:
     AP_Int8 _acc_body_aligned;
     AP_Int8 _trim_option;
 
-    static AP_InertialSensor *_s_instance;
+    static AP_InertialSensor *_singleton;
     AP_AccelCal* _acal;
 
     AccelCalibrator *_accel_calibrator;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index d9691403ca..bd312050ff 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -216,7 +216,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
 
 void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
 {
-    AP_Logger *dataflash = AP_Logger::instance();
+    AP_Logger *dataflash = AP_Logger::get_singleton();
     if (dataflash == nullptr) {
         // should not have been called
         return;
@@ -348,7 +348,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t inst
 
 void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
 {
-    AP_Logger *dataflash = AP_Logger::instance();
+    AP_Logger *dataflash = AP_Logger::get_singleton();
     if (dataflash == nullptr) {
         // should not have been called
         return;
@@ -465,7 +465,7 @@ bool AP_InertialSensor_Backend::should_log_imu_raw() const
         // tracker does not set a bit
         return false;
     }
-    const AP_Logger *instance = AP_Logger::instance();
+    const AP_Logger *instance = AP_Logger::get_singleton();
     if (instance == nullptr) {
         return false;
     }
diff --git a/libraries/AP_InertialSensor/BatchSampler.cpp b/libraries/AP_InertialSensor/BatchSampler.cpp
index 573dae6ba0..c75d6408d9 100644
--- a/libraries/AP_InertialSensor/BatchSampler.cpp
+++ b/libraries/AP_InertialSensor/BatchSampler.cpp
@@ -176,7 +176,7 @@ void AP_InertialSensor::BatchSampler::push_data_to_log()
         // avoid flooding AP_Logger's buffer
         return;
     }
-    AP_Logger *dataflash = AP_Logger::instance();
+    AP_Logger *dataflash = AP_Logger::get_singleton();
     if (dataflash == nullptr) {
         // should not have been called
         return;
@@ -250,7 +250,7 @@ bool AP_InertialSensor::BatchSampler::should_log(uint8_t _instance, IMU_SENSOR_T
     if (data_write_offset >= _required_count) {
         return false;
     }
-    AP_Logger *dataflash = AP_Logger::instance();
+    AP_Logger *dataflash = AP_Logger::get_singleton();
     if (dataflash == nullptr) {
         return false;
     }