diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
index 9eeb702794..fe8f13c461 100644
--- a/APMrover2/AP_MotorsUGV.cpp
+++ b/APMrover2/AP_MotorsUGV.cpp
@@ -23,7 +23,7 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
     // @Param: PWM_TYPE
     // @DisplayName: Output PWM type
     // @Description: This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)
-    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:BrushedPlus
+    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:BrushedBiPolar
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWM_TYPE_NORMAL),
@@ -232,7 +232,7 @@ void AP_MotorsUGV::setup_pwm_type()
         hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
         break;
     case PWM_TYPE_BRUSHED:
-    case PWM_TYPE_BRUSHEDPLUS:
+    case PWM_TYPE_BRUSHEDBIPOLAR:
         hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
         /*
          * Group 0: channels 0 1
@@ -258,7 +258,7 @@ void AP_MotorsUGV::setup_safety_output()
         SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
         SRV_Channels::setup_failsafe_trim_all();
     }
-    if (_pwm_type == PWM_TYPE_BRUSHEDPLUS) {
+    if (_pwm_type == PWM_TYPE_BRUSHEDBIPOLAR) {
         SRV_Channels::setup_failsafe_trim_all();
     }
 
diff --git a/APMrover2/AP_MotorsUGV.h b/APMrover2/AP_MotorsUGV.h
index d83572fc00..08636b5374 100644
--- a/APMrover2/AP_MotorsUGV.h
+++ b/APMrover2/AP_MotorsUGV.h
@@ -15,7 +15,7 @@ public:
         PWM_TYPE_ONESHOT = 1,
         PWM_TYPE_ONESHOT125 = 2,
         PWM_TYPE_BRUSHED = 3,
-        PWM_TYPE_BRUSHEDPLUS = 4,
+        PWM_TYPE_BRUSHEDBIPOLAR = 4,
      };
 
     // initialise motors