diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index aa72bab88..2a3b38d3d 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -64,8 +64,8 @@
 #include "gyrostate.h"
 #include "gyrosensor.h"
 #include "homelocation.h"
-#include "magnetosensor.h"
-#include "magnetostate.h"
+#include "magsensor.h"
+#include "magstate.h"
 #include "positionstate.h"
 #include "ekfconfiguration.h"
 #include "ekfstatevariance.h"
@@ -125,7 +125,7 @@ static void settingsUpdatedCb(UAVObjEvent *objEv);
 
 static int32_t getNED(GPSPositionData *gpsPosition, float *NED);
 
-static void magOffsetEstimation(MagnetoSensorData *mag);
+static void magOffsetEstimation(MagSensorData *mag);
 
 // check for invalid values
 static inline bool invalid(float data)
@@ -167,8 +167,8 @@ int32_t AttitudeInitialize(void)
     GyroStateInitialize();
     AccelSensorInitialize();
     AccelStateInitialize();
-    MagnetoSensorInitialize();
-    MagnetoStateInitialize();
+    MagSensorInitialize();
+    MagStateInitialize();
     AirspeedSensorInitialize();
     AirspeedStateInitialize();
     BaroSensorInitialize();
@@ -230,7 +230,7 @@ int32_t AttitudeStart(void)
 
     GyroSensorConnectQueue(gyroQueue);
     AccelSensorConnectQueue(accelQueue);
-    MagnetoSensorConnectQueue(magQueue);
+    MagSensorConnectQueue(magQueue);
     AirspeedSensorConnectQueue(airspeedQueue);
     BaroSensorConnectQueue(baroQueue);
     GPSPositionConnectQueue(gpsQueue);
@@ -335,10 +335,10 @@ static int32_t updateAttitudeComplementary(bool first_run)
         if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
             return -1;
         }
-        MagnetoSensorData magData;
-        MagnetoSensorGet(&magData);
+        MagSensorData magData;
+        MagSensorGet(&magData);
 #else
-        MagnetoSensorData magData;
+        MagSensorData magData;
         magData.x = 100.0f;
         magData.y = 0.0f;
         magData.z = 0.0f;
@@ -434,20 +434,20 @@ static int32_t updateAttitudeComplementary(bool first_run)
         // Rotate gravity to body frame and cross with accels
         float brot[3];
         float Rbe[3][3];
-        MagnetoSensorData mag;
+        MagSensorData mag;
 
         Quaternion2R(q, Rbe);
-        MagnetoSensorGet(&mag);
+        MagSensorGet(&mag);
 
 // TODO: separate filter!
         if (revoCalibration.MagBiasNullingRate > 0) {
             magOffsetEstimation(&mag);
         }
-        MagnetoStateData mags;
+        MagStateData mags;
         mags.x = mag.x;
         mags.y = mag.y;
         mags.z = mag.z;
-        MagnetoStateSet(&mags);
+        MagStateSet(&mags);
 
         // If the mag is producing bad data don't use it (normally bad calibration)
         if (!isnan(mag.x) && !isinf(mag.x) && !isnan(mag.y) && !isinf(mag.y) && !isnan(mag.z) && !isinf(mag.z)) {
@@ -612,7 +612,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
     UAVObjEvent ev;
     GyroSensorData gyroSensorData;
     AccelSensorData accelSensorData;
-    MagnetoStateData magData;
+    MagStateData magData;
     AirspeedSensorData airspeedData;
     BaroSensorData baroData;
     GPSPositionData gpsData;
@@ -694,17 +694,17 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
     AccelSensorGet(&accelSensorData);
 // TODO: separate filter!
     if (mag_updated) {
-        MagnetoSensorData mags;
-        MagnetoSensorGet(&mags);
+        MagSensorData mags;
+        MagSensorGet(&mags);
         if (revoCalibration.MagBiasNullingRate > 0) {
             magOffsetEstimation(&mags);
         }
         magData.x = mags.x;
         magData.y = mags.y;
         magData.z = mags.z;
-        MagnetoStateSet(&magData);
+        MagStateSet(&magData);
     }
-    MagnetoStateGet(&magData);
+    MagStateGet(&magData);
 
     BaroSensorGet(&baroData);
     AirspeedSensorGet(&airspeedData);
@@ -860,7 +860,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
             }
 
             // xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
-            // MagnetoSensorGet(&magData);
+            // MagSensorGet(&magData);
 
             AttitudeStateData attitudeState;
             AttitudeStateGet(&attitudeState);
@@ -1162,10 +1162,10 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
 
 /**
  * Perform an update of the @ref MagBias based on
- * Magnetometer Offset Cancellation: Theory and Implementation,
+ * Magmeter Offset Cancellation: Theory and Implementation,
  * revisited William Premerlani, October 14, 2011
  */
-static void magOffsetEstimation(MagnetoSensorData *mag)
+static void magOffsetEstimation(MagSensorData *mag)
 {
    #if 0
     // Constants, to possibly go into a UAVO
diff --git a/flight/modules/Extensions/MagBaro/magbaro.c b/flight/modules/Extensions/MagBaro/magbaro.c
index 3bff3cbca..927482f3f 100644
--- a/flight/modules/Extensions/MagBaro/magbaro.c
+++ b/flight/modules/Extensions/MagBaro/magbaro.c
@@ -41,7 +41,7 @@
 #include "hwsettings.h"
 #include "magbaro.h"
 #include "barosensor.h" // object that will be updated by the module
-#include "magnetosensor.h"
+#include "magsensor.h"
 #include "taskinfo.h"
 
 // Private constants
@@ -109,7 +109,7 @@ int32_t MagBaroInitialize()
 
     if (magbaroEnabled) {
 #if defined(PIOS_INCLUDE_HMC5883)
-        MagnetoSensorInitialize();
+        MagSensorInitialize();
 #endif
 
 #if defined(PIOS_INCLUDE_BMP085)
@@ -149,7 +149,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
 #endif
 
 #if defined(PIOS_INCLUDE_HMC5883)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     PIOS_HMC5883_Init(&pios_hmc5883_cfg);
     uint32_t mag_update_time = PIOS_DELAY_GetRaw();
 #endif
@@ -207,7 +207,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
             mag.x = mags[0];
             mag.y = mags[1];
             mag.z = mags[2];
-            MagnetoSensorSet(&mag);
+            MagSensorSet(&mag);
             mag_update_time = PIOS_DELAY_GetRaw();
         }
 #endif
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index 5a1041c93..b95d77bdf 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -4,7 +4,7 @@
  * @{
  * @addtogroup Sensors
  * @brief Acquires sensor data
- * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
+ * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
  * @{
  *
  * @file       sensors.c
@@ -32,7 +32,7 @@
 
 /**
  * Input objects: None, takes sensor data via pios
- * Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
+ * Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
  *
  * The module executes in its own thread.
  *
@@ -49,7 +49,7 @@
 #include <openpilot.h>
 
 #include <homelocation.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <accelsensor.h>
 #include <gyrosensor.h>
 #include <attitudestate.h>
@@ -73,7 +73,7 @@
 // Private functions
 static void SensorsTask(void *parameters);
 static void settingsUpdatedCb(UAVObjEvent *objEv);
-// static void magOffsetEstimation(MagnetoSensorData *mag);
+// static void magOffsetEstimation(MagSensorData *mag);
 
 // Private variables
 static xTaskHandle sensorsTaskHandle;
@@ -110,7 +110,7 @@ int32_t SensorsInitialize(void)
 {
     GyroSensorInitialize();
     AccelSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     RevoCalibrationInitialize();
     AttitudeSettingsInitialize();
 
@@ -383,7 +383,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         // and make it average zero (weakly)
 
 #if defined(PIOS_INCLUDE_HMC5883)
-        MagnetoSensorData mag;
+        MagSensorData mag;
         if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
             int16_t values[3];
             PIOS_HMC5883_ReadMag(values);
@@ -402,7 +402,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
                 mag.z = mags[2];
             }
 
-            MagnetoSensorSet(&mag);
+            MagSensorSet(&mag);
             mag_update_time = PIOS_DELAY_GetRaw();
         }
 #endif /* if defined(PIOS_INCLUDE_HMC5883) */
diff --git a/flight/modules/Sensors/simulated/sensors.c b/flight/modules/Sensors/simulated/sensors.c
index fdd58abf0..b236f6cd0 100644
--- a/flight/modules/Sensors/simulated/sensors.c
+++ b/flight/modules/Sensors/simulated/sensors.c
@@ -4,7 +4,7 @@
  * @{
  * @addtogroup Sensors
  * @brief Acquires sensor data
- * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
+ * Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
  * @{
  *
  * @file       sensors.c
@@ -32,7 +32,7 @@
 
 /**
  * Input objects: None, takes sensor data via pios
- * Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
+ * Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
  *
  * The module executes in its own thread.
  *
@@ -113,7 +113,7 @@ int32_t SensorsInitialize(void)
     // GyrosBiasInitialize();
     GPSPositionInitialize();
     GPSVelocityInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     MagBiasInitialize();
     RevoCalibrationInitialize();
 
@@ -252,11 +252,11 @@ static void simulateConstant()
 
     // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
     // and make it average zero (weakly)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     mag.x = 400;
     mag.y = 0;
     mag.z = 800;
-    MagnetoSensorSet(&mag);
+    MagSensorSet(&mag);
 }
 
 static void simulateModelAgnostic()
@@ -314,11 +314,11 @@ static void simulateModelAgnostic()
 
     // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
     // and make it average zero (weakly)
-    MagnetoSensorData mag;
+    MagSensorData mag;
     mag.x = 400;
     mag.y = 0;
     mag.z = 800;
-    MagnetoSensorSet(&mag);
+    MagSensorSet(&mag);
 }
 
 float thrustToDegs   = 50;
@@ -528,12 +528,12 @@ static void simulateModelQuadcopter()
     // Update mag periodically
     static uint32_t last_mag_time = 0;
     if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
-        MagnetoSensorData mag;
+        MagSensorData mag;
         mag.x = homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
         mag.y = homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
         mag.z = homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
 
-        MagnetoSensorSet(&mag);
+        MagSensorSet(&mag);
         last_mag_time = PIOS_DELAY_GetRaw();
     }
 
@@ -811,11 +811,11 @@ static void simulateModelAirplane()
     // Update mag periodically
     static uint32_t last_mag_time = 0;
     if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
-        MagnetoSensorData mag;
+        MagSensorData mag;
         mag.x = 100 + homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
         mag.y = 100 + homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
         mag.z = 100 + homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
-        MagnetoSensorSet(&mag);
+        MagSensorSet(&mag);
         last_mag_time = PIOS_DELAY_GetRaw();
     }
 
diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile
index 524a4baad..7c88af224 100644
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@@ -93,7 +93,7 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/gpstime.c
     SRC += $(OPUAVSYNTHDIR)/osdsettings.c
     SRC += $(OPUAVSYNTHDIR)/barosensor.c
-    SRC += $(OPUAVSYNTHDIR)/magnetosensor.c
+    SRC += $(OPUAVSYNTHDIR)/magsensor.c
 else
     ## Test Code
     SRC += $(OPTESTS)/test_common.c
diff --git a/flight/targets/boards/revolution/firmware/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc
index 34f387250..1ee34b95d 100644
--- a/flight/targets/boards/revolution/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc
@@ -30,8 +30,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetosensor
-UAVOBJSRCFILENAMES += magnetostate
+UAVOBJSRCFILENAMES += magsensor
+UAVOBJSRCFILENAMES += magstate
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
diff --git a/flight/targets/boards/revolution/firmware/pios_board_sim.c b/flight/targets/boards/revolution/firmware/pios_board_sim.c
index ca2c3de98..9cf758199 100644
--- a/flight/targets/boards/revolution/firmware/pios_board_sim.c
+++ b/flight/targets/boards/revolution/firmware/pios_board_sim.c
@@ -35,7 +35,7 @@
 #include <barosensor.h>
 #include <gpsposition.h>
 #include <gyrosensor.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <manualcontrolsettings.h>
 
 void Stack_Change() {}
@@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
 
     AccelSensorInitialize();
     BaroSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     GPSPositionInitialize();
     GyroSensorInitialize();
 
diff --git a/flight/targets/boards/revoproto/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
index 02169d2b8..5742838ba 100644
--- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
@@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetostate
-UAVOBJSRCFILENAMES += magnetosensor
+UAVOBJSRCFILENAMES += magstate
+UAVOBJSRCFILENAMES += magsensor
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
diff --git a/flight/targets/boards/revoproto/firmware/pios_board_sim.c b/flight/targets/boards/revoproto/firmware/pios_board_sim.c
index 0b026b530..27d998798 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board_sim.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board_sim.c
@@ -35,7 +35,7 @@
 #include <barosensor.h>
 #include <gpsposition.h>
 #include <gyrosensor.h>
-#include <magnetosensor.h>
+#include <magsensor.h>
 #include <manualcontrolsettings.h>
 
 void Stack_Change() {}
@@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
 
     AccelSensorInitialize();
     BaroSensorInitialize();
-    MagnetoSensorInitialize();
+    MagSensorInitialize();
     GPSPositionInitialize();
     GyroStatInitialize();
     GyroSensorInitialize();
diff --git a/flight/targets/boards/simposix/firmware/UAVObjects.inc b/flight/targets/boards/simposix/firmware/UAVObjects.inc
index c5a401d52..9e9661152 100644
--- a/flight/targets/boards/simposix/firmware/UAVObjects.inc
+++ b/flight/targets/boards/simposix/firmware/UAVObjects.inc
@@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
 UAVOBJSRCFILENAMES += gyrosensor
 UAVOBJSRCFILENAMES += accelstate
 UAVOBJSRCFILENAMES += accelsensor
-UAVOBJSRCFILENAMES += magnetosensor
-UAVOBJSRCFILENAMES += magnetostate
+UAVOBJSRCFILENAMES += magsensor
+UAVOBJSRCFILENAMES += magstate
 UAVOBJSRCFILENAMES += barosensor
 UAVOBJSRCFILENAMES += airspeedsensor
 UAVOBJSRCFILENAMES += airspeedsettings
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
index 5b1282f5e..233061c29 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
@@ -2233,7 +2233,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>6.92916505601691e-310</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>3.86203233966055e-312</yMinimum>
@@ -2243,7 +2243,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>1.72723371101889e-77</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>-1</yMinimum>
@@ -2253,7 +2253,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>1.72723371102028e-77</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>7.21478569792807e-313</yMinimum>
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index f00c303fe..4ad20f5da 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2264,7 +2264,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2274,7 +2274,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2284,7 +2284,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
index 916b88152..4273cf797 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
@@ -2242,7 +2242,7 @@
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
             <uavField>x</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2252,7 +2252,7 @@
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
             <uavField>y</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2262,7 +2262,7 @@
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
             <uavField>z</uavField>
-            <uavObject>MagnetoState</uavObject>
+            <uavObject>MagState</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
index c3dcbba6a..9d22339cc 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
@@ -46,7 +46,7 @@
 #include <homelocation.h>
 #include <accelstate.h>
 #include <gyrostate.h>
-#include <magnetostate.h>
+#include <magstate.h>
 
 #define GRAVITY 9.81f
 #include "assertions.h"
@@ -585,10 +585,10 @@ void ConfigRevoWidget::doStartSixPointCalibration()
 #endif
 
     /* Need to get as many mag updates as possible */
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
-    initialMagnetoStateMdata = mag->getMetadata();
-    mdata = initialMagnetoStateMdata;
+    initialMagStateMdata = mag->getMetadata();
+    mdata = initialMagStateMdata;
     UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
     mdata.flightTelemetryUpdatePeriod = 100;
     mag->setMetadata(mdata);
@@ -624,7 +624,7 @@ void ConfigRevoWidget::savePositionData()
 
     AccelState *accelState = AccelState::GetInstance(getObjectManager());
     Q_ASSERT(accelState);
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
 
     connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
@@ -653,10 +653,10 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
             accel_accum_y.append(accelStateData.y);
             accel_accum_z.append(accelStateData.z);
 #endif
-        } else if (obj->getObjID() == MagnetoState::OBJID) {
-            MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+        } else if (obj->getObjID() == MagState::OBJID) {
+            MagState *mag = MagState::GetInstance(getObjectManager());
             Q_ASSERT(mag);
-            MagnetoState::DataFields magData = mag->getData();
+            MagState::DataFields magData = mag->getData();
             mag_accum_x.append(magData.x);
             mag_accum_y.append(magData.y);
             mag_accum_z.append(magData.z);
@@ -685,7 +685,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
 #endif
 
         // Store the mean for this position for the mag
-        MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+        MagState *mag = MagState::GetInstance(getObjectManager());
         Q_ASSERT(mag);
         disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
         mag_data_x[position] = listMean(mag_accum_x);
@@ -722,7 +722,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
 #ifdef SIX_POINT_CAL_ACCEL
             accelState->setMetadata(initialAccelStateMdata);
 #endif
-            mag->setMetadata(initialMagnetoStateMdata);
+            mag->setMetadata(initialMagStateMdata);
 
             // Recall saved board rotation
             recallBoardRotation();
@@ -928,7 +928,7 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
     Q_ASSERT(accelState);
     GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
     Q_ASSERT(gyroState);
-    MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
+    MagState *mag = MagState::GetInstance(getObjectManager());
     Q_ASSERT(mag);
 
     UAVObject::Metadata mdata;
@@ -945,8 +945,8 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
     mdata.flightTelemetryUpdatePeriod = 100;
     gyroState->setMetadata(mdata);
 
-    initialMagnetoStateMdata = mag->getMetadata();
-    mdata = initialMagnetoStateMdata;
+    initialMagStateMdata = mag->getMetadata();
+    mdata = initialMagStateMdata;
     UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
     mdata.flightTelemetryUpdatePeriod = 100;
     mag->setMetadata(mdata);
@@ -990,11 +990,11 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
         accel_accum_z.append(accelStateData.z);
         break;
     }
-    case MagnetoState::OBJID:
+    case MagState::OBJID:
     {
-        MagnetoState *mags = MagnetoState::GetInstance(getObjectManager());
+        MagState *mags = MagState::GetInstance(getObjectManager());
         Q_ASSERT(mags);
-        MagnetoState::DataFields magData = mags->getData();
+        MagState::DataFields magData = mags->getData();
         mag_accum_x.append(magData.x);
         mag_accum_y.append(magData.y);
         mag_accum_z.append(magData.z);
@@ -1017,7 +1017,7 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
         gyro_accum_x.length() >= NOISE_SAMPLES &&
         accel_accum_x.length() >= NOISE_SAMPLES) {
         // No need to for more updates
-        MagnetoState *mags     = MagnetoState::GetInstance(getObjectManager());
+        MagState *mags = MagState::GetInstance(getObjectManager());
         AccelState *accelState = AccelState::GetInstance(getObjectManager());
         GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
         disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));
diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h
index 2e3789025..6e26abf91 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h
@@ -92,7 +92,7 @@ private:
 
     UAVObject::Metadata initialAccelStateMdata;
     UAVObject::Metadata initialGyroStateMdata;
-    UAVObject::Metadata initialMagnetoStateMdata;
+    UAVObject::Metadata initialMagStateMdata;
     UAVObject::Metadata initialBaroSensorMdata;
     float initialMagCorrectionRate;
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 745b0b935..4ff9d4050 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -42,8 +42,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gyrosensor.h \
     $$UAVOBJECT_SYNTHETICS/accelsensor.h \
     $$UAVOBJECT_SYNTHETICS/accelstate.h \
-    $$UAVOBJECT_SYNTHETICS/magnetosensor.h \
-    $$UAVOBJECT_SYNTHETICS/magnetostate.h \
+    $$UAVOBJECT_SYNTHETICS/magsensor.h \
+    $$UAVOBJECT_SYNTHETICS/magstate.h \
     $$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
     $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
     $$UAVOBJECT_SYNTHETICS/systemstats.h \
@@ -126,8 +126,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/accelstate.cpp \
     $$UAVOBJECT_SYNTHETICS/gyrostate.cpp \
     $$UAVOBJECT_SYNTHETICS/gyrosensor.cpp \
-    $$UAVOBJECT_SYNTHETICS/magnetosensor.cpp \
-    $$UAVOBJECT_SYNTHETICS/magnetostate.cpp \
+    $$UAVOBJECT_SYNTHETICS/magsensor.cpp \
+    $$UAVOBJECT_SYNTHETICS/magstate.cpp \
     $$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/flighttelemetrystats.cpp \
     $$UAVOBJECT_SYNTHETICS/systemstats.cpp \
diff --git a/shared/uavobjectdefinition/magnetosensor.xml b/shared/uavobjectdefinition/magsensor.xml
similarity index 87%
rename from shared/uavobjectdefinition/magnetosensor.xml
rename to shared/uavobjectdefinition/magsensor.xml
index 5974636f6..1681713b6 100644
--- a/shared/uavobjectdefinition/magnetosensor.xml
+++ b/shared/uavobjectdefinition/magsensor.xml
@@ -1,5 +1,5 @@
 <xml>
-    <object name="MagnetoSensor" singleinstance="true" settings="false">
+    <object name="MagSensor" singleinstance="true" settings="false">
         <description>The mag data.</description>
 	<field name="x" units="mGa" type="float" elements="1"/>
 	<field name="y" units="mGa" type="float" elements="1"/>
diff --git a/shared/uavobjectdefinition/magnetostate.xml b/shared/uavobjectdefinition/magstate.xml
similarity index 87%
rename from shared/uavobjectdefinition/magnetostate.xml
rename to shared/uavobjectdefinition/magstate.xml
index 546b52d69..85b2bb458 100644
--- a/shared/uavobjectdefinition/magnetostate.xml
+++ b/shared/uavobjectdefinition/magstate.xml
@@ -1,5 +1,5 @@
 <xml>
-    <object name="MagnetoState" singleinstance="true" settings="false">
+    <object name="MagState" singleinstance="true" settings="false">
         <description>The mag data.</description>
 	<field name="x" units="mGa" type="float" elements="1"/>
 	<field name="y" units="mGa" type="float" elements="1"/>